CN107905158B

CN107905158B - Intelligent lane isolation method

Info

Publication number: CN107905158B
Application number: CN201711165051.XA
Authority: CN
Inventors: 谢毅
Original assignee: Zhejiang Gongshang University
Current assignee: Zhejiang Gongshang University
Priority date: 2017-11-21
Filing date: 2017-11-21
Publication date: 2020-05-19
Anticipated expiration: 2037-11-21
Also published as: CN107905158A

Abstract

The invention discloses an intelligent lane isolation method, which comprises a remote control center, a traffic signal lamp background data server, a road section control base station and lane change robot groups, wherein a data transmission port of the remote control center and a data transmission port of the traffic signal lamp background data server carry out real-time data transmission in an optical fiber transmission or wireless data transmission mode; the invention utilizes the road access to arrange the movable hard shoulder, flexible and mobile, with low cost; the Beidou system is used for real-time positioning of the isolation pier, so that the control precision is high and the safety is high; and the Beidou system is used for accurately positioning to realize multi-lane change.

Description

Intelligent lane isolation method

Technical Field

The invention relates to the technical field of tidal lanes, in particular to an intelligent lane isolation method.

Background

The automobile brings great convenience for the trip of human beings, but with the rapid increase of the number of automobiles, the problem of traffic jam becomes more serious. Although governments are constantly building highways, city expressways, the growth rate of roads is much slower than the growth of the number of cars. In order to solve the problem, governments invest more and more funds and energy in recent years for developing intelligent traffic systems, improving the traffic efficiency of roads and relieving traffic congestion.

The tidal phenomenon of traffic is one of the important reasons of urban traffic congestion, and the traffic flow in the urban entering direction is large and the traffic flow in the urban leaving direction is small every morning, while the traffic flow in the urban leaving direction is large and the traffic flow in the urban entering direction is small at night. A typical solution to the problem of high peak traffic flow in the morning and evening is to start tide lanes, increase the number of lanes in the direction of entering the city when there are many vehicles entering the city in the morning, decrease the number of lanes in the direction of leaving the city, increase the number of lanes in the direction of leaving the city when there are many vehicles leaving the city in the evening, and decrease the number of lanes in the direction of entering the city. The current tidal lane is a timing tidal lane, the driving direction of the tidal lane is changed within the specified time of the morning and evening peak periods to adjust the number of lanes, and the lane direction is controlled by adopting ground double yellow lines and traffic indicator lamps. The traditional way of controlling the lane direction by using ground double yellow lines and traffic lights is gradually replaced by a way of arranging isolation belts at the sides of the lanes due to the defects of a plurality of vehicles such as 'top cows' and unclear marks. Due to the fact that the isolation belts are manually arranged among different lanes, due to the fact that workload is huge, implementation is inconvenient, and therefore a plurality of emerging intelligent tidal lanes are generated at the same time.

The American Jinmen bridge is one of the road sections which are used for changing lanes in the earliest way in the world, the width of the bridge floor is 27 meters, sidewalks on two sides are removed, the road section is a bidirectional six-lane road section, four entrances and four exits in the morning, and a guardrail moves to the right by one lane in the afternoon, so that the opposite situation is formed. Early management groups have addressed this problem by setting up tidal lanes using manual setting methods. The working vehicle slowly runs in the middle of the lane, two workers sit on the platform at the bottom of the vehicle respectively at two sides of the lane, the workers at two sides of the working vehicle respectively carry out plugging and unplugging operations, and the lane can be changed after walking once. Many small cities in the country will also use this manual method to set up plastic traffic safety stacks, thereby isolating a separate road for tidal vehicles. The manual tidal lane setting mode is simple to operate, and low in maintenance cost and cost; however, the mode of manually setting the tidal roads in the early and late rush hours needs to consume a large amount of labor and time cost, the efficiency is low, the tidal lane change is not easy, vehicles running at high speed easily cause damage to constructors, and the risk coefficient is high.

In order to solve the problems of low efficiency and high time cost of manual tidal lane setting, traffic management departments adopt a mode of traffic lights and traffic signs to demarcate fixed tidal time for certain fixed tidal roads so as to relieve the pressure of traffic jam. When the vehicles go to the rush hour of commuting or go out of a city and enter the rush hour, the tide roads are temporarily set by setting corresponding traffic indicating lamps or indication boards, so that the road congestion is relieved. However, this method does not have an obvious isolation guardrail, and since the driver is not familiar with the road sign or does not concentrate on the road sign, the driver is likely to break the road by mistake, thereby affecting the utilization of the tidal lane and possibly causing certain traffic accidents in severe cases.

Aiming at a series of problems of manual tide lane setting and intersection signal lamp control, developed countries such as the United states invent a tide lane changer, which not only overcomes the low efficiency of manual tide lane setting, but also realizes the effective isolation of tide roads. The tidal lane changer is essentially a running locomotive, and various mechanical devices are arranged in the locomotive, so that a guardrail of one lane is moved to the other lane along with the running of the locomotive, the lane guardrail changing speed is greatly increased, the labor cost is reduced, and the particularly lengthy tidal lane can be divided into a plurality of sections to be simultaneously changed by a plurality of lane changers. However, due to planning limitation, the original isolation belt or green belt cannot be removed, so that the tidal lane changer cannot be widely used, the purchase cost of the changer is high, a special isolation belt is required, and the manufacturing cost of one tidal lane changer is over 300 ten thousand dollars, so that the development of the technology is greatly limited.

