CN105735167A - Traffic road cone recycling and placing control system and method - Google Patents
Traffic road cone recycling and placing control system and method Download PDFInfo
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- CN105735167A CN105735167A CN201610124314.1A CN201610124314A CN105735167A CN 105735167 A CN105735167 A CN 105735167A CN 201610124314 A CN201610124314 A CN 201610124314A CN 105735167 A CN105735167 A CN 105735167A
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Abstract
The invention discloses a traffic road cone recycling and placing control system. The system comprises a controller, a drive device, a detection device and a man-machine interaction device, wherein the drive device, the detection device and the man-machine interaction device are electrically connected with the controller. The drive device comprises a storage tray motor used for driving a storage tray to rotate, a sliding rail motor used for driving a rotary arm to move linearly, a rotary arm motor used for driving the rotary arm to rotate relative to a sliding rail, an electromagnet used for attracting road cones and a turning board motor used for controlling a turning board to rotate so as to recycle the road cones on a road surface. The detection device comprises a vehicle speed sensor used for detecting the vehicle speed, a proximity switch used for detecting the position of the storage tray, a rotary encoder used for detecting the rotating angle of the rotary arm, first limit switches, a microswitch, a second limit switch used for detecting whether the turning board is turned in position and a pressure sensor used for detecting whether the rotary arm attracts the road cones or not. By the adoption of the traffic road cone recycling and placing control system, the accuracy of the placing and recycling processes is guaranteed, and meanwhile manual operation is reduced.
Description
Technical field
The present invention relates to road cone and throw in control technical field, particularly relate to a kind of traffic conic road-sign folding and unfolding and control system and folding and unfolding road cone control method thereof.
Background technology
Current China road fatalities ranks first in the world, and vehicle accident remains high, and whole nation Road Safety Status is severe.2012, China's road traffic accident fatality rate was that 21.10%(wherein traffic accidents fatality rate is especially up to 33.32%), and the same period, the U.S. was 1.45%, Japan is only 0.54%.Vehicle accident emergency management and rescue not in time, are one of major reasons of causing fatality rate to be under not.Increasing along with vehicle, lacks experience owing to road accident is disposed by motorist, accident checkout facility lacks, the rescue reason such as not in time, and " second accident " happens occasionally, and spot mostly is highway and city through street.Owing to highway is the linear totally-enclosed road of high target, the burst obstacle in lateral obstacle and front is generally estimated deficiency by driver.When front is busy so when self speed is higher again, often braking too late, causing second accident.After there is major motor vehicle event, it is necessary to love scene is carried out the isolation of necessity, it is possible to prevent the generation of second accident on the one hand; reducing loss prevents the state of affairs from worsening; keep the scene intact, normal vehicle safety event section can be ensured on the other hand, it is to avoid traffic jam.
The domestic highway of current China has been enter into Upkeep Period mostly, on a highway during maintenance operation, it is necessary to part way is closed, when maintaining operation, must assure that the safety driven a vehicle in operation area, it is therefore desirable to outside operation area, put traffic conic road-sign to guide vehicle to travel.Placement and the recovery of traffic conic road-sign are mainly all stood in road construction vehicle afterbody by 2 to 3 workmens to carry out placing and reclaiming along highway particular course, this operating type speed is slow, safety coefficient is low, traffic conic road-sign piles up interval disunity, and workmen is directly exposed on highway, extremely dangerous.
Domestic a few money traffic conic road-sign folding and unfolding car automatic, semi-automatic and some inputs, retracting device etc. are had been developed that in recent years, if Shanghai Electronic Institute is in the SY-100 type traffic conic road-sign automatic deploying and retracting car of research and development in 2012, but the automated control technology in this field there is presently no the entrance large-scale application stage.Existing Patents great majority are all machine driving, and road cone folding and unfolding automation control system is less.The quickly accurately input that road is bored cannot be accomplished when in the face of sudden vehicle accident.
Summary of the invention
A kind of traffic conic road-sign folding and unfolding of offer is provided and controls system and folding and unfolding road cone control method thereof, it is intended to realize accurately automatically throwing in of traffic conic road-sign.
For achieving the above object, the present invention provides a kind of traffic conic road-sign folding and unfolding to control system, including controller and the driving device, detecting device and the human-computer interaction device that electrically connect with described controller, wherein,
Described driving device include for drive deposit road cone tray rotate tray motor, for drive turning arm on slide rail the slide rail motor of rectilinear motion, for drive turning arm relative to slide rail rotate with draws road cone turning arm motor, for draw road bore electric magnet, and rotate to reclaim the turnover panel motor of road cone on road surface for controlling turnover panel, described tray motor, slide rail motor, turning arm motor, electric magnet and turnover panel motor all electrically connect with described controller；
Described detecting device includes the vehicle speed sensor for detecting road cone folding and unfolding car speed, for detecting the proximity switch of tray position, for detecting the rotary encoder of the turning arm anglec of rotation, for detecting turning arm first limit switch of position on slide rail, the microswitch whether inserting on turnover panel for detecting road to bore, the second limit switch put in place for detecting turnover panel whether to overturn, and for detecting the pressure transducer whether drawing road cone on turning arm, described vehicle speed sensor, proximity switch, microswitch, first limit switch, second limit switch and pressure transducer all electrically connect with described controller；
Described human-computer interaction device is for sending instructions to controller and receive the feedback signal of controller after receiving the instruction of user.
