CN106094837A - Intelligent line patrolling, alignment system - Google Patents
Intelligent line patrolling, alignment system Download PDFInfo
- Publication number
- CN106094837A CN106094837A CN201610645822.4A CN201610645822A CN106094837A CN 106094837 A CN106094837 A CN 106094837A CN 201610645822 A CN201610645822 A CN 201610645822A CN 106094837 A CN106094837 A CN 106094837A
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- line walking
- sensor
- line
- intelligent
- alignment
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- 230000033228 biological regulation Effects 0.000 claims abstract description 5
- 239000000463 material Substances 0.000 claims abstract description 3
- 239000000523 sample Substances 0.000 claims description 3
- 230000007423 decrease Effects 0.000 abstract description 4
- 238000012544 monitoring process Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 241000282836 Camelus dromedarius Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0244—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using reflecting strips
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Optics & Photonics (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of Intelligent line patrolling, alignment system.It includes line walking, alignment sensor (2), line walking, location reflection unit (3), sensor stand (4) and intelligent controller (5), described line walking, location reflection unit (3) is arranged on road surface, and its surface has the material of two kinds of diffuse-reflectance character, line walking, alignment sensor (2) is arranged on sensor stand (4), sensor stand (4) is arranged on vehicle and the horizontal or vertical regulation line walking of energy, the position of alignment sensor (2), line walking, alignment sensor (2) is connected with intelligent controller (5), intelligent controller (5) passes data to control system by CAN.One Intelligent line patrolling of the present invention, alignment system, decrease repeatable operation manually, decreases Field Force to track or the monitoring of location, and the equipment that enhances travels or the degree of accuracy of location, shortens time and the positioning precision of operation, saves cost of labor.
Description
Technical field
The present invention relates to a kind of Vehicular intelligent and control equipment and system.Belong to technical field of vehicle.
Background technology
Along with expansion and the increase of population density of city size, good traffic has become as urban economy development
Important foundation.Engineering truck and the crane gear role that performer is the most important in capital construction and urban construction.Greatly
Type engineering truck and the traveling of crane gear, position fixing process depend on equipment driver's visual observations and manual correction, essence
Really property is difficult to be guaranteed.Correction route and the process of device location, both occupied plenty of time and space, accounted for again the most repeatedly
With substantial amounts of observation personnel.And owing to the main body of large special engineering equipment is longer, the biggest, monitoring and human pilot can be given
Bring difficulty and inconvenience.During urban transportation, long-time road occupying open circuit, by the trip of strong influence resident, also increases simultaneously
The big pressure of other road, brings great inconvenience to personnel's trip.
It is thus desirable to a kind of can improve to travel precision and reduce the equipment of engineering time and personnel simultaneously solve
State problem.
Summary of the invention
It is an object of the invention to overcome above-mentioned deficiency, it is provided that a kind of Intelligent line patrolling, alignment system, solve existing
Engineering truck or crane gear volume long excessive cause travel and positioning precision low, the time is long, location difficulty, monitoring personnel many
Shortcoming.
The object of the present invention is achieved like this:
A kind of Intelligent line patrolling, alignment system, be characterized in including line walking, alignment sensor, line walking, location reflection unit, sensing
Device support and intelligent controller, described line walking, location reflection unit be arranged on road surface, line walking, alignment sensor are arranged on biography
On sensor bracket, sensor stand is arranged on vehicle and energy horizontal or vertical regulation line walking, the position of alignment sensor, patrols
Line, alignment sensor are connected with intelligent controller, and intelligent controller passes data to control system by CAN.
One Intelligent line patrolling of the present invention, alignment system, its line walking, alignment sensor include four infrared ray colour code sensings
Device, vehicle line walking, alignment sensor be installed between the two-wheeled of front part of vehicle left and right and between the two-wheeled of vehicle rear left and right, infrared ray
Color mark sensor and line walking, location reflection unit are vertical, and the probe of infrared ray color mark sensor fills towards line walking, location reflection
Put.
One Intelligent line patrolling of the present invention, alignment system, its line walking, alignment sensor also include a laser instrument.
