CN105239519B - A kind of robot and intelligent transportation warning system comprising the robot of warning - Google Patents
A kind of robot and intelligent transportation warning system comprising the robot of warning Download PDFInfo
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- CN105239519B CN105239519B CN201510784711.7A CN201510784711A CN105239519B CN 105239519 B CN105239519 B CN 105239519B CN 201510784711 A CN201510784711 A CN 201510784711A CN 105239519 B CN105239519 B CN 105239519B
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Abstract
The present invention provides a kind of warn robot and the intelligent transportation warning system comprising the robot, and robot of warning includes chassis, support unit and unit of warning, wherein：The chassis includes bottom plate and is placed in the framework of the bottom plate, and the support unit is located at the bottom plate, and the unit of warning is arranged in the framework and the support unit；The support unit includes the drive device for the multistage retractable rod and multistage retractable rod being socketed successively, and the drive device realizes the stretching successively or retraction of the multistage retractable rod.The terminal of intelligent transportation warning system with control unit by communicating, the retraction of stretching warning signal and multiple robots of warning for completing each robot of warning are arranged in the way of setting, compared to the mode of operation of existing manpower intervention, security and arrangement efficiency are lifted.
Description
Technical field
The present invention relates to municipal administration and the intelligent transportation mark of field of road traffic, and in particular to one kind warn robot and
Intelligent transportation warning system comprising the robot.
Background technology
With auto industry and the development of communications and transportation, by 2010, the highway overall length of China was public up to 7.4 ten thousand
In, car ownership also shows absolute growth trend.When in the coordination system on people-Che-road, in order to ensure traffic just
Often operation, Che Yu roads either party when occurring unexpected situation, be required for arranging in time for reminding showing for other cars and pedestrian
Alert mark.
When occurring traffic accident or road during upkeep operation is carried out, at present generally by the way of mark of warning come
Prompting, such as：Several marks of warning are put in the setpoint distance upper measurement of direction to the car, are observed with other vehicle drivers of convinent car mouthful
And action is taken in time；
Current mark of warning uses folding plastic material tripod, although its material is light to put in step, but
With following deficiency：
Material gently causes tripod very not firm, therefore tripod carries out reliably being fixed with necessarily when deploying and placing to it
Difficulty, be such as easy to be blown down or even blown away in the case where there is wind.Needed when arrangement indicates on a highway simultaneously artificial
Suitable place is walked to, there is certain potential safety hazard；
In order to avoid causing danger to the driving passed through as far as possible, mark of warning must be placed in time when going wrong
Will, but in the case where needing to arrange substantial amounts of cone, its withdrawal is not only wasted time and energy, and there is also potential safety hazard,
And certain influence can also be produced to road conditions during its withdrawal.
Intelligent robot can replace being accomplished manually as a kind of equipment for performing corresponding actions automatically according to control instruction
Many relatively hazardous work, such as underwater robot can bear very big hydraulic pressure, the unmanned aerial vehicle cruised as high-voltage line, not only work
Make more reliable, and it is more flexible to fight, it is to avoid especially caused potential safety hazard.It is existing specific to traffic warning mobile device
Some research includes：
Patent of invention CN102051863A discloses a kind of traffic sign warning pile, by setting nothing in warning pile pile body
Line receiver and drive motor, drive motor drive and help wheel of choking, and move traffic sign warning pile.But, this traffic
Indicate warning pile can only unit it is manually operated, compared to existing tripod structure, breakthrough advantage is not shown.
Patent of invention CN101038023 discloses a kind of retractable three-grade electric cylinder, and servomotor is through belt and belt pulley
Drive first order screw mandrel of the one end in roller box to rotate, screw is housed on first order screw mandrel, end face is consolidated with first order inner cylinder tube
Fixed connection, while second level screw mandrel one end is fixed with first order screw one end；Screw, end face and second are housed on the screw mandrel of the second level
Level inner cylinder tube is fixedly connected, while third level screw mandrel one end is fixed with second level screw one end；Screw is housed on third level screw mandrel,
End face is fixed with push rod；The other end of push rod is connected with earrings；The bracing wire of stay-supported type displacement sensor by screw mandrel centre bore with
Earrings is fixedly connected.Three-level screw mandrel, gradually overhanging can rotate, promotes respective screw translation.Because three-level screw mandrel starts to fold
It is nested together, so as to save axially mounted space.