In order to improve the adaptability of the tidal lane, researchers in Shenzhen design an intelligent tidal lane, the intelligent tidal lane adopts a combined form of a remote control guardrail and a lamp control to formally brighten the phase in the southern mountain section of the great way in the south of the depth, and the intelligent tidal lane can automatically set the tidal lane according to the traffic flow. The innovative lighting point of the intelligent tide lane is the introduction of a remote control guardrail, the intelligent tide lane is similar to a common guardrail in shape, but a motor at the bottom drives four pulleys, and the guardrail can transversely move along with the command of a remote controller only by plugging a power supply, so that the isolated switching of the tide lane can be realized within 1 minute. Meanwhile, the intelligent obstacle recognition technology is also provided, and obstacles encountered in the guardrail lane changing process can be detected. Compared with the traditional traffic dispersion mode, the traffic police duty management system greatly reduces the risk and workload of the traffic police on duty. The traffic police can control the variable direction lane mark to adjust the lane driving direction at any time through a hand-held remote controller according to the field traffic condition; if the intersection has obvious traffic characteristics, the traffic police can also carry out the time for converting the program input fixed mark in advance under the condition of no emergency, and the time is automatically changed; in addition, the control center can monitor road conditions of the intersection through an instrument and control the label by using a remote control means in due time; if the computer networking intersection annunciator is realized, the automatic identification system can be used for distinguishing and automatically regulating and controlling. At present, Shenzhen, Beijing and other regions are successively put into use, and the application prospect is very wide. However, in the running process of the intelligent tide lane, due to the existence of the central isolation guardrail and the green belt, on one hand, vehicles which are queued and overflowed in the east cannot enter the tide lane to turn left, so that the utilization rate of the tide lane is not high, and on the other hand, the vehicles which turn right at the south entrance cannot enter the tide lane due to the obstruction of the guardrail, so that the utilization rate of the tide lane is also reduced.

Meanwhile, the mode of carrying out intelligent tide lane control through the handheld remote controller is still manual control in nature, has more unstable factors, is very easy to be influenced by human factors, is not easy to be controlled in a centralized manner, and greatly limits the development of intelligent tide lanes.

The communication of the intelligent tidal lane is also one of the important factors for limiting the development of the tidal lane, for example, the remote control guardrail is controlled in the mode of holding the remote controller on the site of the intelligent tidal lane intelligent traffic police in Shenzhen, and the intelligent tidal lane intelligent traffic police can only carry out short-distance control but cannot realize remote centralized control of the remote control guardrail in a large range.

The technology of the internet of things is an important trigger for breaking through the problem. With the development of intelligent tidal lanes and the development of the internet of things, the requirement on wireless technology in the market is increasing day by day. Especially, how to create wireless connection with low power consumption and high reliability advocated by the technology of the internet of things becomes the pursuit of modern internet of things equipment manufacturers and also becomes the target of wireless chip suppliers. There are many wireless technologies in internet of things applications, including local area networks and wide area networks. The wireless technologies forming the local area network include 2.4GHz WiFi, Bluetooth, Zigbee and the like, and the wireless technologies forming the wide area network mainly include 2G/3G/4G. The LoRa is one of LPWAN communication technologies, and is an ultra-long-distance wireless transmission technology based on a spread spectrum technology. The technology changes the prior compromise mode of transmission distance and power, and provides a simple system capable of realizing long distance and low power consumption for users. Meanwhile, Lo Ra is used in free frequency bands including 433, 868 and 915MHz in the global range. The LoRa technology is a small wireless technology with an ultra-long distance, and combines digital spread spectrum, digital signal processing and forward error correction coding technology. The LoRa technology can be used for forming a wireless data transmission network by tens of thousands of wireless data transmission modules, the wireless data transmission network is similar to the base station network of the existing mobile communication, each node is similar to a mobile phone user of the mobile network, and the visible communication distance between each network node and the gateway can reach 5 kilometers or even be farther within the whole network coverage range. The LoRa technology has the characteristics of long distance, low power consumption, multiple nodes and low cost.

If the LoRa system is integrated into the control of the intelligent tide lane, the defect that the intelligent tide lane is controlled by simply depending on a hand-held remote controller of a traffic police can be overcome, so that the centralized control of the intelligent tide lane is realized, the production cost can be greatly reduced, the overall power consumption of the intelligent tide lane is reduced, and the popularization rate of the intelligent tide lane is improved.

The positioning system plays an extremely important role in the automatic operation of tidal lanes, and the current positioning system mainly comprises a GPS (global positioning system) satellite navigation system in the United states, a GLONASS (GLONASS) satellite navigation system in Russia and a Beidou satellite navigation system in China.

The united states GPS satellite navigation system is a positioning system that performs positioning measurement by continuously broadcasting radio signals, which are transmitted with a certain frequency and loaded with certain specific positioning information, to the ground by satellites flying in space. The system consists of three parts of a satellite constellation, a ground control part, a user part and the like which run in space. The GPS satellite navigation system starts from a project of American military in I958, is put into use in l964, is in 70 years in the 20 th century, and jointly develops a new generation of GPS (global positioning system) in the American land, sea and air three military, and mainly aims to provide real-time, all-weather and global navigation service for the three fields of land, sea and air, and is used for some military purposes such as information collection, nuclear explosion monitoring and emergency communication, and 24 GPS satellite constellations with the global coverage rate as high as 98% are laid in l 994. In the process of using the GPS satellite navigation system, the GPS is successfully applied to various disciplines such as geodetic survey, engineering survey, aerial photography, vehicle navigation and control, crust motion survey, engineering deformation survey, resource survey, geodynamics and the like according to the characteristics of all weather, high precision, automation, high benefit and the like, and good economic benefit and social benefit are obtained. The working satellites of the GPS satellite navigation system are positioned above 20200km from the ground surface, are uniformly distributed on 6 orbital planes (4 orbital planes) and have an orbital inclination angle of 55 degrees. In addition, there are 3 active backup satellites in orbit. The distribution of the satellites enables more than 4 satellites to be observed anywhere in the world at any time, and the navigation information which can be pre-stored in the satellites can be used for a period of time, but the navigation precision is gradually reduced, and the precision achieved at present is about 10 meters.

