CN106094837B - Intelligent line patrol and positioning system - Google Patents
Intelligent line patrol and positioning system Download PDFInfo
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- CN106094837B CN106094837B CN201610645822.4A CN201610645822A CN106094837B CN 106094837 B CN106094837 B CN 106094837B CN 201610645822 A CN201610645822 A CN 201610645822A CN 106094837 B CN106094837 B CN 106094837B
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- 239000000463 material Substances 0.000 claims abstract description 3
- 239000000523 sample Substances 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 abstract description 4
- 238000012546 transfer Methods 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
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- 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
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- 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 invention relates to an intelligent line patrol and positioning system. It is including patrolling line, position sensor (2), patrolling line, location reflect meter (3), sensor support (4) and intelligent control ware (5), it sets up on the road surface to patrol line, position reflect meter (3), and its surface has the material of two kinds of diffuse reflection properties, it patrols line, position sensor (2) set up on sensor support (4), sensor support (4) are installed on the vehicle and CAN level or vertical regulation patrol line, the position of position sensor (2), it patrols line, position sensor (2) link to each other with intelligent control ware (5), intelligent control ware (5) are through CAN bus with data transfer to control system. The intelligent line patrol and positioning system reduces manual repeated operation, reduces monitoring of track or positioning by field personnel, enhances the running or positioning accuracy of equipment, shortens the operation time and positioning accuracy, and saves labor cost.
Description
Technical Field
The invention relates to a vehicle intelligent control device and system. Belongs to the technical field of vehicles.
Background
With the expansion of urban scale and the increase of population density, good traffic conditions have become an important basis for the development of urban economy. Engineering vehicles and hoisting equipment play an increasingly important role in infrastructure and urban construction. The driving and positioning processes of large engineering vehicles and hoisting equipment mainly depend on visual observation and manual correction of equipment drivers, and the accuracy is difficult to ensure. In addition, the process of repeatedly correcting the route and the position of the equipment occupies a large amount of time and space, and also occupies a large amount of observers. However, the main body of the large special engineering equipment is generally long and large, which brings difficulty and inconvenience to monitoring and driving personnel. In the urban traffic process, the long-time road occupation and the open circuit greatly influence the travel of residents, and meanwhile, the pressure of other roads is increased, so that great inconvenience is brought to the travel of people.
Therefore, an apparatus that can simultaneously improve the traveling accuracy and reduce the construction time and personnel is required to solve the above problems.
Disclosure of Invention
The invention aims to overcome the defects, provides an intelligent line patrol and positioning system, and solves the problems of low running and positioning accuracy, long time, difficult positioning and more monitoring personnel caused by overlong and overlarge volume of the conventional engineering vehicle or hoisting equipment.
The purpose of the invention is realized as follows:
the utility model provides an intelligence is patrolled line, positioning system, its characteristics are including patrolling line, positioning sensor, patrolling line, location reflect meter, sensor support and intelligent control ware, patrolling line, location reflect meter and setting up on the road surface, patrolling line, positioning sensor set up on sensor support, sensor support mounting just CAN level or vertical regulation on the vehicle patrols line, positioning sensor's position, patrols line, positioning sensor and intelligent control ware and links to each other, and intelligent control ware passes through the CAN bus with data transfer to control system.
The invention relates to an intelligent line patrol and positioning system, wherein line patrol and positioning sensors comprise four infrared color code sensors, the vehicle line patrol and positioning sensors are arranged between a left wheel and a right wheel at the front part of the vehicle and between a left wheel and a right wheel at the rear part of the vehicle, the infrared color code sensors are vertical to a line patrol and positioning reflection device, and probes of the infrared color code sensors face the line patrol and positioning reflection device.
The invention relates to an intelligent line patrol and positioning system, wherein a line patrol and positioning sensor also comprises a laser.
The invention relates to an intelligent line patrol and positioning system, wherein a sensor support comprises a cross rod, a vertical rod, a horizontal adjusting hand wheel, a vertical adjusting hand wheel and a matching block, the cross rod is fixed on a vehicle, the cross rod penetrates through the matching block, the matching block can slide left and right on the cross rod, the horizontal adjusting hand wheel comprises a head part used for rotary locking and a rod part matched with the cross rod, the upper end of the vertical rod penetrates through the matching block, the lower end of the vertical rod is connected with a line patrol and positioning sensor, the vertical rod can slide up and down in the matching block, and the vertical adjusting hand wheel comprises a head part used for rotary locking and a rod part matched with the vertical rod.
The invention relates to an intelligent line patrol and positioning system, wherein an intelligent controller of the intelligent line patrol and positioning system comprises an STM32F103 series MCU, and the MCU comprises a CAN bus interface and a GPIO interface.
The invention relates to an intelligent line patrol and positioning system, wherein line patrol and positioning reflecting devices are adhered to the surface of a road or an object, the central areas of the surfaces of the line patrol and positioning reflecting devices are black, and the other areas are white.