Preferably, described human-computer interaction device is provided with touch screen and switches between multiple function interfaces for user, and described human-computer interaction device is connected with controller by RS232 serial ports.
Preferably, described traffic conic road-sign folding and unfolding controls the supply unit that system also includes being connected with described controller.
Present invention further propose that a kind of folding and unfolding road cone control method controlling system based on above-mentioned traffic conic road-sign folding and unfolding, comprise the following steps:
When human-computer interaction device receive the input road that user sends have a meagre knowledge of make time, controller controls all actuators and initializes；
Controller obtains vehicle speed sensor and the live signal of pressure transducer transmission；
When controller gets the change of pressure transducer no signal, controller sends turning arm downlink command to slide rail motor, turning arm is descending until controller gets pressure transducer and has signal intensity along slide rail, and controller controls the electric magnet of turning arm one end and obtains electric to draw road cone；
Draw after the cone of road until turning arm, controller sends turning arm up-on command to slide rail motor makes it up along slide rail, when turning arm upstream time reaches the first Preset Time, controller sends rotation command makes turning arm rotate to turning arm motor, when turning arm upstream time reaches the second Preset Time, controller sends turning arm downlink command and tray rotation command respectively to slide rail motor and tray motor simultaneously, turning arm is descending until controller gets the signal of the first limit switch, and tray rotates until controller gets the signal of proximity switch；
When dispensing vehicle travels to predeterminated position, controller controls electric magnet dead electricity to throw in road cone；
Throw in after the cone of road until turning arm, controller sends turning arm up-on command and rotation command respectively to slide rail motor and turning arm motor simultaneously, when turning arm upstream time reaches three Preset Times, controller sends turning arm downlink command until turning arm moves to tray the surface of road cone, and continues executing with the step of the live signal obtaining vehicle speed sensor and pressure transducer transmission until terminating when receiving halt instruction.
Preferably, the folding and unfolding road cone control method of described traffic conic road-sign folding and unfolding control system also includes:
When human-computer interaction device receive the recovery road that user sends have a meagre knowledge of make time, controller controls all actuators and initializes；
Controller sends turning arm up-on command and rotation command respectively to slide rail motor and turning arm motor and obtain the live signal that microswitch transmits simultaneously；
Judge microswitch whether electric；
When microswitch not electric and when turning arm upstream time reaches four Preset Times, controller send up halt instruction to slide rail motor and return continuation judge microswitch whether electric, when microswitch obtains electric, controller sends turnover panel and rotates instruction to turnover panel motor；
When turning arm upstream time reach the 4th Preset Time and turnover panel place the second limit switch not electric time, controller sends up halt instruction to slide rail motor until getting the second limit switch to obtain the signal of telecommunication, when turning arm upstream time reaches the 4th Preset Time and turnover panel place the second limit switch obtains electric, controller sends turning arm downlink command to slide rail motor；
Turning arm is descending until controller gets the signal of pressure transducer, and controller controls electric magnet and obtains electric to draw road cone；
Draw after the cone of road until turning arm, controller sends turning arm up-on command, when turning arm upstream time reaches five Preset Times, controller sends rotation command to turning arm motor, when turning arm upstream time reaches six Preset Times, controller sends turnover panel simultaneously and rotates instruction and turning arm downlink command respectively to turnover panel motor and slide rail motor；
When turning arm downgoing time reaches seven Preset Times, controller controls turning arm and stops descending and control electric magnet dead electricity and put cone, place after the cone of road until turning arm, controller sends tray rotation command to tray motor until tray rotate in place, and continues executing with controller and send turning arm up-on command and rotation command respectively to slide rail motor and turning arm motor and obtain the step of the live signal that microswitch transmits until terminating when receiving halt instruction simultaneously.
Preferably, the folding and unfolding road cone control method of described traffic conic road-sign folding and unfolding control system also includes:
When controller does not receive the control signal that human-computer interaction device sends, controller sends dormancy control instruction to driving device and detecting device so that system is in low-power consumption mode.
Preferably, when turning arm draws road cone, described controller controls slide rail motor and suspends the 8th Preset Time to ensure that road cone absorption puts in place.
Preferably, described controller has fault tolerance, when emergency case system occurs, and the number of road cone in the state of described controller record power-off front driving device and current tray, in order to work on after re-powering；Described controller is preset the maximal work speed of described driving device, controller adjusts described driving device real work speed according to laying road cone rate request, when described real work speed is more than corresponding described maximal work speed, described controller controls described driving device by described maximal work speed action, and gives described human-computer interface device with prompting.
