CN107589434A - A kind of automatic apparatus and method for obtaining and recording real road graticule gps coordinate - Google Patents
A kind of automatic apparatus and method for obtaining and recording real road graticule gps coordinate Download PDFInfo
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- CN107589434A CN107589434A CN201710728609.4A CN201710728609A CN107589434A CN 107589434 A CN107589434 A CN 107589434A CN 201710728609 A CN201710728609 A CN 201710728609A CN 107589434 A CN107589434 A CN 107589434A
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Abstract
The invention belongs to generate the coordinate technical field of mapping before electronic map, a kind of apparatus and method of automatic record real road graticule gps coordinate are disclosed, device includes：Electronic car body, dynamic level system, move left and right system, control mainboard, camera, GPS main frames；Method includes：Control mainboard reads camera information, judges whether deviating road graticule in a manner of image recognition, and drive electronic car body to advance along roadmarking；Control mainboard automatically adjusts the level angle of dynamic system horizontal；Control mainboard regulation moves left and right system to ensure gps antenna directly over roadmarking；Control mainboard reads gps coordinate and recorded automatically.Vehicle of the present invention is advanced automatically, without manual intervention；Without stopping, progress coordinate records automatically, and efficiency is very high；Vehicle-mounted warning lamp, is closelyed follow without personnel, avoids causing danger, and reduces labor intensity.It is particularly suitable for the gps coordinate measurement of long range roadmarking.
Description
Technical field
The invention belongs to generate the coordinate technical field of mapping before electronic map, more particularly to a kind of obtain and record automatically
The apparatus and method of real road graticule gps coordinate.
Background technology
In the examination system process of construction of vehicle driver subject three, the gps coordinate of real road graticule is measured, and
Generate corresponding electronic map.The Computer Judgement system can of Differential GPS Technology is then based on according to vehicle coordinate and electricity
Sub- map calculate in real time wheel whether line ball, vehicle body whether outlet etc., and provide deduction of points result.
And the coordinate mapping of present road graticule is substantially manually mode and completed, i.e., GPS device is placed in vehicle
On, a people is driven, and gps antenna is positioned over graticule edge by another people, is recorded after then waiting coordinate stable.
The gps coordinate mapping of real road graticule is all that manually mode is completed at present, typically using following two sides
Formula：
One kind is that GPS device is placed on vehicle, with automobile storage battery power supply to the device.One people drives, it is necessary to when recording then
Gps antenna is positioned over real road graticule edge to be measured (can also being realized using centering rod), Ran Houtong by parking, another people
Notebook computer observation GPS states are crossed, the coordinate record changed the time after state normal (i.e. coordinate is stable).One point record
Finish, then drive to advance, and gps antenna is moved into subsequent point and measured.
Another kind is to utilize trolley, and battery, GPS device and coordinate record equipment (such as tablet personal computer) are all positioned over
On trolley, then manually promote trolley to be advanced along roadmarking to be measured, stopped near the point for needing to measure, by GPS
Antenna is positioned over tested point and measures and (can also be realized using centering rod), the GPS states that viewing coordinates recording equipment is shown
It is whether normal, normally then record the coordinate value.For which in addition to not needing someone and driving to coordinate, remaining is basic with a kind of upper mode
It is identical.
In summary, the problem of prior art is present be：
In the prior art, antenna is placed by hand, and positional precision is low, and antenna can not ensure vertically, therefore coordinate measuring error
It is higher；And the section graticule of subject three is longer, for the round graticule distance in wall scroll section more than 9 kilometers, manual mode efficiency is low, consumption
Duration；Real road vehicle is more, and artificial mode of surveying and drawing is than relatively hazardous.
In existing gps coordinate mapping process, manual type to place gps antenna, if inapplicable centering rod, can not be determined
Antenna can not also ensure that antenna is vertical with the earth, therefore positional precision is low, coordinate measuring error whether just above measured point
It is larger；If use centering rod, it is ensured that co-ordinate measurement accuracy, but aligning for a single point takes long enough, and causes measurement of coordinates
Time increases, efficiency step-down；And the section graticule of subject three is longer, the round graticule distance in wall scroll section is more than 9 kilometers, by hand
Not only efficiency is low for mode, and time-consuming, and real road vehicle is more, and artificial mode of surveying and drawing is than relatively hazardous.
The content of the invention
The problem of existing for prior art, obtained automatically the invention provides one kind and record real road graticule GPS
The apparatus and method of coordinate.