Patent of invention CN 101763784B have invented a kind of remote-controlled walking automatic traffic and warned mark, and it includes shell, distant
Running gear, antenna, mark of warning are controlled, mark of warning is connected with expanding unit, and expanding unit is connected with remote control circuit, remote control dress
Put and be connected with antenna.The invention mark that will can warn is remotely moved to after specified location, then warning marker is opened in remote control, is protected
Demonstrate,prove safety and stability of the mark during remote-controlled walking of warning, and support feet can allow mark of warning stably to stop at specific bit
Put, prevent the air-flow that the automobile do not speeded suddenly by side drives from blowing down.Also due to this mark of warning is also to be adapted only to pass through
The operation unit of manual hand manipulation is used, and can not realize multiple device co-operatings of warning, it is impossible to realized to one section of road
Intelligent closing or isolate.
The content of the invention
Given this problem, the present invention, which is provided, a kind of warns robot and the intelligent transportation comprising the robot is warned and is
System, realizes multiple robots by sensor, the mutual wireless telecommunications of controller, and all receive the instruction from control terminal；It is many
Individual robot of warning can be moved under long-range control terminal commander, lined up to warn there is provided sound and warned with light；Also can be long-range
Control terminal commander is lower to be withdrawn by sequence, so as to realize intellectual traffic control.
The technical solution adopted by the present invention is specially：
One kind is warned robot, including chassis, support unit and unit of warning, wherein：
The chassis includes bottom plate and is placed in the framework of the bottom plate, and the support unit is located at the bottom plate, described to show
Alert unit is arranged in the framework and the support unit；
The support unit includes the drive device for the multistage retractable rod and multistage retractable rod being socketed successively, passes through
The drive device realizes the stretching successively or retraction of the multistage retractable rod.
In above-mentioned robot of warning, the support unit is multi-stage electric cylinder, and the multi-stage electric cylinder includes expansion link
Motor and expansion link, the expansion link motor are located at the center of the bottom plate, some levels institute that socket is acted successively
The one end for stating expansion link is connected with the expansion link motor, and the other end is with being connected with antenna.
In above-mentioned robot of warning, the framework includes perpendicular bottom girder, high side vertical beam and crossbeam, along before robot of warning
The front and rear sides for entering direction are respectively fixed with crossbeam, and crossbeam both sides are respectively equipped with perpendicular bottom girder, and the high side vertical beam is located at described perpendicular
The top of bottom girder, the high side erects the height that depth of beam is not less than first order expansion link.
In above-mentioned robot of warning, movable pulley is additionally provided with below the bottom plate, the movable pulley is connected with mobile wheel driving
Dynamic device, the mobile wheel drive unit includes connecting plate, reductor and direct current generator；Wherein：
The direct current generator is connected with the input shaft of the reductor, and the output of the reductor is pivotally connected to the shifting
Driving wheel；
The reductor is connected by the connecting plate with the chassis.
In above-mentioned robot of warning, the bottom plate install the relevant position of movable pulley the high side vertical beam be provided with
The groove that the movable pulley profile matches, the stacking for multiple robots of warning is placed.
In above-mentioned robot of warning, the unit of warning is warned unit including the first unit and second of warning, wherein：
Described first warns unit between the peak of the multistage retractable rod and the chassis, and described second warns
Unit is located at the crossbeam and the perpendicular bottom girder；
Also warned device including sound, sound device of warning is used to realize that sound is warned by way of audio.