GLONASS (GLONASS), an abbreviation for the russian "GLOBAL NAVIGATION satellite system". The glonass satellite navigation system was originally developed in soviet union, and then the project was continued by russia, and russia started to establish its own global satellite navigation system alone in 1993, and the system started to operate in 2007, and only the russian-environment satellite positioning and navigation service was opened. By 2009, its service scope has expanded to the globe. The main service contents of the glonass satellite navigation system comprise the determination of coordinates and movement speed information of terrestrial, marine and aerial targets and the like. The GLONASS constellation is composed of 30 satellites, 27 satellites are uniformly distributed on 3 approximately circular orbit planes, the three orbit planes are separated by 120 degrees in pairs, each orbit plane is provided with 8 satellites, the satellites in the same plane are separated by 45 degrees, the orbit height is 2.36 kilometers, the operation period is 11 hours and 15 minutes, the orbit inclination angle is 64.8 degrees, and the current precision reaches about 10 meters.

The Beidou satellite navigation system is a self-developed global satellite navigation positioning system in China, and is a third global satellite navigation system following the United states GPS satellite navigation system and the Russian glonass satellite navigation system. The Beidou satellite navigation system provides global, all-weather and high-precision satellite navigation positioning and time service and has specific short message communication capacity. 12/27/2012, the beidou satellite navigation system starts regional formal services, covers the asia-pacific region, and is a milestone for the development of aerospace science and technology and satellite communication to industrialization and marketization in China. Under the cooperation of bottom surface facilities, the real-time positioning accuracy of the Beidou satellite navigation system is far higher than that of a GPS satellite navigation system, and the accuracy of 2 centimeters under the condition of 80 kilometers per hour is achieved at present.

The method has the advantages that the popularization degree of the Beidou satellite navigation system in various fields of traffic and transportation is remarkably improved, the application environment is further improved, the service capacity is remarkably enhanced, and the application of the Beidou satellite navigation system achieves extremely remarkable results.

Disclosure of Invention

The invention aims to solve the problem of the prior art, and provides an intelligent lane isolation system and an intelligent lane isolation method, which can automatically change lanes of tides, can perform centralized control on lane change isolation piles, save cost and reduce the influence of human factors on intelligent lanes of tides.

The invention realizes the purpose through the following technical scheme: an intelligent lane isolation system comprises a remote control center, a traffic signal lamp background data server, a road section control base station and lane change robot groups, wherein a data transmission port of the remote control center and a data transmission port of the traffic signal lamp background data server carry out real-time data transmission in an optical fiber transmission or wireless data transmission mode;

the lane change robot group comprises a plurality of lane change robot groups distributed along the direction of a tidal lane, the interval between every two adjacent lane change robot groups is 0.5-1 m, each lane change robot group comprises an A pier, a B pier and a connecting guardrail, the A piers are connected with the connecting guardrails through hinges, and the B piers are fixedly connected with the connecting guardrails;

the intelligent road traffic monitoring system is characterized in that a Beidou module, an embedded control module, an alarm lamp, a solar cell panel, a lead-acid storage battery, a LoRa module, a chassis and a shell are arranged on each of the pier A and the pier B, the embedded control module is connected with a road section control base station through the LoRa module, the lead-acid storage battery is fixed on the chassis, the chassis is sleeved at the bottom of the shell, a bump is arranged on the chassis, a groove matched with the bump on the chassis is arranged at the bottom of the shell, a chassis driving motor is also fixed on the shell, the chassis driving motor is connected with a ball screw, a screw nut matched with the ball screw is arranged on the chassis, the screw nut is sleeved on the ball screw, and the chassis driving motor drives the chassis; an alarm lamp is arranged at the upper end of the shell, a solar cell panel is arranged on the outer surface of the shell and is connected with a lead-acid storage battery through a solar charging circuit, the Beidou modules are arranged inside the shell, and the moving mechanism and the locking mechanism are arranged on the chassis;

the chassis of the pier A is provided with a driving wheel and two driven wheels, the chassis of the pier A is also provided with a directional motor, the directional motor is connected with the driving wheel and drives the driving wheel to rotate, and the whole pier A is driven to move by the movement of the driving wheel; a guardrail driving motor is further arranged inside the pier A and connected with a guardrail, and the guardrail driving motor drives the whole body formed by the connecting guardrail and the pier B to rotate around the central shaft when moving; the connection guardrail penetrates through the horizontal large notch to be connected with the central shaft, the first laser range finder irradiates the outside of the pier A through the horizontal large notch, and the connection guardrail penetrates through the horizontal large notch to be connected to the central shaft connected with the driving shaft of the guardrail driving motor;

install three universal wheel on the chassis of B mound, the inside of B mound still is provided with second laser range finder and second distancer driving motor, and second distancer driving motor connects second laser range finder and drives the rotation of second laser range finder has seted up horizontal little notch on the B mound, and second laser range finder sees through horizontal little notch and shines the B mound outside.

Furthermore, a driving wheel and a driven wheel are both directional wheels and are mounted on a chassis of the pier A, a directional motor is embedded inside the chassis of the pier A, the directional motor is electrically connected with a lead-acid storage battery and is powered by the lead-acid storage battery, the directional motor is electrically connected with an embedded control module and controls the running speed and the running direction of the directional motor through the embedded control module, the directional motor is connected with the driving wheel and drives the driving wheel to rotate, and the whole pier A is driven to move through the movement of the driving wheel.