One Intelligent line patrolling of the present invention, alignment system, its sensor stand includes cross bar, montant, horizontal adjustment handwheel, erects
Straight adjusting handle and coordinating block, described cross bar is fixed on vehicle, and cross bar passes coordinating block, and coordinating block can be slided left and right on cross bar
Dynamic, horizontal adjustment handwheel include for rotational lock head and with cross bar depending post portion, the upper end of described montant is through coordinating
Block, lower end is connected with line walking, alignment sensor, and montant can slide up and down in coordinating block, and described vertical adjusting handle includes using
The bar portion coordinated with montant in the head sum of rotational lock.
One Intelligent line patrolling of the present invention, alignment system, its intelligent controller includes the MCU of one piece of STM32F103 series,
MCU includes CAN interface and GPIO interface.
One Intelligent line patrolling of the present invention, alignment system, its line walking, location reflection unit stick to road or body surface,
Line walking, the centre of surface region of location reflection unit are black, and other region is white.
Compared with prior art, the invention has the beneficial effects as follows:
One Intelligent line patrolling of the present invention, alignment system, decrease repeatable operation manually, decrease Field Force to track or
The monitoring of location, the equipment that enhances travels or the degree of accuracy of location, shortens time and the positioning precision of operation, saves and manually become
This.
Accompanying drawing explanation
Fig. 1 is the overall structure block diagram of the present invention.
Fig. 2 is the line walking of the present invention, alignment sensor structure chart.
Fig. 3 is the line walking of the present invention, location reflection unit schematic diagram.
Fig. 4 is the installation site schematic diagram of the line walking of the present invention, alignment sensor.
Fig. 5 is sensor of the invention support and line walking, the scheme of installation of alignment sensor.
In figure:
Control system 1,
Line walking, alignment sensor 2,
Infrared ray color mark sensor 2.1,
Line walking, location reflection unit 3,
Sensor stand 4,
Cross bar 4.1,
Montant 4.2,
Horizontal adjustment handwheel 4.3,
Vertically adjusting handle 4.4,
Coordinating block 4.5,
Intelligent controller 5.
Detailed description of the invention
Seeing Fig. 1-5, the present invention relates to a kind of Intelligent line patrolling, alignment system, it includes line walking, alignment sensor 2, patrols
Line, location reflection unit 3, sensor stand 4 and intelligent controller 5, described line walking, location reflection unit 3 be arranged on road surface,
Line walking, alignment sensor 2 are arranged on sensor stand 4, and sensor stand 4 is arranged on vehicle and can horizontal or vertical regulation
Line walking, the position of alignment sensor 2, line walking, alignment sensor 2 be connected with intelligent controller 5, and intelligent controller 5 is total by CAN
Line passes data to control system.
The material that described line walking, location reflection unit 3 are had diffuse-reflectance character by surface is made, line walking, location reflection dress
Putting 3 and stick to road or body surface, in the embodiment of Fig. 3, line walking, the centre of surface region of location reflection unit 3 are black,
Other region is white.
Wherein, line walking, location reflection unit 3 have relatively strong tack, and have water resistance.
Described line walking, alignment sensor 2 include four infrared ray color mark sensors 2.1.Infrared ray color mark sensor 2.1,
It has the features such as little, highly sensitive, the good linearity of volume, and peripheral circuit is simple, installs conveniently, and power requirement is the highest.With
It is optimal as Proximity Sensor, and circuit design is simple, stable and reliable for performance.In the present embodiment, vehicle line walking, fixed
Level sensor 2 is installed between the two-wheeled of front part of vehicle left and right and between the two-wheeled of vehicle rear left and right.Infrared ray color mark sensor 2.1
With line walking, location reflection unit 3 vertical, the probe of infrared ray color mark sensor 2.1 towards line walking, position reflection unit 3.Due to
Black and white is different to the reflection coefficient of light, can judge " road " according to the power of the reflection light received.Hot
When outer color mark sensor 2.1 is positioned on the white portion of line walking, location reflection unit 3, high level signal can be sent, when infrared
When color mark sensor 2.1 is positioned on the black region of line walking, location reflection unit 3, low level signal can be sent.By one group
The signal value of infrared color mark sensor, it can be determined that go out vehicle or equipment is current and the deviation of desired trajectory.
Described line walking, alignment sensor 2 also include a laser instrument, and laser instrument is used for infrared ray color mark sensor 2.1
Position carry out initial calibration and to vehicle or the desired trajectory of equipment or the judgement of position.