Preferably, the folding and unfolding road cone control method of described traffic conic road-sign folding and unfolding control system also includes:
When receiving halt instruction, controller controls current work process and covers an input or be automatically stopped after return period.
Preferably, the folding and unfolding road cone control method of described traffic conic road-sign folding and unfolding control system also includes:
When receiving stop command, controller controls current work process and stops immediately, when again throw in road have a meagre knowledge of order or reclaim road have a meagre knowledge of make time, controller controls detecting device and driving device and continues executing with according to state before stopping.
The traffic conic road-sign folding and unfolding that the present invention proposes controls system, by arrange controller and driving device, detecting device and human-computer interaction device with the use of, achieving automatically throwing in and automatically reclaiming of the cone that satisfies the need, controller automatically controls and ensure that the accuracy thrown in removal process also reduces manual operation simultaneously.It addition, the folding and unfolding of this traffic conic road-sign controls system also has simple structure and safe and reliable advantage.
Accompanying drawing explanation
Fig. 1 is the electrical block diagram that traffic conic road-sign folding and unfolding of the present invention controls System Preferred embodiments；
Fig. 2 is the serial communication process figure that traffic conic road-sign folding and unfolding of the present invention controls System Preferred embodiments；
The schematic diagram throwing in road coning tower tray journey in control method is bored on the folding and unfolding road that Fig. 3 is traffic conic road-sign folding and unfolding of the present invention control system；
The schematic diagram reclaiming road coning tower tray journey in control method is bored on the folding and unfolding road that Fig. 4 is traffic conic road-sign folding and unfolding of the present invention control system；
Fig. 5 is the stopping control flow chart that traffic conic road-sign folding and unfolding of the present invention controls in the folding and unfolding road cone control method of system；
Fig. 6 is the jerk control flow chart that traffic conic road-sign folding and unfolding of the present invention controls in the folding and unfolding road cone control method of system；
Fig. 7 be traffic conic road-sign folding and unfolding of the present invention control system folding and unfolding road cone control method in stop operation execution flow chart；
Fig. 8 is that the jerk operation that traffic conic road-sign folding and unfolding of the present invention controls in the folding and unfolding road cone control method of system performs flow chart；
Fig. 9 is the control task scattergram that traffic conic road-sign automatic deploying and retracting of the present invention controls the folding and unfolding road cone control method of system；
Figure 10 is the task transitive graph of the folding and unfolding road cone control method that traffic conic road-sign automatic deploying and retracting of the present invention controls.
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further with reference to accompanying drawing.
Detailed description of the invention
Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention.
The present invention proposes a kind of traffic conic road-sign folding and unfolding and controls system.
It is the electrical block diagram that traffic conic road-sign folding and unfolding of the present invention controls System Preferred embodiments with reference to Fig. 1, Fig. 1.
In this preferred embodiment, a kind of traffic conic road-sign folding and unfolding controls system, including controller and the driving device being electrically connected with the controller, detecting device and human-computer interaction device, wherein,
Driving device include the tray motor for driving the tray depositing road cone to rotate, for drive turning arm on slide rail the slide rail motor of rectilinear motion, for driving, turning arm rotates the turning arm motor to draw road cone relative to slide rail, for drawing the electric magnet bored on road, (electric magnet is positioned at the end of turning arm, band motor magnet motion during turning arm motion), and rotate to reclaim the turnover panel motor of road cone on road surface for controlling turnover panel, tray motor, slide rail motor, turning arm motor, electric magnet and turnover panel motor are all electrically connected with the controller；
nullDetecting device includes the vehicle speed sensor for detecting road cone folding and unfolding car speed、For detecting the proximity switch of tray position、For detecting the rotary encoder of the turning arm anglec of rotation、(it is provided with two for detecting turning arm first limit switch of position on slide rail，It is respectively used to the up and descending extreme position of detection turning arm)、The microswitch whether inserting on turnover panel for detecting road cone (is provided with 4，When 4 microswitch simultaneously electric time illustrate road cone be inserted into position，Ensure that accuracy of detection)、For detecting the second limit switch of turnover panel position, (the second limit switch is provided with two，Close when turnover panel is in horizontally and vertically state respectively)，And for detecting the pressure transducer whether drawing road cone on turning arm，Vehicle speed sensor、Proximity switch、Microswitch、First limit switch、Second limit switch and pressure transducer are all electrically connected with the controller；
Human-computer interaction device is for sending instructions to controller and receive the feedback signal of controller after receiving the instruction of user.