The present invention be achieved in that it is a kind of obtain automatically and record the device of real road graticule gps coordinate, it is described from
The dynamic device for obtaining and recording real road graticule gps coordinate includes：
Electronic car body, for load bearing equipment and automatic advance and obtain the information on real road；
Dynamic level system, it is arranged in front of electronic car body, the left and right for carrying out level correction and camera automatically is moved
It is dynamic, automatic detection white line or yellow line, while the real time information of electronic car body is obtained, and above real time information is included in screen
On；
System is moved left and right, is arranged in dynamic level system, the letter for receiving the transmission of dynamic level system is needed and obtained
The coordinate information at roadmarking edge；
Dynamic level system, it is arranged in front of electronic car body, for carrying out level correction automatically；
System is moved left and right, is arranged in dynamic level system, for realizing moving left and right for camera and gps antenna, from
Dynamic detection white line or yellow line, obtain the coordinate information at roadmarking edge, while obtain the real time information of electronic car body, and will be with
Upper real time information is shown on screen；
Control mainboard, be arranged on electronic car body, for complete electronic car body advance control, the control of dynamic level system,
Move left and right system control, video acquisition, gps coordinate is read with storing, touch-screen controls, sound and light alarm；
GPS main frames, be arranged on electronic car body, for obtaining the information on real road, by 4G communicate in a manner of with it is attached
Near GPS Base Station carries out real time differential.
Further, the electronic car body includes：First driving wheel, the second driving wheel, universal wheel, chassis, the first driving electricity
Machine, the second motor, warning lamp and battery；First driving wheel, the second driving wheel, universal wheel, the first motor,
Second motor, warning lamp and battery are arranged on chassis；
First driving wheel engages the first motor by gear；Second driving wheel engages second by gear
Motor；First motor, the second motor, warning lamp connect battery by wire；
First motor, the second motor connect control mainboard by wire, for realizing electronic car body
Advance, retreat, turn left and turn right.
Further, the dynamic level system includes：
Universal joint for connecting the chassis of horizontal panel and electronic car body and for adjusting horizontal panel level；
It is opened in and is used for the hollow slots for accommodating the system that moves left and right on horizontal panel；
It is connected by connecting rod with the chassis of electronic car body, for realizing the first bent axle machine of high high adjustment on the right side of horizontal panel
Structure；
It is connected with the first crank mechanism by gear, for dragging the first stepper motor of the first crank mechanism rotation；
It is connected by connecting rod with the chassis of electronic car body, for realizing the second bent axle machine of high high adjustment on the downside of horizontal panel
Structure；
It is connected with the second crank mechanism by gear, for dragging the second stepper motor of the second crank mechanism rotation；
The obliquity sensor of left and right and front and rear inclination angle for detection level panel；
The horizontal panel is used to carry the first stepper motor, the second stepper motor, the first crank mechanism, the second bent axle machine
Structure, obliquity sensor, universal joint and hollow slots；The obliquity sensor connects control mainboard by wire.
Further, the system that moves left and right includes：
On the horizontal panel of dynamic level system, for the slide rail to horizontally slip,
Be fixed on above slide rail, by wire with GPS main frames be connected, for receiving the gps antenna of gps signal；
It is fixed on below slide rail, the camera for IMAQ；
It is fixed on the horizontal panel of dynamic level system, drives leading screw rotation control slide rail to horizontally slip, realize shooting
Head moves left and right with gps antenna, camera and gps antenna is in the surface at roadmarking edge, to ensure that coordinate is surveyed
3rd stepper motor of the precision of amount；
3rd stepper motor connects control mainboard by wire；
The camera and gps antenna are on same vertical line.
Further, the control mainboard includes：
Board mounted power connects battery by wire, is for producing electronic car body, dynamic level system, moving left and right
Power supply needed for system, GPS main frames；
Storage system, including internal memory and external memory, for electronic car body, dynamic level system, move left and right system, GPS main frames
Operation and application software provide memory space；
Obliquity sensor process circuit, filtering and amplifying circuit are built using operational amplifier, for handling dynamic level
The analog quantity voltage signal of obliquity sensor output in system, then A/D that the signal after processing is connect to microcontroller are changed
Device is sampled；
Stepper motor driving circuit, for drive the first stepper motor in dynamic level system, the second stepper motor with
And move left and right the 3rd stepper motor in system；
Utilizing camera interface, for connecting the camera in the system of moving left and right；
GPS HPIs, including two serial ports, the positional information of a reception GPS main frame, one leads to for carrying out difference
Letter；
4G communication interfaces, external 4G modules, interior plug sim card are connected in the form of USB interface；Master is realized by 4G modes
Control plate is communicated with neighbouring GPS Base Station, and 4G data are converted into serial data and are sent to GPS main frames, real-time to realize
Difference；
Direct current motor drive circuit, for opening the first stepper motor in dynamic level system, the second stepper motor
Dynamic, stopping and rotating driving；
SD card interface, from SD card seat, connect the SD card of extrapolation, the GPS coordinate data of stored record；
Touch-screen, for inputting user instruction, show various information；
Sound light alarming circuit, the form combined using LED light and buzzer, in the serious sideslip of vehicle and GPS states
Alarmed under abnormal conditions, to prompt staff's timely processing；
Microcontroller, for complete electronic car body advance control, the control of dynamic level system, move left and right system control,
Video acquisition, gps coordinate are read and storage, touch-screen control, sound and light alarm.