Further, the opening radian of the horizontal large notch is a quarter of a circle.

Further, the opening radian of the horizontal small notch is a quarter of a circle.

An intelligent lane isolation method comprises the following steps:

s1: arranging a plurality of lane change robot groups on one side of the tidal lane along the direction of the tidal lane, wherein each lane change robot group comprises an A pier and a B pier, and the interval between every two adjacent lane change robot groups is 0.5-1 meter;

s2: the remote control center judges whether each road section needs to change a tidal lane according to traffic flow information transmitted by a background data server of the traffic signal lamp, if the tidal lane needs to be changed, the remote control center sends tidal lane change signals to a road section control base station in real time, and the road section control base station sends walking command control signals to all lane change robot groups on the corresponding road section in real time in a wireless data transmission mode;

s3: respectively carrying out power-on initialization on the pier A and the pier B of the first lane change robot group, and judging whether a fault exists or not, wherein the fault judgment comprises judgment on whether the battery power is enough or not, judgment on whether the Beidou module can be positioned or not, judgment on whether the wireless transmission module can normally transmit information or not and judgment on whether all motors in the isolation piers can normally work or not; if the A pier or the B pier has a fault, restarting the isolation pier with the fault, and then judging the fault of the isolation pier, if the A pier or the B pier still has the fault, transmitting the fault information of the isolation pier with the fault to a road section control base station, and lightening an alarm lamp of the isolation pier without moving the isolation pier; if the A pier and the B pier do not have faults, judging that the A pier and the B pier can move, and entering the step S4;

s4: the road segment control base station divides the motion path of each isolation pier according to the interval that the initial position information and the target position information of each isolation pier are 10cm, and the position subsection position information of the position where each isolation pier needs to stay is obtained; the road section control base station sends the sectional position information of each isolation pier to the corresponding isolation pier;

s5: the first segmentation position information that road segment control base station sent is received to A mound, the warning light of self is opened at first and obstacle judgement is carried out to A mound, the mode that the obstacle was judged is the laser rangefinder method, before A mound moves at every turn, the laser rangefinder head on the B mound directly shoots on A mound along the direction of connecting the guardrail, rotate the laser rotation motor on the B mound to morning and evening tides lane direction during the detection, make the orientation of the laser rangefinder head on the B mound be 5 degrees with connecting the guardrail, carry out obstacle judgement after laser rangefinder head on the B mound jets out light, the length of connecting the guardrail is S, if the distance that laser rotation motor pivoted in-process laser rangefinder head recorded is greater than all the time and is greater

Judging that the light emitted by the laser ranging head is not blocked, namely a section of stroke on the motion path of the pier A has no obstacle, and entering the step S5; if the distance measured by the laser ranging head is smaller than the distance measured by the laser rotating motor in the rotating process

In the case of (a) in (b),judging that the light emitted by the laser ranging head is blocked, delaying for 3s, and then judging the obstacle of the pier A again;

s6: loosening a locking device of the pier A and the pier B, enabling the pier A to perform linear motion towards the target position, enabling the motion distance of the pier A to be 10cm, controlling a motor to enable the pier A to perform linear motion for 10cm, enabling the pier B to keep a free following state when the pier A moves, enabling the pier A to determine current position information of the pier A through a Beidou module after the pier A moves for 10cm, comparing the current position information with first segmentation position information obtained in the step S5, if the current position information of the pier A is coincident with the first segmentation position information, turning off an alarm lamp and locking the locking device after the pier A moves to a segmentation position, and if the current position information of the pier A is not coincident with the first segmentation position information, enabling the pier A to continue to move until the current position of the pier is coincident with the segmentation position;

s7: before the B mound moves at every turn, laser range finding head on the A mound directly shoots at the B mound along the direction of connecting the guardrail on, rotates the laser rotation motor on the A mound to morning and evening tides lane direction during the detection, makes the orientation of laser range finding head on the A mound be 5 degrees with being connected the guardrail, carries out the obstacle judgement after laser range finding hair on the A mound jets out light, if the distance that laser rotation motor pivoted in-process laser range finding head measured is greater than all the time

Judging that the light emitted by the laser ranging head is not blocked, namely a section of stroke on the motion path of the pier B has no obstacle, and entering the step S8; if the distance measured by the laser ranging head is smaller than the distance measured by the laser rotating motor in the rotating process

If so, judging that the light emitted by the laser ranging head is blocked, delaying for 3s, and then judging the obstacle of the pier B again;

s8: a guardrail rotating motor on the pier A is driven, and the guardrail rotating motor drives the whole body formed by the connecting guardrail and the pier B to rotate around the pier A; after the pier B moves for 10cm, the pier B determines the current position information of the pier B through a Beidou module, compares the current position information with the first segmentation position information obtained in the step S5, and enters the step S9 if the current position information of the pier B is coincident with the segmentation position information; if the current position information of the pier B is not coincident with the segmentation position information, the pier B continues to move until the current position of the pier B is coincident with the segmentation position;

s9: the road segment control base station sequentially sends the remaining segment position information to the pier A and the pier B, and repeats the steps from S5 to S8 until the pier A and the pier B reach the target positions, and the first group of lane change robot group is moved;

s10: after the first set of lane change robot groups has moved, the remaining lane change robot groups repeat the above steps S3-S9 in sequence until all lane change robot groups have moved to the other side of the tidal lane, completing the entire tidal lane change process.

The invention has the beneficial effects that:

1. the tidal lane change system utilizing the compass to measure the angle and the laser to measure the distance can realize the automatic change of the tidal lane according to the requirements, and simultaneously, the system is combined with a traffic signal lamp background data server to realize the real-time change of the urban traffic road network by utilizing big data, so as to respond to the change of the road requirements due to factors such as traffic accidents, traffic flow changes, severe weather and the like at any time and realize the automatic control of the tidal lane.