Being fixed with slide rail on the cone folding and unfolding car of road, turning arm is installed on slide rail and can slide up and down relative to it.Turning arm arranges corresponding mechanism makes it rotatable relative to slide rail, thus realizing capturing the road cone of diverse location.The side of road cone folding and unfolding car is provided with turnover panel.Being additionally provided with tray on the cone folding and unfolding car of road, tray is rotatable, and tray is provided with multiple bracing frame, and each bracing frame is placed with multiple road cone.When tray rotates, bracing frame is driven to rotate, so that turning arm can draw the road cone on each bracing frame.When reclaiming road cone, when turnover panel is in level, support bar thereon can be plugged in the road cone stood upside down, when turnover panel is vertical, its support bar drives road cone vertically, and turning arm moves to vertical cone top, road, and electric magnet inhales electricity thus being drawn by the support bar on turnover panel.
In the present embodiment, adopt TQFP-144 encapsulation, ARMCortex-M3 kernel STM32F103ZET6 single-chip microcomputer as controller, P23 and the P24 foot of controller connects the external crystal-controlled oscillation of 8MHZ, operating frequency can to 72MHZ, its supply voltage is 3.3V, reference voltage P31(VREF-) foot meets GND, P32(VREF+) foot meets 3.3V.
In the present embodiment, can realize, by arranging vehicle speed sensor, the fixed point input bored of satisfying the need.The data of Bus-Speed Monitoring can be passed to controller by vehicle-mounted computer by CAN, chip SN65HVD230 is selected to realize the transmission of CAN data, chip power supply voltage 3.3V, 1,4 feet are connected with single-chip microcomputer PB9, PB8 respectively, because ensureing the normal transmission of CAN data, needing in the terminal build-out resistor 7, mounting 120 ohm between 8 feet, the distance that road cone folding and unfolding car runs monitored in real time by controller according to speed.The position detection of tray is realized by proximity switch, the underface of tray Shang Meidui road cone is fitted with iron plate, what proximity switch exported is the on-off model of 12V, discernible low and high level signal is exported by TLP281 light-coupled isolation, controller switches amount signal is it can be used as to input, judged by external interrupt, when CPU detects level saltus step, illustrate that tray Shang Moudui road cone has arrived appointment position.The position detection of turning arm realizes mainly by encoder with the detection of rotational angle position, turning arm encoder is connected with controller PA6, PA7, PB0 and PB6, PB7, PB1 through AM26LS32 differential receiver respectively with the A phase of slide rail encoder, B phase, Z phase, constitute code device signal input capture, differential receiver must connect terminal resistance, about 330 ohm.Additionally install the limit switch of three same models additional, one for the calibration of turning arm initial position, other two (i.e. first limit switch) limits (i.e. up and descending extreme position) for turning arm at slide rail extreme position, what limit switch exported is the on-off model of 12V, discernible low and high level signal is exported by TLP281 light-coupled isolation, controller switches amount signal is it can be used as to input, judged by external interrupt, when CPU detects level saltus step, it is possible to calibrate turning arm and limit the turning arm stroke at slide rail.Turnover panel position is detected by the second limit switch, and ibid, CPU can export signal control turnover panel according to it and position accurately in both the horizontal and vertical directions principle.The position of road cone is mainly by four jogging switches measurements being arranged on turnover panel, and ibid, CPU can export signal according to it and hold whether road cone can be recovered accurately principle.Pressure transducer is mainly used in judging the best period that road cone is drawn, pressure transducer is output as the current signal of 4-20mA, its supply voltage is 12V, precision resistance is first adopted to convert it into voltage signal, again through the OPA365 voltage follower constituted isolation, buffering, signal condition, export stable voltage signal for Chip Microcomputer A/D channel acquisition.
The control of driving device includes controlling each actuator rotation and electric magnet obtains dead electricity.Wherein, all motor control principles are all the same, except simply start, stop and enable etc. controls, also have for correct transmission pulsed quantity data, it is used uniformly across differential driving mode, utilizing controller TIM1_CH1, TIM5_CH2, TIM8_CH1, TIM2_CH1 passage respectively turning arm motor, turnover panel motor, slide rail motor and tray motor to be carried out frequency-adjustable speed-adjustable control through AM26LS31 differential driver, driver also can send CPU with the signal that puts in place to through differential driver by feedback alarm.Owing to the Transistor-Transistor Logic level power of single-chip microcomputer output is relatively low; it can not directly control electric magnet and obtain dead electricity; light-coupled isolation can be first passed through; Control electric magnet power supply is driven to reach to control purpose being amplified by audion; a reverse fly-wheel diode need to be added, to protect audion to be not damaged by relay two ends.