Further, the board mounted power includes power supply for step-by-step motor, DC motor power, camera power supply, GPS main frames electricity
Source, other circuit powers；
The utilizing camera interface, using usb mode, USB interface is powered transmits data again.
Another object of the present invention is to provide a kind of automatic method for obtaining and recording real road graticule gps coordinate, bag
Include：
Step 1, control mainboard control wheel, motor rotation, electronic car body advance；
Step 2, control mainboard constantly read the obliquity sensor data of dynamic level system, and determined level panel inclines
Oblique degree, and two stepper motors in dynamic level system are constantly controlled, the height of regulation right side and rear side, to ensure level
The panel moment is in horizontality；
Step 3, control mainboard constantly read camera video information, judge that camera is according to default recognizer
It is no at roadmarking edge, move left and right system movement if not controlled if edge, make camera Arch Bridges edge；If left and right
The position of mobile system movement exceedes the threshold value on left side and right side, and sideslip occurs in electronic car body, then control mainboard control left side or
Right side wheels stop turning to realize, so that electronic car body is advanced along roadmarking；
Step 4, in traveling process, control mainboard constantly reads gps coordinate and state, and calculate in real time with it is upper
Distance, when distance reaches record spacing, current GPS coordinate value is stored in SD card with form set in advance, completes a bit
Data record.
Further, need to carry out before carrying out step 1：
Record coordinate before, first by obtain automatically and record real road graticule gps coordinate device be placed on it is to be recorded
Roadmarking on, against graticule edge, startup obtains automatically and records the device of real road graticule gps coordinate camera；
In dynamic level system initialization process, moving left and right for level correction and camera, automatic inspection can be carried out automatically
White line or yellow line are surveyed, while obtains GPS Host Status, battery electric quantity, present coordinate values, and information above is included in screen
On；
Before starting record, first pass through touch-screen and coordinate record spacing is set, i.e., every how far recording a coordinate value；Set
After the completion of, if GPS states are normal, start coordinate record on the touchscreen, the coordinate file in SD card can be to record the time started
Automatic name.
Further, also need to carry out after carrying out step 4：
Continuous repeat step one motor rotation, is completed to specify the coordinate record of graticule to step 4；The automatic shape of SD card
Into a complete coordinate information file.
Such as run into crossroad or lose the situation of graticule, artificially will automatically obtain and record real road graticule GPS seats
Put down and continue coordinate record in the place that target device takes graticule.
Advantages of the present invention and good effect are：
The present invention being capable of automatic identification roadmarking, automatically correction camera position, automatic progress gps antenna perpendicularity benefit
Repay, advance automatically, recognizing GPS states automatically and carrying out coordinate record, position is deviateed and abnormal state automatic alarm.
Vehicle of the present invention is advanced automatically, without manual intervention；Coordinate records automatically, and recording process is without parking, and efficiency is very
It is high；Vehicle-mounted warning lamp, is closelyed follow without personnel, avoids causing danger, and reduces labor intensity.It is particularly suitable for long range roadmarking
Gps coordinate measures.
When carrying out the measurement of real road graticule gps coordinate with record, the present invention operates without professional person, without it
Other people coordinate, and compare saving manpower；Coordinate record process gps antenna vertical and is alignd with test line without parking
All it is to realize automatically, without manual intervention, therefore measurement of coordinates and registration accuracy height, speed are fast, the list that one kilometer of general record
Bar graticule coordinate only needs 10 minutes, and the graticule that pure manual mode records one kilometer then at least needs 30 minutes；The present invention is being sat
During mapping is painted, followed closely without personnel, therefore the danger of coordinate record process can be substantially reduced.
Brief description of the drawings
Fig. 1 is provided in an embodiment of the present invention to obtain automatically and record the method flow diagram of real road graticule gps coordinate；
Fig. 2 is provided in an embodiment of the present invention to obtain automatically and record the schematic device of real road graticule gps coordinate.
Fig. 3 is dynamic level system schematic provided in an embodiment of the present invention.
Fig. 4 is provided in an embodiment of the present invention to move left and right system schematic.
Fig. 5 is control mainboard schematic diagram provided in an embodiment of the present invention.