2. The obstacle avoidance judgment is carried out before the movement, and the movement is not carried out if an obstacle exists on the tide lane, so that the problems that the device cannot work smoothly due to the influence of the obstacle and the normal driving of other people is influenced due to the fact that the device touches motor vehicles of other people in the movement process are solved, and the device disclosed by the invention is prevented from colliding with vehicles due to the movement.

3. The invention realizes the multi-lane change by using the Beidou system for accurate positioning, the positioning accuracy reaches centimeter level, the mobile positioning of the lane change robot can be realized accurately, and the accuracy is high.

4. The invention adopts the mode that the A isolation pier drives the B isolation pier to move together, reduces the use of a universal wheel driving motor on the B pier and reduces the overall cost.

5. The brake positioning of the invention not only depends on the brake mechanism in the pier, but also can directly drop the whole shell of the pier A or the pier B to be placed on the ground, so that the side surface of the shell of the pier is directly contacted with the ground, the slide of the isolation pier caused by the contact of the wheels of the pier A and the pier B with the ground is avoided, the positioning is better realized, and the positioning mode of the shell drop can effectively prevent sundries from entering the interior of the pier A or the pier B, thereby influencing the normal use of the isolation pier.

6. According to the invention, the solar power generation panel and the lead-acid storage battery arranged in the solar power generation panel are arranged on the shell of the isolation pier to realize the purpose that the isolation pier is charged at any time and used in a cable-free state, and because the times of lane change in one day are generally only one to two times, the lead-acid storage battery can completely realize the better effect of lane change every day, and meanwhile, the solar power generation panel can ensure the longer-time cruising of the isolation pier.

7. According to the invention, through the arrangement of the alarm lamp, the isolation pier not only plays a role in warning when in use, but also can give a fault alarm when a fault occurs in the isolation pier, so that the condition that a lane cannot be changed due to the fault of the isolation pier is prevented.

8. After the pier reaches the final position, the chassis driving motor can drive the isolation pier shell to move towards the chassis, and the whole pier is integrally fixed on the ground, so that the stability of the pier is improved.

9. According to the lane change robot, the movement of the lane change robot is controlled in a closed loop mode, the lane change robot acquires the position information of the lane change robot in real time through the Beidou module, and a sectional type moving method is utilized, so that the lane change robot can move more accurately, and the final positioning accuracy is high.

10. The invention adopts the laser ranging mode to avoid the obstacle, can effectively detect whether the area in a certain range has the obstacle, provides guarantee for the smooth operation of the device, can more quickly detect whether the obstacle exists in front of the device or not by the laser ranging mode, has very quick detection speed, directly realizes the obstacle avoiding process in an embedded control system, and effectively accelerates the movement speed of the whole device.

Drawings

Fig. 1 is a schematic diagram of the general structure of an intelligent lane isolation system of the present invention.

Fig. 2 is a schematic top view of the lane change robot set of the present invention.

Fig. 3 is a front view structural diagram of the lane change robot group of the present invention.

Fig. 4 is a schematic three-dimensional structure of the pier a of the present invention.

Fig. 5 is a schematic three-dimensional structure of the pier B of the invention.

Fig. 6 is a schematic sectional view of the pier a of the present invention.

Fig. 7 is a schematic sectional structure view of the B pier of the present invention.

Fig. 8 is a schematic flow chart of a set of lane change robots to perform lane change according to the present invention.

In the figure, 1-pier A, 2-pier B, 3-connecting guardrail, 4-shell, 5-alarm lamp, 6-solar panel, 7-lead-acid storage battery, 8-Beidou module, 9-chassis, 10-chassis driving motor, 11-ball screw, 12-screw nut, 13-coupler, 14-driving wheel, 15-driven wheel, 16-universal wheel, 17-guardrail driving motor, 18-first range finder driving motor, 19-first laser range finder, 20-second range finder driving motor, 21-second laser range finder, 22-horizontal large notch and 23-horizontal small notch.

Detailed Description

The invention will be further described with reference to the accompanying drawings in which:

as shown in fig. 1 to 7, an intelligent lane isolation system includes a remote control center, a traffic signal lamp background data server, a road section control base station and a lane change robot group, wherein a data transmission port of the remote control center and a data transmission port of the traffic signal lamp background data server perform real-time data transmission in an optical fiber transmission or wireless data transmission manner, the remote control center transmits tidal lane change signals to the road section control base station in real time, the road section control base station transmits walking command control signals to all lane change robot groups on a corresponding road section in real time in a wireless data transmission manner, and each lane change robot group executes corresponding movement when receiving respective walking commands and feeds back position information to the road section control base station in real time.

The lane change robot group comprises a plurality of lane change robot groups distributed along the direction of a tidal lane, the interval between every two adjacent lane change robot groups is 0.5-1 meter, each lane change robot group comprises an A pier 1, a B pier 2 and a connecting guardrail 3, the A pier 1 and the connecting guardrail 3 are connected through a hinge, and the B pier 2 and the connecting guardrail 3 are fixedly connected; wherein the pier A1 is taken as a moving driving pier, and the pier B2 is taken as a moving driven pier to move together with the pier A1 and the connecting guardrail 3.