Specifically, human-computer interaction device is provided with touch screen and switches between multiple function interfaces for user, and human-computer interaction device is connected with controller by RS232 serial ports.Human-computer interaction device adopts serial ports RS232 communication, being the serial asynchronous communication of a kind of full duplex, that wherein driving chip adopts is MAX3232, and this chip has two-way receptor and two-way driver, 1uA shutdown mode is provided, under worst working condition, ensure that the data rate of 120Kbps.Its over-voltage over-current protection includes that the TVS pipe of P6KE13CA does voltage protection, the current-limiting resistance of current protection, 100 Ω is done in 100mA insurance, it is to avoid because instantaneous high pressure burns out chip, it is achieved with the stabilized communication with RS232 interface touch screen.In order to receive more accurately and send, system self-defining packet header bag tail and data ID, including power control command, input, recovery, stopping, jerk, road cone number setting and display etc., its communications protocol processes with reference to Fig. 2, when upper transmission order initiation is interrupted, and the packet of 8 bytes of reception every time, system detects whether as bag tail 0x3d, if so, then remove and interrupt and resolve packet, otherwise count down to 8 byte automatic clears and remove interruption.
Further, the folding and unfolding of this traffic conic road-sign controls the supply unit that system also includes being connected with controller.The control principle of supply unit is the same with electric magnet gain and loss electric control principle, it can pass through PC control 220V and 12V on/off, reach the purpose of power management, additionally when long-time not operation, system can enter a kind of low-power consumption mode, i.e. stop pattern, need before entering this pattern controller PA10 (serial ports receiving terminal) is set to external interrupt input, in this interrupt service routine, recover cpu clock and port will be changed be set to serial data receiving terminal, thus can wake low-power consumption mode up by upper and not affect follow-up work.
In order to after preventing power down loss of vital data and affect normal operation, native system devises the data space of 16k, and CPU accesses AT24C16 chip, the information such as write Mei Dui road cone number, slide rail and turning arm state position by I2C bus protocol.The 1 of AT24C16,2, No. 3 Jiao WeiI2C addresses arrange input pin, and by its whole ground connection, 5, No. 6 feet meet the data wire SDA and clock line SCL of single-chip microcomputer respectively, and No. 7 foot ground connection, to forbid chip write-protect.
Controller embedded in uCOS-II operating system, and in order to improve traffic conic road-sign automatic deploying and retracting working performance and real-time, system establishes multitask running mechanism.With reference to Fig. 9 and Figure 10, systems soft ware is integrated with 12 tasks, and wherein task one priority level is the highest, has the highest operation right, and task one to task ten priority level reduces successively.Wherein, task seven has different running statuses to different process steps with good grounds in each task of task 12.The execution of task is logical message mailbox and semaphore transmission realization.The switching of task is dependent on task block priority and performs successively.
The traffic conic road-sign folding and unfolding that the present invention proposes controls system, by arrange controller and driving device, detecting device and human-computer interaction device with the use of, achieving automatically throwing in and automatically reclaiming of the cone that satisfies the need, controller automatically controls and ensure that the accuracy thrown in removal process also reduces manual operation simultaneously.It addition, the folding and unfolding of this traffic conic road-sign controls system also has simple structure and safe and reliable advantage.
Present invention further propose that a kind of traffic conic road-sign folding and unfolding controls the folding and unfolding road cone control method of system.
With reference to the schematic diagram throwing in road coning tower tray journey in the folding and unfolding road cone control method that Fig. 3, Fig. 3 are traffic conic road-sign folding and unfolding of the present invention control system.
The preferred embodiment of the folding and unfolding road cone control method controlling system based on above-mentioned traffic conic road-sign folding and unfolding that the present invention proposes, comprises the following steps:
Step S10, when human-computer interaction device receive the input road that user sends have a meagre knowledge of make time, controller controls all actuators and initializes；
User can send input road by human-computer interaction device and have a meagre knowledge of order, has a meagre knowledge of order when human-computer interaction device receives the input road that user sends, controller control all actuators initialization.Actuator includes slide rail, tray, turnover panel and turning arm.System initialization mainly realizes the position correction of each actuator.
Step S11, controller obtains vehicle speed sensor and the live signal of pressure transducer transmission；
Step S12, when controller gets the change of pressure transducer no signal, controller sends turning arm downlink command to slide rail motor, and turning arm is descending until controller gets pressure transducer and has signal intensity along slide rail, and controller controls the electric magnet of turning arm one end and obtains electric to draw road cone；
When controller get pressure transducer have signal intensity time, illustrate that road cone is positioned at the underface of pressure transducer, now, controller controls the electric magnet of turning arm one end and obtains and electric bore drawing road.
Step S13, draw after the cone of road until turning arm, controller sends turning arm up-on command to slide rail motor makes it up along slide rail, when turning arm upstream time reaches the first Preset Time, controller sends rotation command to turning arm motor makes turning arm rotate (control turning arm and rotate 270 degree), when turning arm upstream time reaches the second Preset Time (the second Preset Time started to calculate from the controller transmission turning arm up-on command moment), controller sends turning arm downlink command and tray rotation command respectively to slide rail motor and tray motor simultaneously, turning arm is descending until controller gets the signal of the first limit switch (the first descending limit switch), tray rotates until controller gets the signal of proximity switch；
First Preset Time takes cone tailing edge slide rail more than or equal to turning arm and goes upward to the time just evaded used by touch area (i.e. cone height region in road in tray), bores in the input cycle on each road, and the first Preset Time is certain value.Second Preset Time adds the first Preset Time more than the time used by turning arm 90-degree rotation, and the second Preset Time is certain value.