A kind of intelligent transportation warning system for including above-mentioned robot of warning, including control unit, terminal and by several
The motor unit of the robot composition of warning；Wherein：
The control unit includes the high current control unit being placed in the first control cabinet and is placed in the second control cabinet
Vulnerabilities scan unit；Wherein：
Along the direction of advance for robot of warning, first control cabinet and second control cabinet are respectively arranged on described warn
The floor rear of robot and front side；Wherein：
The high current control unit includes electric machine controller and including warning signal controller；Wherein：
The electric machine controller is used to control direct current generator by reductor so that movable pulley is rotated, and is stretched for control
Contracting bar motor causes expansion link to stretch out or retract successively；
The warning signal controller is used to start warning signal after the motor unit is moved to specified location；
The vulnerabilities scan unit includes communication module, locating module and processor；Wherein：
The control unit processor passes through the communication module and the terminal called；
The locating module is used to obtain the position for robot of originally warning and its position relationship with adjacent robot of warning；
The control unit also includes ranging sensing device, and the ranging sensing device is located at first control cabinet and second
The outside of control cabinet；Wherein：
It is described to be positioned for providing coordinate position of the robot relative to earth longitude and latitude of warning；
The ranging sensing device is used to measuring originally warn robot and other adjacent and warned robot and related
Vehicle or the spacing in roadside；
The motor unit information that the terminal is drawn by the control unit and the locating module is drawn in motor unit
Respectively warn the arrangement of robot, and send corresponding action command to electric machine controller, and reached in robot of respectively warning
Corresponding warning signal is sent after specified location to instruct to warning signal controller, and is referred to using transmission recovery after terminating
Order, makes robot recurrence specified location of respectively warning.
In above-mentioned intelligent transportation warning system, the communication module also with it is flexible at the top of the robot of warning
The antenna of bar end is connected, and is easy to the ability to communicate of strengthening system.
In above-mentioned intelligent transportation warning system, the warning signal controller is warned controller harmony sound control including LED
Device processed, LED controllers of warning communicate with the unit of warning respectively with voice controller.
The beneficial effect comprise that：
The robot of warning of the present invention when transport after assembly can easily laminated multi-layer, saving space can after releasing
By WIFI, GPS positioning system, to be controlled its movement and formation and position by control terminal, be realized on highway
The closing of certain section of road is warned, and auditory tone cues enhances effect of warning with LED blinking lights, improves the peace of control of traffic and road
Full property and advance.
Brief description of the drawings
When considered in conjunction with the accompanying drawings, the present invention can more completely be more fully understood.Accompanying drawing described herein is used for providing
A further understanding of the present invention, embodiment and its illustrate be used for explain the present invention, do not constitute inappropriate limitation of the present invention.
Fig. 1 is a kind of structural representation for robot of warning of the present invention；
Fig. 2 is a kind of mobile wheel drive system schematic diagram for robot of warning of the present invention；
Fig. 3 is a kind of road arrangement schematic diagram for robot of warning of the present invention.
In figure：
1st, road breaking point 3, normal lane 4, road edge 5, movable pulley 6, crossbeam 7, the first control cabinet
8th, first order expansion link 9, second level expansion link 10, third level expansion link 11, antenna 12, the second control cabinet 13,
LED warning lights soft ribbons 14, bottom plate 15, perpendicular bottom girder 16, supersonic generator 17, camera 18, connecting plate 19,
Reductor 20, direct current generator 24, supersonic generator 25, high side vertical beam 26, LED warning lights 27, expansion link drive
Dynamic motor.
Embodiment
Below in conjunction with the accompanying drawings and embodiment is described in further detail to technical scheme.
One kind as shown in Figure 1 is warned robot, and the both sides of bottom plate 14 are respectively fixed with perpendicular bottom girder 15, erects the upper of bottom girder 15
Side is connected with high side vertical beam 25, and crossbeam 6, structure are all installed with along the rear and front end of the bottom plate 14 for robot direction of advance of warning
Into the chassis for robot of warning.