The A pier 1 and the B pier 2 are respectively provided with a Beidou module 8, an embedded control module, an alarm lamp 5, a solar cell panel 6, a lead-acid storage battery 7, a LoRa module, a chassis 9 and a shell 4, the embedded control module is connected with a road section control base station through the LoRa module, the lead-acid storage battery 7 is fixed on the chassis 9, the chassis 9 is sleeved at the bottom of the shell 4, a convex block is arranged on the chassis 9, the bottom of the shell 4 is provided with a groove matched with the convex block on the chassis 9, the shell 4 is also fixedly provided with a chassis driving motor 10, the chassis driving motor 10 is connected with a ball screw 11, the chassis 9 is provided with a screw nut 12 matched with the ball screw 11, the screw nut 12 is sleeved on the ball screw 11, the chassis driving motor 10 drives the chassis 9 to move up and down at the bottom of the shell 4 when driving the ball screw 11 to rotate, the, the chassis 9 moves to the lowest point and contacts with the ground, and at the moment, the chassis 9 transfers the weight of the whole lane change robot to the ground to bear, which is equivalent to that the whole lane change robot becomes a pile which is prevented from being on the ground, so that the lane change robot can be effectively prevented from moving on the ground, the upper end of the shell 4 is provided with the alarm lamp 5, the outer surface of the shell 4 is provided with the solar cell panel 6, the solar cell panel 6 is connected with the lead-acid storage battery 7 through the solar charging circuit, the Beidou module 8 is arranged inside the shell 4, and the moving mechanism and the locking mechanism are arranged on the chassis 9.

Big dipper module 8 all sets up inside shell 4, and the dead slot has all been opened at the top of A mound 1 and B mound 2, and the end cover has been detained to the dead slot top, and big dipper module 8 is located inside the dead slot.

A driving wheel 14 and two driven wheels 15 are mounted on the chassis 9 of the pier A1, a directional motor is further arranged on the chassis 9 of the pier A1, the directional motor is connected with the driving wheel 14 and drives the driving wheel 14 to rotate, and the driving wheel 14 moves to drive the whole pier A1 to move; a guardrail driving motor 18 is further arranged inside the pier A1, the guardrail driving motor 18 is connected with the connecting guardrail 3, and the guardrail driving motor 18 drives the whole body formed by the connecting guardrail and the pier B2 to rotate around the central shaft when moving; the interior of the pier A1 is also provided with a first laser range finder 19 and a first range finder driving motor 18, the first range finder driving motor 18 is connected with the first laser range finder 19 and drives the first laser range finder 19 to rotate, a horizontal large notch 22 is formed in the pier A1, the connecting guardrail 3 penetrates through the horizontal large notch 22 to be connected with a central shaft, the first laser range finder 19 irradiates the exterior of the pier A1 through the horizontal large notch 22, and the connecting guardrail 3 penetrates through the horizontal large notch 22 to be connected to the central shaft connected with a driving shaft of the guardrail driving motor 18;

install three universal wheel 17 on B mound 2's the chassis 9, the inside of B mound 2 still is provided with second laser range finder 21 and second distancer driving motor 20, and second distancer driving motor 20 connects second laser range finder 21 and drives second laser range finder 21's rotation has seted up horizontal notch 23 on the B mound 2, and second laser range finder 21 sees through horizontal notch 23 and shines B mound 2 outsidely.

The driving wheel 14 and the driven wheel 15 are both directional wheels and are mounted on the chassis 9 of the pier A1, the directional motor is embedded inside the chassis 9 of the pier A1 and is electrically connected with the lead-acid storage battery 7 and powered through the lead-acid storage battery 7, the directional motor is electrically connected with the embedded control module and controls the running speed and the running direction of the directional motor through the embedded control module, the directional motor is connected with the driving wheel 14 and drives the driving wheel 14 to rotate, and the whole pier A1 is driven to move through the driving wheel 14.

The opening radian of the horizontal large notch 22 is a quarter of a circle. The opening radian of the horizontal small notch 23 is a quarter circle. The openings of the horizontal large notch 22 and the horizontal small notch 23 ensure that the A pier or the B pier cannot block when the laser judges whether an obstacle exists or not and the connecting guardrail 3 rotates.

An intelligent lane isolation method comprises the following steps:

s1: a plurality of lane change robot groups are arranged on one side of the tidal lane along the direction of the tidal lane, each lane change robot group comprises an A pier 1 and a B pier 2, and the adjacent lane change robot groups are spaced by 0.5-1 meter;

s3: respectively carrying out power-on initialization on the pier A1 and the pier B2 of the first lane change robot group, and judging whether the first lane change robot group has a fault or not, wherein the fault judgment comprises the judgment of whether the battery power is enough or not, the judgment of whether the Beidou module 8 can be positioned or not, whether the wireless transmission module can normally transmit information or not and whether all motors in the isolation pier can normally work or not; if the A pier 1 or the B pier 2 has a fault, restarting the isolation pier with the fault, and then judging the fault of the isolation pier, if the A pier 1 or the B pier 2 still has the fault, transmitting the fault information of the isolation pier with the fault to a road section control base station, and lightening an alarm lamp of the isolation pier without moving the isolation pier; if the pier A1 and the pier B2 do not have faults, judging that the pier A1 and the pier B2 can move, and entering the step S4;

s5: the A pier 1 receives the data sent by the road section control base stationA segmentation positional information, the warning light 5 of self is opened at first to A mound 1 and obstacle judgement is carried out, the mode that the obstacle was judged is the laser rangefinder method, before A mound 1 moves at every turn, the laser rangefinder head on B mound 2 is directly to A mound 1 along the direction of connecting guardrail 3, rotate the laser rotation motor on B mound 2 to morning and evening tides lane direction during the detection, the orientation that makes the laser rangefinder head on B mound 2 is 5 degrees with being connected guardrail 3, laser rangefinder hair on B mound 2 jets out and carries out obstacle judgement after light, the length of connecting guardrail 3 is S, if the distance that laser rotation motor pivoted in-process laser rangefinder head recorded is greater than all the time and is greater than the distance that connects guardrail 3