Step S14, when dispensing vehicle travels to predeterminated position, controller controls electric magnet dead electricity to throw in road cone；
Dispensing vehicle traveling is realized to predeterminated position by vehicle speed sensor.Vehicle speed sensor detects the speed of dispensing vehicle in real time, and controller calculates the distance that current time road cone dispensing vehicle is exercised, and when reaching to throw in pitch requirements, controller controls electric magnet dead electricity, and launch process has been bored on road.
Step S15, throw in after the cone of road until turning arm, controller sends turning arm up-on command and rotation command respectively to slide rail motor and turning arm motor simultaneously, when turning arm upstream time reaches three Preset Times, controller sends turning arm downlink command until turning arm moves to tray the surface of road cone, and continues executing with step S10 until terminating when receiving halt instruction.
3rd Preset Time is a variate, changes with the change of road cone height in tray, and namely road cone height is more high, and the 3rd preset time value is more big.
The folding and unfolding road cone control method that the present invention proposes, throw in the process that road is bored controlling turning arm, control road cone in tray to rotate, decrease and throw in the time that cone periodic process medium Pan Shang road to be stored, road cone rotates next time, improve input road cone efficiency, before receiving halt instruction, controller meeting automatically controlled actuating device and detecting device periodic duty complete the cycle of multiple input road cone, avoid artificial repetitive operation to throw in road cone, further increase input efficiency and simplify manual operation.Meanwhile, the folding and unfolding road cone control method that the present embodiment proposes, by the accurate cooperation of controller and vehicle speed sensor, it is ensured that the accuracy of road cone fixed point placement position.
Shown in reference Fig. 4, Fig. 4 is reclaim road coning tower tray journey, and it can perform before or after the input road coning tower tray journey shown in Fig. 3.
Further, the traffic conic road-sign folding and unfolding that the present invention proposes controls the folding and unfolding road cone control method of system, further comprising the steps of:
Step S20, when human-computer interaction device receive the recovery road that user sends have a meagre knowledge of make time, controller controls all actuators and initializes；
Step S21, controller sends turning arm up-on command and rotation command (controlling turning arm rotation turnback) respectively to slide rail motor and turning arm motor and obtain the live signal that microswitch transmits simultaneously；
Step S22, it is judged that microswitch whether electric；When microswitch not electric time, perform step S23 and also return execution step S22, when microswitch obtains electric, perform step S24；
Step S23, when turning arm upstream time reaches four Preset Times, controller sends up halt instruction to slide rail motor；
Microswitch not electric, illustrate now road cone be not yet recovered on turnover panel, then need control turning arm suspend up, with wait road cone reclaim.
Step S24, controller send turnover panel rotate instruction to turnover panel motor (turnover panel rotate instruction control turnover panel 90-degree rotation so that road cone be changed to vertical state by level)；
Step S25, it is judged that turnover panel place the second limit switch whether electric；When the second limit switch not electric time, perform step S26 and also return execution step S25, when the second limit switch obtains electric, perform step S27；
Step S26, when turning arm upstream time reaches the 4th Preset Time, controller sends up halt instruction to slide rail motor；
Step S27, when turning arm upstream time reaches four Preset Times, controller sends turning arm downlink command to slide rail motor；
4th Preset Time is a variate, with in tray road cone height change and change, namely highly more high, the 4th preset time value is more little.
Step S28, turning arm is descending until controller gets the signal of pressure transducer, and controller controls electric magnet and obtains electric to draw road cone；
Step S29, draw after the cone of road until turning arm, controller sends turning arm up-on command, when turning arm upstream time reaches five Preset Times, controller sends rotation command and (controls turning arm to turning arm motor and reversely rotate 180 degree, turning arm is made to come back to above tray), when turning arm upstream time reaches six Preset Times, controller sends turnover panel simultaneously and rotates instruction and turning arm downlink command respectively to turnover panel motor and slide rail motor；
5th Preset Time one variate, with in tray road cone height change and change, namely highly more high, the 5th preset time value is more big.6th Preset Time with in tray road cone height change and change, namely highly more high, the 6th preset time value is more little.
Step S30, when turning arm downgoing time reaches seven Preset Times, controller controls turning arm and stops descending and control electric magnet dead electricity and put cone, place after the cone of road until turning arm, controller sends tray rotation command to tray motor until tray rotate in place, and continues executing with step S21 until terminating when receiving halt instruction.
Further, the folding and unfolding road cone control method of this traffic conic road-sign folding and unfolding control system also includes:
Step S40, when controller does not receive the control signal that human-computer interaction device sends, controller sends dormancy control instruction to driving device and detecting device so that system is in low-power consumption mode.