The bottom two ends (i.e. the corner on chassis) of every perpendicular bottom girder 15 are separately installed with movable pulley 5, and movable pulley 5 is connected with work
For the mobile wheel drive system of its power source.As a preferred embodiment, under the control of drive system each movable pulley 5 motion phase
To independence, it will not interfere.
The concrete structure of mobile wheel drive system is as shown in Fig. 2 including connecting plate 18, reductor 19 and direct current generator 20；
Wherein：
The axle connection of the input shaft end and direct current generator 20 of reductor 19, the output shaft end of reductor 19 is connected to movable pulley
5, when direct current generator 20 rotates, when being rotated by the driving movable pulley 5 of reductor 19 and control its rotating speed, turned to and move
Between, the movement locus for robot of warning finally is formed according to the motion of driving movable pulley 5.In addition, being provided with L-shaped on reductor 19
Connecting plate 18, one end of L-shaped stretches out on the housing of output shaft side, and the other end is located at the cylinder of reductor 19 vertically,
Mobile wheel drive system is connected by connecting plate 18 with the chassis for robot of warning.
Intelligent transportation warning system comprising above-mentioned robot of warning be specially：
Traffic warning system includes the motor unit of several robots compositions of warning, shown by control warning signal and
Warn robot motion control unit and with control unit communicate terminal；Specifically：
Control unit includes the high current control unit being placed in the first control cabinet 7 and is placed in weak in the second control cabinet 12
Electric control unit；Wherein：
Along the direction of advance for robot of warning, the first control cabinet 7 and the second control cabinet 12 are respectively arranged on robot of warning
The rear side of bottom plate 14 and front side；Wherein：
High current control unit mainly includes power supply (such as battery), electric machine controller and warned control including LED
Warning signal controller including device, voice controller etc.；
Vulnerabilities scan unit mainly includes communication module (such as Wi-Fi module), GPS module and processor；
Robot warning in the process of walking, vulnerabilities scan unit is in the front side of bottom plate 14, high current control unit the bottom of at
The arrangement of the rear side of plate 14 avoids the interference that great-power electronic element may be to weak electricity measuring signal, largely evades
The misoperation of robot may.
Communication module is connected with antenna 11, is easy to the remote communications capability of strengthening system.
The center of bottom plate 14 is provided with the main expansion link acted by expansion link motor 27, some levels successively socket
(in the present embodiment, preferably three-level, i.e. expansion link：(one, two, three) level expansion link (8,9,10)) and the composition of antenna 11
In the presence of multi-stage electric cylinder, processing unit, the driving expansion link of expansion link motor 27 (8,9,10) stretches out or retracted successively,
Such as：
When positive (or reverse) rotation of expansion link motor 27, antenna 11 stretches out from third level expansion link 10,
Third level expansion link 10 stretches out from second level expansion link 9, and second level expansion link 9 stretches out from first order expansion link 8；
When reverse (or positive) rotation of expansion link motor 27, in the retraction third level of antenna 11 expansion link 10, the
In the retraction second level expansion link 9 of three-level expansion link 10, in the retraction first order of second level expansion link 9 expansion link 8.
As a preferred embodiment, the height of high side vertical beam 25 is not less than the height of first order expansion link 8, for ensureing multistage electricity
Cylinder warns robot after shrinking being capable of multi-layer stacking.
On the warning signal for robot of warning, LED warning lights can be mounted in the outside of crossbeam 6 and perpendicular bottom girder 15
26, it can also be supportted between the top of third level expansion link 10 and the corner of bottom plate 14 and set LED warning lights soft ribbons 13, work as multistage
When the expansion link of electric cylinders stretches out successively and LED warning lights 26 and LED warning lights soft ribbons 13 are powered under LED controller control, by
In being in integrally rectangular pyramid shape, so, no matter in terms of which direction, " LED warning lights soft ribbons 13 (waist) and LED warning lights
26 (bases) " can constitute the triangle warning light of traditional sense.At the same time it can also provided with the appropriate position for robot of warning
Sound is installed to warn unit (such as loudspeaker), sound is realized by way of the voice controller in the first control cabinet 7 is come with audio
Sound is warned.