Described sensor stand 4, including cross bar 4.1, montant 4.2, horizontal adjustment handwheel 4.3, vertical adjusting handle 4.4 and
Coordinating block 4.5, described cross bar 4.1 is fixed on vehicle, and cross bar 4.1 is through coordinating block 4.5, and coordinating block 4.5 can be on cross bar 4.1
Horizontally slipping, the bar portion of horizontal adjustment handwheel 4.3 coordinates with cross bar 4.1, and the head rotating horizontal adjustment handwheel 4.3 makes level
The bar portion of adjusting handle 4.3 offsets with cross bar 4.1 and is locked, the upper end of described montant 4.2 pass coordinating block 4.5, lower end with
Line walking, alignment sensor 2 connect, and montant 4.2 can slide up and down in coordinating block 4.5, the bar portion of described vertical adjusting handle 4.4
Coordinating with montant 4.2, the head rotating vertical adjusting handle 4.4 makes the bar portion of vertical adjusting handle 4.4 offset with montant 4.2
It is locked.
Equipment can make vehicle tyre or equipment fulcrum be under pressure and make equipment integral sinking after load-carrying, by regulation level
With vertical adjusting handle 4.4, adjusting handle 4.3 remains that line walking, alignment sensor 2 are parallel with equipment, and make line walking, determine
Level sensor 2 and road surface or object plane remain fixing distance, it is to avoid causes line walking, location because of the sinking of equipment
The damage of sensor 2 or line walking, the loss of significance of alignment sensor 2.
Described intelligent controller 5 includes that the MCU, MCU of one piece of STM32F103 series includes CAN EBI and GPIO
Interface.Intelligent controller 5 reads line walking by GPIO interface, alignment sensor 2 collects numerical value, and goes out according to numerical computations
Controlled quentity controlled variable, is then transferred to control system by controlled quentity controlled variable by CAN bus, and shows on the display screen in driver's cabin, make
Driver is apparent from the deviation of equipment and desired trajectory, thus better controls over the left and right turn of equipment so that it is go all the time
Sail or be positioned on predetermined route and position.
The present invention carries out new bridge entirety in the San Yuan Flyover overhaul engineering of Beijing and packs and played pivotal role in replacement process
And it is cited as Beijing's scientific and technical innovation special award.
The present invention is not limited solely on camel bridge car, equally applicable on crane or engineering truck.
Operation principle:
Line walking, alignment sensor 2 collect the deviation value of current vehicle position and setting position, and deviation value is passed to intelligence
Controller 5, intelligent controller 5 receives line walking, alignment sensor 2 collects deviation value signal, through being calculated controlled quentity controlled variable, will
Controlled quentity controlled variable is transferred to the control system 1 of equipment with the form of CAN bus, and shows showing in intelligent controller 5 and driver's cabin
In display screen, the controlled quentity controlled variable that driver or intelligent controller 5 show according to control system 1, control the hydraulic steering mechanism of equipment, control
Control equipment left and right turn, thus control equipment and travel or be positioned on projected route and position.
Claims (6)
1. an Intelligent line patrolling, alignment system, it is characterised in that: it includes line walking, alignment sensor (2), line walking, location reflection
Device (3), sensor stand (4) and intelligent controller (5), described line walking, location reflection unit (3) be arranged on road surface, and
Its surface has the material of two kinds of diffuse-reflectance character, and line walking, alignment sensor (2) are arranged on sensor stand (4), sensor
Support (4) is arranged on vehicle and energy horizontal or vertical regulation line walking, the position of alignment sensor (2), line walking, alignment sensor
(2) being connected with intelligent controller (5), intelligent controller (5) passes data to control system by CAN.
A kind of Intelligent line patrolling, alignment system the most according to claim 1, it is characterised in that: described line walking, alignment sensor
(2) include that four infrared ray color mark sensors (2.1), vehicle line walking, alignment sensor (2) are installed on front part of vehicle left and right two-wheeled
Between and vehicle rear left and right two-wheeled between, infrared ray color mark sensor (2.1) and line walking, location reflection unit (3) are vertical, red
The probe of outside line color mark sensor (2.1) is towards line walking, location reflection unit (3).
Described a kind of Intelligent line patrolling the most according to claim 2, alignment system, it is characterised in that: line walking, orientation sensing
Device (2) also includes a laser instrument.