Specifically, step S40 performed before or after reclaiming road coning tower tray journey and throwing in road coning tower tray journey.
Further, with reference to Fig. 5 and Fig. 7, the folding and unfolding of this traffic conic road-sign controls the folding and unfolding road cone control method of system and also includes:
Step S50, when receiving halt instruction, controller controls current work process and covers an input or be automatically stopped after return period.
Step S50 can perform between wantonly two steps in reclaiming road coning tower tray journey and input road coning tower tray journey.
Further, with reference to Fig. 6 and Fig. 8, the folding and unfolding of this traffic conic road-sign controls the folding and unfolding road cone control method of system and also includes:
Step S60, when receiving stop command, controller controls current work process and stops immediately, when again throw in road have a meagre knowledge of order or reclaim road have a meagre knowledge of make time, controller controls detecting device and driving device and continues executing with according to state before stopping.
Step S60 can perform between wantonly two steps in reclaiming road coning tower tray journey and input road coning tower tray journey.
Further, when turning arm draws road cone, controller controls slide rail motor and suspends the 8th Preset Time to ensure that road cone absorption puts in place.In the present embodiment, arranging the 8th Preset Time is 0.1s.It addition, controller can draw road cone moment section according to preparation suitably reduces the movement velocity of slide rail motor.When the distance of pivot arm ends and the cone of road instantly is less than certain altitude, controller can suitably reduce slide rail motor movement speed.
Further, controller has fault tolerance, when emergency case system occurs, and the number of road cone in the state of controller record power-off front driving device and current tray, in order to work on after re-powering；Controller is preset the maximal work speed of driving device, controller adjusts driving device real work speed according to the rate request laying road cone, when real work speed is more than corresponding maximal work speed, controller controls driving device and presses maximal work speed action, and gives human-computer interface device with prompting.
It addition, controller also can adjust slide rail motor throwing in the high-speed motion time with removal process according to the number of road cone in current tray, to ensure the efficiency of work flow.In tray, the number of road cone is more many, and slide rail motor is more short in the high-speed motion time of input and removal process.
Specifically adopt following methods: in tray, road cone number is more few instantly, the stroke being equivalent to take cone slide rail decline will be more long, the time controlling motor high-speed motion, the longer the better comparatively speaking, and namely cone number in road has its corresponding relation with the time of slide rail motor high-speed motion, and formula is:
T=s/v+k*(S_num-N_num)；
In above formula, T is the time of slide rail motor high-speed motion, and s is definite value (the first up limit switch distance road cone stacks the minima of height), and v is the speed of current slide rail motor, and k is coefficient, and S_num is total number of road cone, and N_num is the number of current road cone.
These are only the preferred embodiments of the present invention; not thereby the scope of the claims of the present invention is limited; every equivalent structure transformation utilizing description of the present invention and accompanying drawing content to make, or directly or indirectly it is used in other relevant technical fields, all in like manner include in the scope of patent protection of the present invention.
Claims (10)
1. a traffic conic road-sign folding and unfolding controls system, it is characterised in that include controller and the driving device, detecting device and the human-computer interaction device that electrically connect with described controller, wherein,
Described driving device include for drive deposit road cone tray rotate tray motor, for drive turning arm on slide rail the slide rail motor of rectilinear motion, for drive turning arm relative to slide rail rotate with draws road cone turning arm motor, for draw road bore electric magnet, and rotate to reclaim the turnover panel motor of road cone on road surface for controlling turnover panel, described tray motor, slide rail motor, turning arm motor, electric magnet and turnover panel motor all electrically connect with described controller；
Described detecting device includes the vehicle speed sensor for detecting road cone folding and unfolding car speed, for detecting the proximity switch of tray position, for detecting the rotary encoder of the turning arm anglec of rotation, for detecting turning arm first limit switch of position on slide rail, the microswitch whether inserting on turnover panel for detecting road to bore, the second limit switch put in place for detecting turnover panel whether to overturn, and for detecting the pressure transducer whether drawing road cone on turning arm, described vehicle speed sensor, proximity switch, microswitch, first limit switch, second limit switch and pressure transducer all electrically connect with described controller；
Described human-computer interaction device is for sending instructions to controller and receive the feedback signal of controller after receiving the instruction of user.
2. traffic conic road-sign folding and unfolding as claimed in claim 1 controls system, it is characterised in that described human-computer interaction device is provided with touch screen and switches between multiple function interfaces for user, and described human-computer interaction device is connected with controller by RS232 serial ports.
3. traffic conic road-sign folding and unfolding as claimed in claim 1 controls system, it is characterised in that also include the supply unit being connected with described controller.