In figure：1st, electronic car body；2nd, dynamic level system；3rd, system is moved left and right；4th, control mainboard；5th, GPS main frames；6、
First driving wheel；7th, the second driving wheel；8th, universal wheel；9th, chassis；10th, the first motor；11st, the second motor；12nd, it is alert
Show lamp；13rd, battery；14th, universal joint；15th, hollow slots；16th, the first crank mechanism；17th, the first stepper motor；18th, second is bent
Axis mechanism；19th, the second stepper motor；20th, obliquity sensor；21st, slide rail；22nd, gps antenna；23rd, camera；24th, leading screw；25、
3rd stepper motor；26th, horizontal panel.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
At present, in the prior art, antenna is placed by hand, and positional precision is low, and antenna can not ensure vertically, therefore measurement of coordinates
Error is higher；And the section graticule of subject three is longer, the round graticule distance in wall scroll section is more than 9 kilometers, manual mode efficiency
Low, time-consuming；Real road vehicle is more, and artificial mode of surveying and drawing is than relatively hazardous.
Below in conjunction with the accompanying drawings and specific embodiment is further described to the application principle of the present invention.
As shown in figure 1, the automatic method for obtaining and recording real road graticule gps coordinate provided in an embodiment of the present invention,
Including：
S101：Before recording coordinate, equipment is placed on roadmarking to be recorded first, camera is against graticule side
Edge, starting device.
S102：In system initialization process, moving left and right for level correction and camera can be carried out automatically, can also be examined automatically
Survey is white line or yellow line, while obtains GPS Host Status, battery electric quantity, present coordinate values, and information above is included in screen
On.
S103:Before starting record, first pass through touch-screen and coordinate record spacing is set, i.e., every how far recording a coordinate
Value, general graticule are larger compared with straight then intra-record slack byte, and then intra-record slack byte is smaller for graticule bending.After being provided with, if GPS states are just
Often, coordinate record process can be started by clicking on " start recording " on the touchscreen, and the coordinate file in SD card can be started with record
Time is named automatically.
S104:Control mainboard control wheel drive motors rotation, vehicle advance.
S105:Control mainboard constantly reads the obliquity sensor data of dynamic level system, the inclination of determined level panel
Degree, and two stepper motors in dynamic level system are constantly controlled, the height of regulation right side and rear side, to ensure horizontal plane
The plate moment is in horizontality.
S106:Control mainboard constantly reads camera video information, whether judges camera according to default recognizer
At roadmarking edge, system movement is moved left and right if not controlled if edge, ensures camera Arch Bridges edge.If left and right
The position of mobile system movement exceedes the threshold value on left side and right side, then illustrates that sideslip occurs in vehicle, then control mainboard control is left
Side or right side wheels stop turning to realize, so as to ensure that vehicle is advanced along roadmarking.
S107:In traveling process, control mainboard constantly reads gps coordinate and state, and calculate in real time with it is upper away from
From, when distance reach record spacing when, by current GPS coordinate value with form set in advance be stored in SD card, complete the number of a bit
According to record.
S108:S104-S107 is constantly repeated, completes to specify the coordinate record of graticule.Record is completed to click on the touchscreen
" stop recording ", SD card can automatically form a complete coordinate information file.
S109:Such as run into crossroad or lose the situation of graticule, the place that equipment artificially can be taken to graticule is put down
It can proceed with coordinate record.
As Figure 2-Figure 5, it is provided in an embodiment of the present invention to obtain automatically and record the dress of real road graticule gps coordinate
Put, including：
Electronic car body 1, for load bearing equipment and automatic advance and obtain the information on real road；
Dynamic level system 2, it is arranged in front of electronic car body, the left and right for carrying out level correction and camera automatically is moved
It is dynamic, automatic detection white line or yellow line, while the real time information of electronic car body is obtained, and above real time information is included in screen
On；
System 3 is moved left and right, is arranged in dynamic level system, the letter for receiving the transmission of dynamic level system is needed and obtained
The coordinate information at roadmarking edge；
Control mainboard 4, be arranged on electronic car body, for complete electronic car body advance control, the control of dynamic level system,
Move left and right system control, video acquisition, gps coordinate is read with storing, touch-screen controls, sound and light alarm；
GPS main frames 5, be arranged on electronic car body, for obtaining the information on real road, by 4G communicate in a manner of with it is attached
Near GPS Base Station carries out real time differential.
The electronic car body 1 includes：First driving wheel 6, the second driving wheel 7, universal wheel 8, chassis 9, the first motor
10th, the second motor 11, warning lamp 12 and battery 13；First driving wheel, the second driving wheel, universal wheel, first drive
Dynamic motor, the second motor, warning lamp and battery are arranged on chassis；
First driving wheel engages the first motor by gear；Second driving wheel engages second by gear
Motor；First motor, the second motor, warning lamp connect battery by wire；
First motor, the second motor connect control mainboard by wire, for realizing electronic car body
Advance, retreat, turn left and turn right.