Compared with the prior art, the invention has the beneficial effects that:
the intelligent line patrol and positioning system reduces manual repeated operation, reduces monitoring of track or positioning by field personnel, enhances the running or positioning accuracy of equipment, shortens the operation time and positioning accuracy, and saves labor cost.
Drawings
Fig. 1 is a block diagram of the overall structure of the present invention.
Fig. 2 is a structural diagram of a line patrol and positioning sensor according to the present invention.
Fig. 3 is a schematic view of the line patrol and positioning reflection device of the present invention.
Fig. 4 is a schematic view of the installation position of the line patrol and positioning sensor of the present invention.
Fig. 5 is a schematic view of the installation of the sensor holder and the line patrol and positioning sensor of the present invention.
In the figure:
the control system 1 is controlled in such a way that,
a line-patrol and positioning sensor 2 is arranged,
an infrared color code sensor 2.1 is provided,
a line-patrol and positioning reflection device 3,
the sensor support (4) is provided with a sensor,
the cross bar (4.1) is provided with a plurality of cross bars,
the vertical rod is provided with a vertical rod 4.2,
a horizontal adjusting hand wheel 4.3 is arranged,
the vertical adjusting hand wheel 4.4 is provided with a vertical adjusting handle,
the matching block 4.5 is provided with a matching block,
and an intelligent controller 5.
Detailed Description
Referring to fig. 1-5, the invention relates to an intelligent line patrol and positioning system, which comprises a line patrol, a positioning sensor 2, a line patrol, a positioning reflection device 3, a sensor bracket 4 and an intelligent controller 5, wherein the line patrol and positioning reflection device 3 is arranged on a road surface, the line patrol and positioning sensor 2 is arranged on the sensor bracket 4, the sensor bracket 4 is arranged on a vehicle and CAN horizontally or vertically adjust the positions of the line patrol and positioning sensor 2, the line patrol and positioning sensor 2 is connected with the intelligent controller 5, and the intelligent controller 5 transmits data to a control system through a CAN bus.
The line patrol and positioning reflection device 3 is made of a material with a diffuse reflection property on the surface, the line patrol and positioning reflection device 3 is adhered on the surface of a road or an object, in the embodiment of fig. 3, the central area of the surface of the line patrol and positioning reflection device 3 is black, and the other areas are white.
Wherein, patrolling line, location reflect meter 3 has stronger stickness, and has waterproof performance.
The line patrol and positioning sensor 2 comprises four infrared color code sensors 2.1. The infrared color code sensor 2.1 has the characteristics of small volume, high sensitivity, good linearity and the like, and has simple peripheral circuit, convenient installation and low power requirement. The sensor is ideal as a proximity sensor, and has simple circuit design and stable and reliable performance. In the present embodiment, the vehicle routing and positioning sensors 2 are mounted between the left and right wheels at the front of the vehicle and between the left and right wheels at the rear of the vehicle. The infrared color code sensor 2.1 is vertical to the line patrol and positioning reflection device 3, and the probe of the infrared color code sensor 2.1 faces the line patrol and positioning reflection device 3. Since the reflection coefficients of black and white for light are different, the "road" can be determined according to the intensity of the received reflected light. When the infrared color mark sensor 2.1 is located on the white area of the line patrol and positioning reflection device 3, a high level signal is sent out, and when the infrared color mark sensor 2.1 is located on the black area of the line patrol and positioning reflection device 3, a low level signal is sent out. Through the signal values of a group of infrared color mark sensors, the deviation of the current track of the vehicle or equipment from the preset track can be judged.
The line patrol and location sensor 2 further comprises a laser for initial calibration of the position of the infrared color patch sensor 2.1 and determination of a predetermined trajectory or position of the vehicle or equipment.
Sensor support 4, including horizontal pole 4.1, montant 4.2, horizontal adjustment hand wheel 4.3, vertical adjusting hand wheel 4.4 and cooperation piece 4.5, horizontal pole 4.1 is fixed on the vehicle, and horizontal pole 4.1 passes cooperation piece 4.5, and cooperation piece 4.5 can be on horizontal pole 4.1 horizontal slip, and horizontal adjustment hand wheel 4.3's pole portion and horizontal pole 4.1 cooperation, rotatory horizontal adjustment hand wheel 4.3's head make horizontal adjustment hand wheel 4.3's pole portion and horizontal pole 4.1 counterbalance locking fixed, cooperation piece 4.5 is passed to montant 4.2's upper end, and the lower extreme is connected with patrol line, position sensor 2, and montant 4.2 can slide from top to bottom in cooperation piece 4.5, the pole portion and the cooperation of montant 4.2 of vertical adjustment hand wheel 4.4, and the head of rotatory vertical adjustment hand wheel 4.4 makes vertical adjustment hand wheel 4.4's pole portion and montant 4.2 counterbalance locking fixed.