Judging that the light emitted by the laser ranging head is not blocked, namely a section of stroke on the motion path of the pier A1 has no obstacle, and entering the step S5; if the distance measured by the laser ranging head is smaller than the distance measured by the laser rotating motor in the rotating process

If so, judging that the light emitted by the laser ranging head is blocked, delaying for 3s, and then judging the obstacle of the pier A1 again;

s6: loosening locking devices of the pier A1 and the pier B2, enabling the pier A1 to perform linear motion towards a target position, enabling the movement distance of the pier A1 to be 10cm, controlling a motor to enable the pier A1 to perform linear motion for 10cm, enabling the pier B2 to keep a free following state when the pier A1 moves, enabling the pier A1 to determine current position information of the pier A through a Beidou module 8 after the pier A1 moves for 10cm, comparing the current position information with first segmentation position information obtained in the step S5, if the current position information of the pier A1 is coincident with the first segmentation position information, closing an alarm lamp 5 and locking the locking device after the pier A1 moves to a segmentation position, and if the current position information of the pier A1 is not coincident with the first segmentation position information, enabling the pier A1 to continue to move until the current position of the pier A1 is coincident with the segmentation position;

s7: before the B pier 2 moves each time, the laser distance measuring head on the A pier 1 directly irradiates the B pier 2 along the direction of the connecting guardrail 3, and the laser rotating electricity on the A pier 1 rotates towards the direction of the tidal lane during detectionThe machine makes the orientation of the laser ranging head on the A pier 1 and the connection guardrail 3 be 5 degrees, and the obstacle judgment is carried out after the laser ranging head on the A pier 1 emits light, if the distance measured by the laser ranging head is always greater than the distance measured by the laser ranging head in the process of rotating the motor

Judging that the light emitted by the laser ranging head is not blocked, namely a section of stroke on the motion path of the B pier 2 has no obstacle, and entering the step S8; if the distance measured by the laser ranging head is smaller than the distance measured by the laser rotating motor in the rotating process

If so, judging that the light emitted by the laser ranging head is blocked, delaying for 3s, and then judging the obstacle of the pier B2 again;

s8: a guardrail rotating motor on the pier A1 is driven, and the guardrail rotating motor drives the whole body formed by the connecting guardrail 3 and the pier B2 to rotate around the pier A1; after the B pier 2 moves for 10cm, the B pier 2 determines the current position information of the B pier 2 through the Beidou module 8, compares the current position information with the first segmentation position information obtained in the step S5, and if the current position information of the B pier 2 is coincident with the segmentation position information, the step S9 is carried out; if the current position information of the pier B2 is not coincident with the segmentation position information, the pier B2 continues to move until the current position of the pier B2 is coincident with the segmentation position;

s9: the road segment control base station sequentially sends the remaining segment position information to the pier A1 and the pier B2, and repeats the steps from S5 to S8 until the pier A1 and the pier B2 both reach the target positions, and the first group of lane change robot group is moved;

The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the technical solutions of the present invention, so long as the technical solutions can be realized on the basis of the above embodiments without creative efforts, which should be considered to fall within the protection scope of the patent of the present invention.

Claims

1. An intelligent lane isolation method is characterized in that: an intelligent lane isolation system is adopted, and comprises a remote control center, a traffic signal lamp background data server, a road section control base station and lane change robot groups, wherein a data transmission port of the remote control center and a data transmission port of the traffic signal lamp background data server carry out real-time data transmission in an optical fiber transmission or wireless data transmission mode;

the lane change robot group comprises a plurality of lane change robot groups distributed along the direction of a tidal lane, the interval between every two adjacent lane change robot groups is 0.5-1 m, each lane change robot group comprises an A pier (1), a B pier (2) and a connecting guardrail (3), the A piers (1) and the connecting guardrails (3) are connected through hinges, and the B piers (2) and the connecting guardrails (3) are fixedly connected;

the road traffic monitoring system is characterized in that the pier A (1) and the pier B (2) are respectively provided with a Beidou module (8), an embedded control module, an alarm lamp (5), a solar cell panel (6), a lead-acid storage battery (7), a LoRa module, a chassis (9) and a shell (4), the embedded control module is connected with a road section control base station through the LoRa module, the lead-acid storage battery (7) is fixed on the chassis (9), the chassis (9) is sleeved at the bottom of the shell (4), a convex block is arranged on the chassis (9), a groove matched with the convex block on the chassis (9) is arranged at the bottom of the shell (4), a chassis driving motor (10) is further fixed on the shell (4), the chassis driving motor (10) is connected with a ball screw (11), a screw nut (12) matched with the ball screw (11) is arranged on the chassis (9), and the screw nut (12) is sleeved, when the chassis driving motor (10) drives the ball screw (11) to rotate, the chassis (9) is driven to move up and down at the bottom of the shell (4); an alarm lamp (5) is arranged at the upper end of the shell (4), a solar cell panel (6) is arranged on the outer surface of the shell (4), the solar cell panel (6) is connected with a lead-acid storage battery (7) through a solar charging circuit, the Beidou modules (8) are all arranged inside the shell (4), and the moving mechanism and the locking mechanism are all arranged on the chassis (9);