The dynamic level system 2 includes：
Universal joint 14 for connecting the chassis of horizontal panel and electronic car body and for adjusting horizontal panel level；
It is opened in and is used for the hollow slots 15 for accommodating the system that moves left and right on horizontal panel；
It is connected by connecting rod with the chassis of electronic car body, for realizing the first bent axle machine of high high adjustment on the right side of horizontal panel
Structure 16；
It is connected with the first crank mechanism by gear, for dragging the first stepper motor 17 of the first crank mechanism rotation；
It is connected by connecting rod with the chassis of electronic car body, for realizing the second bent axle machine of high high adjustment on the downside of horizontal panel
Structure 18；
It is connected with the second crank mechanism by gear, for dragging the second stepper motor 19 of the second crank mechanism rotation；
The obliquity sensor 20 of left and right and front and rear inclination angle for detection level panel；
The horizontal panel is used to carry the first stepper motor, the second stepper motor, the first crank mechanism, the second bent axle machine
Structure, obliquity sensor, universal joint and hollow slots；The obliquity sensor connects control mainboard by wire.
The system 3 that moves left and right includes：
On the horizontal panel of dynamic level system, for the slide rail 21 to horizontally slip,
Be fixed on above slide rail, by wire with GPS main frames be connected, for receiving the gps antenna 22 of gps signal；
It is fixed on below slide rail, the camera 23 for IMAQ；
It is fixed on the horizontal panel of dynamic level system, drives the rotation control slide rail of leading screw 24 to horizontally slip, realization is taken the photograph
As moving left and right for head and gps antenna, camera and gps antenna is set to be in the surface at roadmarking edge, to ensure coordinate
3rd stepper motor 25 of the precision of measurement；
3rd stepper motor connects control mainboard by wire；
The camera and gps antenna are on same vertical line.
The control mainboard 4 includes：
Board mounted power connects battery by wire, is for producing electronic car body, dynamic level system, moving left and right
Power supply needed for system, GPS main frames；
Storage system, including internal memory and external memory, for electronic car body, dynamic level system, move left and right system, GPS main frames
Operation and application software provide memory space；
Obliquity sensor process circuit, filtering and amplifying circuit are built using operational amplifier, for handling dynamic level
The analog quantity voltage signal of obliquity sensor output in system, then A/D that the signal after processing is connect to microcontroller are changed
Device is sampled；
Stepper motor driving circuit, for drive the first stepper motor in dynamic level system, the second stepper motor with
And move left and right the 3rd stepper motor in system；
Utilizing camera interface, for connecting the camera in the system of moving left and right；
GPS HPIs, including two serial ports, the positional information of a reception GPS main frame, one leads to for carrying out difference
Letter；
4G communication interfaces, external 4G modules, interior plug sim card are connected in the form of USB interface；Master is realized by 4G modes
Control plate is communicated with neighbouring GPS Base Station, and 4G data are converted into serial data and are sent to GPS main frames, real-time to realize
Difference；
Direct current motor drive circuit, for opening the first stepper motor in dynamic level system, the second stepper motor
Dynamic, stopping and rotating driving；
SD card interface, from SD card seat, connect the SD card of extrapolation, the GPS coordinate data of stored record；
Touch-screen, for inputting user instruction, show various information；
Sound light alarming circuit, the form combined using LED light and buzzer, in the serious sideslip of vehicle and GPS states
Alarmed under abnormal conditions, to prompt staff's timely processing；
Microcontroller, for complete electronic car body advance control, the control of dynamic level system, move left and right system control,
Video acquisition, gps coordinate are read and storage, touch-screen control, sound and light alarm.
The board mounted power include power supply for step-by-step motor, DC motor power, camera power supply, GPS host power supplies, other
Circuit power；
The utilizing camera interface, using usb mode, USB interface is powered transmits data again.
With reference to specific embodiment, the invention will be further described,
The electronic car body of the automatic device for obtaining and recording real road graticule gps coordinate provided in an embodiment of the present invention；
Electronic car body plays a part of load bearing equipment and advanced automatically；
First motor and the second motor are all the direct current generators with reducing gear, are carried out by control mainboard
Driving, it can control to rotate and reverse, so as to which convenient realize is advanced, retreats, turns left and turned right.
Consideration system overall weight, battery select nominal 12V lithium battery.Capacity is not less than 20AH, enough to ensure
Cruising time.