The equipment can make the wheel tire or equipment fulcrum receive pressure and make equipment wholly sink after the load, through adjusting horizontal adjusting hand wheel 4.3 and vertical adjusting hand wheel 4.4 and keeping patrolling line all the time, positioning sensor 2 is parallel with equipment to make patrolling line, positioning sensor 2 and road surface or object face keep fixed distance all the time, avoided leading to patrolling line, positioning sensor 2's damage or patrolling line, positioning sensor 2's precision loss because of the sinking of equipment.
The intelligent controller 5 comprises an STM32F103 series MCU which comprises a CAN bus interface and a GPIO interface. The intelligent controller 5 reads the patrol line through the GPIO interface, the positioning sensor 2 collects numerical values, the control quantity is calculated according to the numerical values, then the control quantity is transmitted to the control system through the CAN bus and is displayed on a display screen in a cab, so that a driver CAN clearly know the deviation between the equipment and a preset track, the left-right steering of the equipment is better controlled, and the equipment is enabled to run or be positioned on a preset route and position all the time.
The invention is not limited to the hump bridge vehicle, and is also applicable to cranes or engineering vehicles.
The working principle is as follows:
the line patrol and positioning sensor 2 collects a deviation value between the current position of the vehicle and a set position, the deviation value is transmitted to the intelligent controller 5, the intelligent controller 5 receives a line patrol and positioning sensor 2 collects a deviation value signal, a control quantity is obtained through calculation, the control quantity is transmitted to the control system 1 of the equipment in a CAN bus mode and is displayed on the intelligent controller 5 and a display screen in a cab, a driver or the intelligent controller 5 controls a hydraulic steering mechanism of the equipment according to the control quantity displayed by the control system 1, and the control equipment is steered left and right, so that the control equipment is driven or positioned on a preset route and position.
Claims (3)
1. The utility model provides an intelligence is patrolled line, positioning system which characterized in that: the line patrol and location sensor system comprises a line patrol, a location sensor (2), a line patrol, a location reflection device (3), a sensor bracket (4) and an intelligent controller (5), wherein the line patrol and location reflection device (3) is arranged on a road surface, the surface of the line patrol and location sensor (2) is provided with two materials with diffuse reflection properties, the line patrol and location sensor (4) is arranged on the sensor bracket (4), the sensor bracket (4) is arranged on a vehicle and CAN horizontally or vertically adjust the positions of the line patrol and location sensor (2), the line patrol and location sensor (2) is connected with the intelligent controller (5), the intelligent controller (5) transmits data to a control system through a CAN bus, the line patrol and location sensor (2) comprises four infrared color code sensors (2.1), the vehicle line patrol and location sensor (2) is arranged between a left wheel and a right wheel at the front part of the vehicle and between a left wheel and a right wheel at the rear part of the vehicle, the infrared color code sensor (2.1) is vertical to the line patrol and positioning reflection device (3), and the probe of the infrared color code sensor (2.1) faces the line patrol and positioning reflection device (3);
the line patrol and location sensor (2) also comprises a laser which is used for carrying out initial correction on the position of the infrared color mark sensor (2.1) and judging the preset track or position of the vehicle;
sensor support (4), including horizontal pole (4.1), montant (4.2), horizontal adjusting hand wheel (4.3), vertical adjusting hand wheel (4.4) and cooperation piece (4.5), horizontal pole (4.1) are fixed on the vehicle, and cooperation piece (4.5) are passed in horizontal pole (4.1), and cooperation piece (4.5) can be on horizontal pole (4.1) horizontal slip, horizontal adjusting hand wheel (4.3) including be used for rotatory locking the head and with horizontal pole (4.1) cooperation pole portion, cooperation piece (4.5) are passed in the upper end of montant (4.2), and the lower extreme is connected with patrol line, position sensor (2), and montant (4.2) can slide from top to bottom in cooperation piece (4.5), vertical adjusting hand wheel (4.4) including the head that is used for rotatory locking and with montant (4.2) complex pole portion.
2. The intelligent line patrol and positioning system according to claim 1, wherein: the intelligent controller (5) comprises an STM32F103 series MCU which comprises a CAN bus interface and a GPIO interface.
3. The intelligent line patrol and positioning system according to claim 1, wherein: the line patrol and location reflection device (3) is adhered to the surface of a road or an object, the central area of the surface of the line patrol and location reflection device (3) is black, and the other areas are 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 |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610645822.4A CN106094837B (en) | 2016-08-09 | 2016-08-09 | Intelligent line patrol and positioning system |
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| Publication Number | Publication Date |
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| CN106094837A CN106094837A (en) | 2016-11-09 |
| CN106094837B true CN106094837B (en) | 2021-12-10 |
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| CN201610645822.4A Active CN106094837B (en) | 2016-08-09 | 2016-08-09 | Intelligent line patrol and positioning system |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6671582B1 (en) * | 2002-08-26 | 2003-12-30 | Brian P. Hanley | Flexible agricultural automation |
| 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 |
| CN104122895B (en) * | 2014-08-13 | 2017-03-08 | 成都四威高科技产业园有限公司 | A kind of AGV air navigation aid 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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- 2016-08-09 CN CN201610645822.4A patent/CN106094837B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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