It is corresponding with described before " motion of each movable pulley 5 is relatively independent, will not interfere ", it is a kind of specific
Preferred embodiment is：Four single direct current generators 20 that four movable pulleys 5 are respectively associated are relatively only in electronic control component respectively
Four vertical electric machine controllers are controlled respectively, for realizing speed and being adjusted flexibly for turning to robot of warning.
Further, the outside of the first control cabinet 7 and the second control cabinet 12 is also provided with ranging sensing device, such as：It is main
The ultrasonic distance-measuring sensor to be made up of supersonic generator 16 and ultrasonic receiver 24, it is preferable that can arrange in pairs or groups setting
Camera 17, by with terminal called, warned and picture signal before and after robot and (sailed with other objects by detection
The vehicle or another robot of warning come) distance signal, the processor in the second control cabinet 12 receive picture signal and
After distance signal, communicated by communication module with the terminal (such as mobile phone mobile terminal) matched, according to the anti-of terminal
Feedback, draws the track for robot of warning and the action corresponding with track, so as to send by picture signal and distance signal
Instruct accordingly to expansion link motor 27 so that expansion link motor 27 drive as execution unit expansion link (8,
9th, 10) stretch out or retract successively, meanwhile, the picture signal of camera 17 can also be shown by terminal simultaneously.
Meanwhile, multiple robots of warning transmit current positional information by GPS module communication and its warned with adjacent
The distance of robot is distributed to control terminal by the default realizing route planning of terminal on road.
In the implementation process of positioning function, GPS module mainly provides seat of the robot relative to earth longitude and latitude of warning
Cursor position, limited accuracy；Ultrasonic distance-measuring sensor is then for accurately measuring robot and adjacent other robot
Or related vehicle and/or the spacing in roadside；The formation that can full out realize motor unit by the cooperation of the two is arranged.
A kind of specific embodiment is as shown in figure 3, when the needs closing maintenance of road breaking point 1 occurs in certain section of road, repair
Personnel can be by the setting arrangement of the terminal required for switching to, or forms by parameter setting required arrangement
Mode, so as to obtain the specific position of each robot of warning, the processor of control unit gathers current robot of warning
The coherent signal at end, according to the communication of terminal and control unit, control unit sends corresponding instruction so that in control cabinet (7,12)
The multiple robots of warning of control are moved to the position of setting, and send corresponding warning signal, realize the envelope to this section of road
Close；After road maintenance work is completed or scene of the accident processing terminates, being sent by terminal returns to multiple robots of warning
The order of appointed place (can preset, can also be set by input parameter), after robot of warning is returned, multi-stage electric cylinder
Expansion link motor 27 control expansion link (10,9,8) retract successively, minimize its height, be easy to receive transport vehicle
In.In addition, being provided with radius and movable pulley 5 in the relevant position that four movable pulleys 5 are installed in the bottom of bottom plate 14 for robot of warning
Four grooves (circular arc) matched, when multiple robots 2 of warning after terminating using overlapping placement is needed, the machine of warning on upper strata
The movable pulley 5 of device people just match be placed in lower floor warn robot corner groove in, it is ensured that robot of warning was being transported
Stacked neatly in journey, be difficult to scatter.
Embodiments of the invention are explained above in association with accompanying drawing, accompanying drawing herein is for providing to this
That invents further understands.Obviously, it the foregoing is only preferably embodiment, but protection scope of the present invention of the invention
It is not limited thereto, any is can readily occurring in, of the invention essentially without departing to one skilled in the art
Change or replacement, are also all contained within protection scope of the present invention.