To ensure to search star number amount on real road, GPS main frames use the bimodulus differential GPS main frame of the GPS+ Big Dippeves.To protect
The precision of position coordinates is demonstrate,proved, the GPS main frames will carry out real time differential in a manner of 4G communicates with neighbouring GPS Base Station.
Warning lamp selects the type of similar warning lamp, power supply i.e. constantly flicker, to remind vehicular traffic to take care.To ensure
Alarming effect, the warning lamp need to be lifted suitably, higher than other equipment on car.
The dynamic level system of the automatic device for obtaining and recording real road graticule gps coordinate provided in an embodiment of the present invention
System,
Because camera is arranged on the lower section for the system that moves left and right, camera is as position feedback elements, installed in vehicle
Front contributes to the promptness and rapidity that position is fed back.And move left and right system and be fixed in dynamic level system, therefore
Dynamic level system is arranged in vehicle front side.
Horizontal panel is loading plate, to install stepper motor, crank mechanism etc. above.
Universal joint is used for connecting horizontal panel and vehicle chassis, is realized just with rear side can on the right side of such horizontal panel
Regulation, so as to ensure that horizontal panel is forever horizontal.
Hollow slots are a rectangular perforates, and also there is the perforate of same size on chassis below.Pacify above hollow slots
Dress moves left and right system, and camera reaches under-vehicle by hollow slots, and can move left and right.
First crank mechanism is connected by connecting rod with chassis, and the first stepper motor 4 drags the rotation of the first crank mechanism, so as to
Realize high high adjustment on the right side of horizontal panel.
Second crank mechanism is connected by connecting rod with chassis, and the second stepper motor drags the rotation of the second crank mechanism, so as to
High high adjustment on the downside of horizontal panel is realized, adjusts the final dynamic level for realizing horizontal panel on earth with reference to right side.
First stepper motor and the second stepper motor carry 4 phase step motors of reducing gear from 57 series, it is ensured that
Moment of torsion is more than 2NM.
What obliquity sensor was selected is the ZCT290L-LHS-17 type double-shaft tilt angle sensors of Shanghai Zhi Chuan companies production, is used
To detect left and right and front and rear inclination angle, export as voltage analog.Obliquity sensor and stepper motor are all connected to control mainboard, by
Control mainboard carries out data acquisition and control processing.
It is provided in an embodiment of the present invention it is automatic obtain and record real road graticule gps coordinate moving left and right for device be
System,
Sliding rail rack is arranged on the horizontal panel of dynamic level system, and slide rail can horizontally slip.
Gps antenna is fixed on above slide rail, and GPS main frames are connected, for receiving gps signal.
Camera is fixed on below slide rail, and camera and gps antenna are on same vertical line.
4 phase step motors of 3rd stepper motor from 42 series without reducing gear, ensure that moment of torsion is more than 0.5NM
Can.
It is fixed on the horizontal panel of dynamic level system, drives the i.e. controllable slide rail of leading screw rotation to horizontally slip, so as to
Moving left and right for camera and gps antenna is realized, to ensure camera and gps antenna in the surface at roadmarking edge, with
Ensure the precision of measurement of coordinates.
Camera is connected together from the USB interface camera for commonly carrying light filling function, and the 3rd stepper motor
To control mainboard, IMAQ and motor control are implemented by control mainboard.
The control mainboard of the automatic device for obtaining and recording real road graticule gps coordinate provided in an embodiment of the present invention；
Control mainboard is the control core of system.
Microcontroller is the control core of system, complete vehicle advance control, dynamic level control, left and right moving control,
Video acquisition, gps coordinate are read and the function such as storage, touch-screen control, sound and light alarm.Because constantly to carry out video flowing reading
And image recognition, therefore very high is required to disposal ability, used here as the core cortex of Exynos 4,412 4 of Samsung's production
A9ARM processors are as control core, built-in Linux or android system.
Board mounted power connects battery, for power supply needed for generation system, including power supply for step-by-step motor, DC motor power,
Camera power supply, GPS host power supplies, other circuit powers.The output of board mounted power 2 is 12V, 5V and 3.3V voltage of standard.
Storage system includes internal memory and external memory, and memory space is provided for operating system and application software.
Obliquity sensor process circuit builds filtering and amplifying circuit using operational amplifier, for handling obliquity sensor
The analog quantity voltage signal of output, then A/D converter that the signal after processing is connect to microcontroller are sampled.
Stepper motor driving circuit is used for driving the first stepper motor, the second stepping electricity and the 3rd stepper motor.Because
All it is 4 phase step motors, therefore selects RZ7889 chips to drive a stepper motor per two panels as driving chip.
Utilizing camera interface is used for connecting camera, using usb mode.USB interface is powered transmits data again.