A kind of Intelligent line patrolling, alignment system the most according to claim 1, it is characterised in that: described sensor stand (4),
Including cross bar (4.1), montant (4.2), horizontal adjustment handwheel (4.3), vertical adjusting handle (4.4) and coordinating block (4.5), described
Cross bar (4.1) is fixed on vehicle, and cross bar (4.1) passes coordinating block (4.5), and coordinating block (4.5) can be in the upper left and right of cross bar (4.1)
Slide, horizontal adjustment handwheel (4.3) include for rotational lock head and with cross bar (4.1) depending post portion, described montant
(4.2) upper end passes coordinating block (4.5), and lower end is connected with line walking, alignment sensor (2), and montant (4.2) can be at coordinating block
(4.5) sliding up and down in, described vertical adjusting handle (4.4) includes joining with montant (4.2) of the head sum for rotational lock
The bar portion closed.
A kind of Intelligent line patrolling, alignment system the most according to claim 1, it is characterised in that: described intelligent controller (5) wraps
The MCU, MCU that include one piece of STM32F103 series include CAN interface and GPIO interface.
A kind of Intelligent line patrolling, alignment system the most according to claim 1, it is characterised in that: described line walking, location reflection dress
Putting (3) and stick to road or body surface, line walking, the centre of surface region of location reflection unit (3) are black, and other region is
White.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610645822.4A CN106094837B (en) | 2016-08-09 | 2016-08-09 | Intelligent line patrol and positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610645822.4A CN106094837B (en) | 2016-08-09 | 2016-08-09 | Intelligent line patrol and positioning system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106094837A true CN106094837A (en) | 2016-11-09 |
| CN106094837B CN106094837B (en) | 2021-12-10 |
Family
ID=57456148
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610645822.4A Active CN106094837B (en) | 2016-08-09 | 2016-08-09 | Intelligent line patrol and positioning system |
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| Country | Link |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6671582B1 (en) * | 2002-08-26 | 2003-12-30 | Brian P. Hanley | Flexible agricultural automation |
| CN101201631A (en) * | 2006-11-08 | 2008-06-18 | 卡特彼勒群伯控制技术有限公司 | Systems and methods for augmenting an inertial navigation system |
| CN203433366U (en) * | 2013-09-06 | 2014-02-12 | 山东交通学院 | Automatic tracking warning device |
| CN203666419U (en) * | 2014-02-09 | 2014-06-25 | 黑龙江工业学院 | Logistics warehouse trolley with tracking function |
| CN104122895A (en) * | 2014-08-13 | 2014-10-29 | 成都四威高科技产业园有限公司 | AGV navigation method based on self-adaptive PID |
| CN205038518U (en) * | 2015-10-10 | 2016-02-17 | 华北电力大学（保定） | Automatic dolly of falling storehouse of barrier is kept away to intelligence |
| CN206002957U (en) * | 2016-08-09 | 2017-03-08 | 任自放 | Intelligent line patrolling, alignment system |
-
2016
- 2016-08-09 CN CN201610645822.4A patent/CN106094837B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6671582B1 (en) * | 2002-08-26 | 2003-12-30 | Brian P. Hanley | Flexible agricultural automation |
| CN101201631A (en) * | 2006-11-08 | 2008-06-18 | 卡特彼勒群伯控制技术有限公司 | Systems and methods for augmenting an inertial navigation system |
| CN203433366U (en) * | 2013-09-06 | 2014-02-12 | 山东交通学院 | Automatic tracking warning device |
| CN203666419U (en) * | 2014-02-09 | 2014-06-25 | 黑龙江工业学院 | Logistics warehouse trolley with tracking function |
| CN104122895A (en) * | 2014-08-13 | 2014-10-29 | 成都四威高科技产业园有限公司 | AGV navigation method based on self-adaptive PID |
| CN205038518U (en) * | 2015-10-10 | 2016-02-17 | 华北电力大学（保定） | Automatic dolly of falling storehouse of barrier is kept away to intelligence |
| CN206002957U (en) * | 2016-08-09 | 2017-03-08 | 任自放 | Intelligent line patrolling, alignment system |
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| Publication number | Publication date |
|---|---|
| CN106094837B (en) | 2021-12-10 |
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