4. the folding and unfolding road cone control method controlling system based on the traffic conic road-sign folding and unfolding described in any one in claims 1 to 3, it is characterised in that comprise the following steps:
When human-computer interaction device receive the input road that user sends have a meagre knowledge of make time, controller controls all actuators and initializes；
Controller obtains vehicle speed sensor and the live signal of pressure transducer transmission；
When controller gets the change of pressure transducer no signal, controller sends turning arm downlink command to slide rail motor, turning arm is descending until controller gets pressure transducer and has signal intensity along slide rail, and controller controls the electric magnet of turning arm one end and obtains electric to draw road cone；
Draw after the cone of road until turning arm, controller sends turning arm up-on command to slide rail motor makes it up along slide rail, when turning arm upstream time reaches the first Preset Time, controller sends rotation command makes turning arm rotate to turning arm motor, when turning arm upstream time reaches the second Preset Time, controller sends turning arm downlink command and tray rotation command respectively to slide rail motor and tray motor simultaneously, turning arm is descending until controller gets the signal of the first limit switch, and tray rotates until controller gets the signal of proximity switch；
When dispensing vehicle travels to predeterminated position, controller controls electric magnet dead electricity to throw in road cone；
Throw in after the cone of road until turning arm, controller sends turning arm up-on command and rotation command respectively to slide rail motor and turning arm motor simultaneously, when turning arm upstream time reaches three Preset Times, controller sends turning arm downlink command until turning arm moves to tray the surface of road cone, and continues executing with the step of the live signal obtaining vehicle speed sensor and pressure transducer transmission until terminating when receiving halt instruction.
5. traffic conic road-sign folding and unfolding as claimed in claim 4 controls the folding and unfolding road cone control method of system, it is characterised in that also include:
When human-computer interaction device receive the recovery road that user sends have a meagre knowledge of make time, controller controls all actuators and initializes；
Controller sends turning arm up-on command and rotation command respectively to slide rail motor and turning arm motor and obtain the live signal that microswitch transmits simultaneously；
Judge microswitch whether electric；
When microswitch not electric and when turning arm upstream time reaches four Preset Times, controller send up halt instruction to slide rail motor and return continuation judge microswitch whether electric, when microswitch obtains electric, controller sends turnover panel and rotates instruction to turnover panel motor；
When turning arm upstream time reach the 4th Preset Time and turnover panel place the second limit switch not electric time, controller sends up halt instruction to slide rail motor until getting the second limit switch to obtain the signal of telecommunication, when turning arm upstream time reaches the 4th Preset Time and turnover panel place the second limit switch obtains electric, controller sends turning arm downlink command to slide rail motor；
Turning arm is descending until controller gets the signal of pressure transducer, and controller controls electric magnet and obtains electric to draw road cone；
Draw after the cone of road until turning arm, controller sends turning arm up-on command, when turning arm upstream time reaches five Preset Times, controller sends rotation command to turning arm motor, when turning arm upstream time reaches six Preset Times, controller sends turnover panel simultaneously and rotates instruction and turning arm downlink command respectively to turnover panel motor and slide rail motor；
When turning arm downgoing time reaches seven Preset Times, controller controls turning arm and stops descending and control electric magnet dead electricity and put cone, place after the cone of road until turning arm, controller sends tray rotation command to tray motor until tray rotate in place, and continues executing with controller and send turning arm up-on command and rotation command respectively to slide rail motor and turning arm motor and obtain the step of the live signal that microswitch transmits until terminating when receiving halt instruction simultaneously.
6. traffic conic road-sign folding and unfolding as claimed in claim 5 controls the folding and unfolding road cone control method of system, it is characterised in that also include:
When controller does not receive the control signal that human-computer interaction device sends, controller sends dormancy control instruction to driving device and detecting device so that system is in low-power consumption mode.
7. traffic conic road-sign folding and unfolding as claimed in claim 5 controls the folding and unfolding road cone control method of system, it is characterised in that when turning arm draws road cone, and described controller controls slide rail motor and suspends the 8th Preset Time to ensure that road cone absorption puts in place.
8. traffic conic road-sign folding and unfolding as claimed in claim 5 controls the folding and unfolding road cone control method of system, it is characterized in that, described controller has fault tolerance, when emergency case system occurs, the number of road cone in the state of described controller record power-off front driving device and current tray, in order to work on after re-powering；Described controller is preset the maximal work speed of described driving device, controller adjusts described driving device real work speed according to laying road cone rate request, when described real work speed is more than corresponding described maximal work speed, described controller controls described driving device by described maximal work speed action, and gives described human-computer interface device with prompting.
9. traffic conic road-sign folding and unfolding as claimed in claim 5 controls the folding and unfolding road cone control method of system, it is characterised in that also include:
When receiving halt instruction, controller controls current work process and covers an input or be automatically stopped after return period.
10. traffic conic road-sign folding and unfolding as claimed in claim 5 controls the folding and unfolding road cone control method of system, it is characterised in that also include:
When receiving stop command, controller controls current work process and stops immediately, when again throw in road have a meagre knowledge of order or reclaim road have a meagre knowledge of make time, controller controls detecting device and driving device and continues executing with according to state before stopping.
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| CN105735167B (en) | 2017-11-17 |
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