GPS HPIs include 2 serial ports, and the positional information of a reception GPS main frame, one leads to for carrying out difference
Letter.
4G communication interfaces connect external 4G modules, interior plug sim card in the form of USB interface.Master is realized by 4G modes
Control plate is communicated with neighbouring GPS Base Station, and 4G data are converted into serial data and are sent to GPS main frames, real-time to realize
Difference.
Direct current motor drive circuit selects 2 RZ7889 driving chips, realizes to the first motor and the second driving electricity
The driving of machine.Startup, stopping and rotating control can conveniently be realized.
The SD card seat of SD card interface selection standard, connect the SD card of extrapolation, the GPS coordinate data of stored record.Gps coordinate is remembered
Card reader can be inserted by SD card by having recorded, and coordinate information input computer is carried out into data processing and analysis.
Touch-screen selects the color LCD of capacitor type, for inputting user instruction, shows various information.
The form that sound light alarming circuit is combined using LED light and buzzer, it is different in the serious sideslip of vehicle and GPS states
Alarmed in the case of often, to prompt staff's timely processing, miscue information can be shown on this thing touch-screen.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (9)
1. a kind of obtain automatically and record the device of real road graticule gps coordinate, it is characterised in that described to obtain and remember automatically
The device of record real road graticule gps coordinate includes：
Electronic car body, for load bearing equipment and automatic advance and obtain the information on real road；
Dynamic level system, it is arranged in front of electronic car body, for carrying out level correction automatically；
System is moved left and right, is arranged in dynamic level system, for realizing moving left and right for camera and gps antenna, automatic inspection
White line or yellow line are surveyed, obtains the coordinate information at roadmarking edge, while obtains the real time information of electronic car body, and will be real above
When presentation of information on screen；
Control mainboard, it is arranged on electronic car body, for completing electronic car body traveling control, the control of dynamic level system, left and right
Mobile system control, video acquisition, gps coordinate are read and storage, touch-screen control, sound and light alarm；
GPS main frames, it is arranged on electronic car body, for obtaining the information on real road, in a manner of 4G communicates and nearby
GPS Base Station carries out real time differential.
2. obtain automatically as claimed in claim 1 and record the device of real road graticule gps coordinate, it is characterised in that institute
Stating electronic car body includes：First driving wheel, the second driving wheel, universal wheel, chassis, the first motor, the second motor, police
Show lamp and battery；First driving wheel, the second driving wheel, universal wheel, the first motor, the second motor, warning
Lamp and battery are arranged on chassis；
First driving wheel engages the first motor by gear；Second driving wheel passes through the driving of gear engagement second
Motor；First motor, the second motor, warning lamp connect battery by wire；
First motor, the second motor by wire connect control mainboard, for realize electronic car body advance,
Retreat, turn left and turn right.
3. obtain automatically as claimed in claim 1 and record the device of real road graticule gps coordinate, it is characterised in that institute
Stating dynamic level system includes：
Universal joint for connecting the chassis of horizontal panel and electronic car body and for adjusting horizontal panel level；
It is opened in and is used for the hollow slots for accommodating the system that moves left and right on horizontal panel；
It is connected by connecting rod with the chassis of electronic car body, for realizing the first crank mechanism of high high adjustment on the right side of horizontal panel；
It is connected with the first crank mechanism by gear, for dragging the first stepper motor of the first crank mechanism rotation；
It is connected by connecting rod with the chassis of electronic car body, for realizing the second crank mechanism of high high adjustment on the downside of horizontal panel；
It is connected with the second crank mechanism by gear, for dragging the second stepper motor of the second crank mechanism rotation；
The obliquity sensor of left and right and front and rear inclination angle for detection level panel；
The horizontal panel be used for carry the first stepper motor, the second stepper motor, the first crank mechanism, the second crank mechanism,
Obliquity sensor, universal joint and hollow slots；The obliquity sensor connects control mainboard by wire.
4. obtain automatically as claimed in claim 1 and record the device of real road graticule gps coordinate, it is characterised in that institute
Stating the system of moving left and right includes：
On the horizontal panel of dynamic level system, for the slide rail to horizontally slip,
Be fixed on above slide rail, by wire with GPS main frames be connected, for receiving the gps antenna of gps signal；
It is fixed on below slide rail, the camera for IMAQ；
Be fixed on the horizontal panel of dynamic level system, drive leading screw rotation control slide rail horizontally slip, realize camera and
Gps antenna moves left and right, and camera and gps antenna is in the surface at roadmarking edge, to ensure measurement of coordinates
3rd stepper motor of precision；
3rd stepper motor connects control mainboard by wire；
The camera and gps antenna are on same vertical line.