Claims (1)
- The robot 1. one kind is warned, it is characterised in that including chassis, support unit and unit of warning, wherein：Chassis includes bottom plate and is placed in the framework of bottom plate, and support unit is located at bottom plate, and unit of warning is arranged in framework and support is single Member；Support unit includes the drive device for the multistage retractable rod and multistage retractable rod being socketed successively, is realized by drive device The stretching successively or retraction of multistage retractable rod；Support unit is multi-stage electric cylinder, and multi-stage electric cylinder includes expansion link motor and expansion link, expansion link motor Located at the center of bottom plate, one end of expansion link of some levels socket action successively is connected with expansion link motor, the other end It is connected with antenna；Framework includes perpendicular bottom girder, high side vertical beam and crossbeam, is respectively fixed with along the front and rear sides of the direction of advance for robot of warning Crossbeam, crossbeam both sides are respectively equipped with perpendicular bottom girder, and high side vertical beam is located at the top of perpendicular bottom girder, and high side erects depth of beam and is not less than first The height of level expansion link；Be additionally provided with movable pulley below bottom plate, movable pulley is connected with mobile wheel drive unit, mobile wheel drive unit include connecting plate, Reductor and direct current generator；Wherein：Direct current generator is connected with the input shaft of reductor, and the output of reductor is pivotally connected to movable pulley；Reductor is connected by connecting plate with chassis；The high side vertical beam that bottom plate installs the relevant position of movable pulley is provided with the groove matched with movable pulley profile, for multiple Warn robot stacking place；Unit of warning is warned unit including the first unit and second of warning, wherein：First warns unit between the peak of multistage retractable rod and chassis, and second warns unit located at crossbeam and perpendicular bottom Beam；Also warned device including sound, sound device of warning is used to realize by way of audio and warned.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510784711.7A CN105239519B (en) | 2015-11-16 | 2015-11-16 | A kind of robot and intelligent transportation warning system comprising the robot of warning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510784711.7A CN105239519B (en) | 2015-11-16 | 2015-11-16 | A kind of robot and intelligent transportation warning system comprising the robot of warning |
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| Publication Number | Publication Date |
|---|---|
| CN105239519A CN105239519A (en) | 2016-01-13 |
| CN105239519B true CN105239519B (en) | 2017-08-29 |
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| CN201510784711.7A Active CN105239519B (en) | 2015-11-16 | 2015-11-16 | A kind of robot and intelligent transportation warning system comprising the robot of warning |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114822082A (en) * | 2022-04-27 | 2022-07-29 | 浙江交投高速公路运营管理有限公司 | Tunnel traffic remote control system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101038023A (en) * | 2007-04-10 | 2007-09-19 | 浙江大学 | Retractable three-grade electric cylinder |
| CN101763784A (en) * | 2009-09-21 | 2010-06-30 | 杭州六易科技有限公司 | Remote control walking automatic traffic warning mark |
| WO2010092229A1 (en) * | 2009-02-13 | 2010-08-19 | Haenninen Jouni | Arrangement in connection with a traffic sign and a warning system for motorists |
| CN103310715A (en) * | 2013-06-28 | 2013-09-18 | 安科智慧城市技术（中国）有限公司 | Intelligent parking warning device and control method thereof |
| CN205152832U (en) * | 2015-11-16 | 2016-04-13 | 许正阳 | Warn robot and contain intelligent transportation system of warning of this robot |
-
2015
- 2015-11-16 CN CN201510784711.7A patent/CN105239519B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101038023A (en) * | 2007-04-10 | 2007-09-19 | 浙江大学 | Retractable three-grade electric cylinder |
| WO2010092229A1 (en) * | 2009-02-13 | 2010-08-19 | Haenninen Jouni | Arrangement in connection with a traffic sign and a warning system for motorists |
| CN101763784A (en) * | 2009-09-21 | 2010-06-30 | 杭州六易科技有限公司 | Remote control walking automatic traffic warning mark |
| CN103310715A (en) * | 2013-06-28 | 2013-09-18 | 安科智慧城市技术（中国）有限公司 | Intelligent parking warning device and control method thereof |
| CN205152832U (en) * | 2015-11-16 | 2016-04-13 | 许正阳 | Warn robot and contain intelligent transportation system of warning of this robot |
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| CN105239519A (en) | 2016-01-13 |
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