5. obtain automatically as claimed in claim 1 and record the device of real road graticule gps coordinate, it is characterised in that institute
Stating control mainboard includes：
Board mounted power connects battery by wire, for producing electronic car body, dynamic level system, moving left and right system, GPS
Power supply needed for main frame；
Storage system, including internal memory and external memory, for electronic car body, dynamic level system, move left and right system, the behaviour of GPS main frames
Make and application software provides memory space；
Obliquity sensor process circuit, filtering and amplifying circuit are built using operational amplifier, for handling dynamic level system
In obliquity sensor output analog quantity voltage signal, then A/D converter that the signal after processing is connect to microcontroller enters
Row sampling；
Stepper motor driving circuit, for driving the first stepper motor, the second stepper motor and the left side in dynamic level system
Move right the 3rd stepper motor in system；
Utilizing camera interface, for connecting the camera in the system of moving left and right；
GPS HPIs, including two serial ports, the positional information of a reception GPS main frame, one is used for carrying out Differencing communication；
4G communication interfaces, external 4G modules, interior plug sim card are connected in the form of USB interface；Master control borad is realized by 4G modes
Communicated with neighbouring GPS Base Station, and 4G data are converted into serial data and are sent to GPS main frames, to realize real time differential；
Direct current motor drive circuit, for the startup to the first stepper motor, the second stepper motor in dynamic level system, stop
Only and rotating drives；
SD card interface, from SD card seat, connect the SD card of extrapolation, the GPS coordinate data of stored record；
Touch-screen, for inputting user instruction, show various information；
Sound light alarming circuit, the form combined using LED light and buzzer, in the serious sideslip of vehicle and GPS abnormal states
In the case of alarmed, to prompt staff's timely processing；
Microcontroller, for completing electronic car body traveling control, the control of dynamic level system, moving left and right system control, video
Collection, gps coordinate are read and storage, touch-screen control, sound and light alarm.
6. obtain automatically as claimed in claim 5 and record the device of real road graticule gps coordinate, it is characterised in that institute
Stating board mounted power includes power supply for step-by-step motor, DC motor power, camera power supply, GPS host power supplies, other circuit powers；
The utilizing camera interface, using usb mode, USB interface is powered transmits data again.
7. a kind of automatic acquisition for the device for obtaining automatically as claimed in claim 1 and recording real road graticule gps coordinate is simultaneously
The method for recording real road graticule gps coordinate, it is characterised in that described to obtain automatically and record real road graticule GPS seats
Calibration method includes：
Step 1, control mainboard control wheel, motor rotation, electronic car body advance；
Step 2, control mainboard constantly read the obliquity sensor data of dynamic level system, the inclination journey of determined level panel
Degree, and two stepper motors in dynamic level system are constantly controlled, the height of regulation right side and rear side, to ensure horizontal panel
Moment is in horizontality；
Step 3, control mainboard constantly read camera video information, according to default recognizer judge camera whether
Roadmarking edge, system movement is moved left and right if not controlled if edge, makes camera Arch Bridges edge；If move left and right
The position of system movement exceedes the threshold value on left side and right side, and sideslip occurs in electronic car body, then control mainboard control left side or right side
Wheel stops turning to realize, so that electronic car body is advanced along roadmarking；
Step 4, in traveling process, control mainboard constantly reads gps coordinate and state, and calculate in real time with upper distance,
When distance reaches record spacing, current GPS coordinate value is stored in SD card with form set in advance, completes the data note of a bit
Record.
8. the method as claimed in claim 7 for obtaining automatically and recording real road graticule gps coordinate, it is characterised in that enter
Need to carry out before row step 1：
Before recording coordinate, it will automatically obtain first and record the device of real road graticule gps coordinate and be placed on road to be recorded
On marking lines, camera obtains automatically against graticule edge, startup and records the device of real road graticule gps coordinate；
In dynamic level system initialization process, moving left and right for level correction and camera can be carried out automatically, automatic detection is white
Line or yellow line, while GPS Host Status, battery electric quantity, present coordinate values are obtained, and information above is included on screen；
Before starting record, first pass through touch-screen and coordinate record spacing is set, i.e., every how far recording a coordinate value, be provided with
Afterwards, if GPS states are normal, coordinate record is started on the touchscreen, the coordinate file in SD card can be automatic to record the time started
Name.
9. the method as claimed in claim 7 for obtaining automatically and recording real road graticule gps coordinate, it is characterised in that enter
Also need to carry out after row step 4：
Continuous repeat step one motor rotation, is completed to specify the coordinate record of graticule to step 4；SD card automatically forms one
Individual complete coordinate information file.
Such as run into crossroad or lose the situation of graticule, artificially will automatically obtain and record real road graticule gps coordinate
Put down and continue coordinate record in the place that device takes graticule.
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