a driving wheel (14) and two driven wheels (15) are mounted on a chassis (9) of the pier A (1), a directional motor is further arranged on the chassis (9) of the pier A (1), the directional motor is connected with the driving wheel (14) and drives the driving wheel (14) to rotate, and the driving wheel (14) moves to drive the whole pier A (1) to move; a guardrail driving motor (18) is further arranged inside the pier A (1), the guardrail driving motor (18) is connected with the connecting guardrail (3), and the guardrail driving motor (18) drives the whole body formed by the connecting guardrail (3) and the pier B (2) to rotate around the central shaft when moving; the device is characterized in that a first laser range finder (19) and a first range finder driving motor (18) are further arranged inside the pier A (1), the first range finder driving motor (18) is connected with the first laser range finder (19) and drives the first laser range finder (19) to rotate, a horizontal large notch (22) is formed in the pier A (1), the connecting guardrail (3) penetrates through the horizontal large notch (22) to be connected with a central shaft, the first laser range finder (19) irradiates the outside of the pier A (1) through the horizontal large notch (22), and the connecting guardrail (3) penetrates through the horizontal large notch (22) to be connected to the central shaft of the guardrail driving motor (18) in driving connection;

install three universal wheel (17) on chassis (9) of B mound (2), the inside of B mound (2) still is provided with second laser range finder (21) and second distancer driving motor (20), and second laser range finder (21) and drive are connected in second distancer driving motor (20) the rotation of second laser range finder (21), seted up horizontal notch (23) on B mound (2), second laser range finder (21) shine B mound (2) outside little notch (23) are penetrated through horizontal notch (23) and are shone

The intelligent lane isolation method comprises the following steps:

s1: a plurality of lane change robot groups are arranged on one side of the tidal lane along the direction of the tidal lane, each lane change robot group comprises an A pier (1) and a B pier (2), and the adjacent lane change robot groups are spaced by 0.5-1 meter;

s3: the method comprises the steps that A piers (1) and B piers (2) of a first lane change robot group are respectively electrified and initialized, and whether faults exist in the A piers and the B piers, wherein the fault judgment comprises the judgment of whether the battery power is enough, the judgment of whether a Beidou module (8) can be positioned, whether a wireless transmission module can normally transmit information and whether all motors in a separation pier can normally work; if the A pier (1) or the B pier (2) has a fault, restarting the isolation pier with the fault, and then judging the fault of the isolation pier, if the A pier (1) or the B pier (2) still has the fault, transmitting the fault information of the isolation pier with the fault to a road section control base station, and lightening an alarm lamp of the isolation pier without moving the isolation pier; if the pier A (1) and the pier B (2) do not have faults, judging that the pier A (1) and the pier B (2) can move, and entering the step S4;

s5: a pier (1) receives first segment position information sent by a road section control base station, the A pier (1) firstly opens a self alarm lamp (5) and judges obstacles, the obstacle judgment mode is a laser ranging method, before the A pier (1) moves every time, a laser ranging head on the B pier (2) directly irradiates to the A pier (1) along the direction of connecting a guardrail (3), a laser rotating motor on the B pier (2) is rotated to the direction of a tide lane during detection, and the laser ranging head on the B pier (2) is enabled to be rotatedIs 5 degrees with being connected guardrail (3), carries out the obstacle judgement after laser range finding hair on B mound (2) jets out light, and the length of connecting guardrail (3) is S, if the distance that laser rotation motor pivoted in-process laser range finding head surveyed is greater than all the time and is greater than all the time

Judging that the light emitted by the laser ranging head is not blocked, namely a section of stroke on the motion path of the pier A (1) is unobstructed, and entering the step S5; if the distance measured by the laser ranging head is smaller than the distance measured by the laser rotating motor in the rotating process

If so, judging that the light emitted by the laser ranging head is blocked, delaying for 3s, and then judging the obstacle of the pier A (1) again;

s6: the locking devices of the pier A (1) and the pier B (2) are released, the pier A (1) moves linearly towards the target position, the movement distance of the pier A (1) is 10cm, the motor is controlled to enable the pier A (1) to move linearly by 10cm, when the pier A (1) moves, the pier B (2) keeps a free following state, after the pier A (1) moves for 10cm, the pier A (1) determines the current position information of the pier A through a Beidou module (8), and compares the current position information with the first segment position information obtained in step S5, if the current position information of pillar a (1) coincides with the first segment position information, the warning lamp (5) is turned off and the locking device is locked after the A pier (1) moves to the subsection position, if the current position information of the A pier (1) does not coincide with the first subsection position information, the pier A (1) continues to move until the current position of the pier A (1) is coincided with the segmentation position;

s7: before B mound (2) move at every turn, laser range finding head on A mound (1) is on B mound (2) is directly jetted to along the direction of connecting guardrail (3), rotate the laser rotation motor on A mound (1) to morning and evening tides lane direction during the detection, the orientation that makes laser range finding head on A mound (1) is 5 degrees with being connected guardrail (3), carry out the obstacle judgement after laser range finding hair on A mound (1) jets out light, if the distance that laser rotation motor pivoted in-process laser range finding head records is greater than all the time and is greater than the distance that is greater than all the time of being connected guardrail (3)

Judging that the light emitted by the laser ranging head is not blocked, namely a section of stroke on the motion path of the pier B (2) is unobstructed, and entering the step S8; if the distance measured by the laser ranging head is smaller than the distance measured by the laser rotating motor in the rotating process

If so, judging that the light emitted by the laser ranging head is blocked, delaying for 3s, and then judging the obstacle of the pier B (2) again;

s8: a guardrail rotating motor on the pier A (1) is driven, and the guardrail rotating motor drives the whole body formed by the connecting guardrail (3) and the pier B (2) to rotate around the pier A (1); after the B pier (2) moves for 10cm, the B pier (2) determines current position information of the B pier through a Beidou module (8), compares the current position information with the first segment position information obtained in the step S5, and enters the step S9 if the current position information of the B pier (2) is coincident with the segment position information; if the current position information of the pier B (2) is not coincident with the segmentation position information, the pier B (2) continues to move until the current position of the pier B (2) is coincident with the segmentation position;

s9: the road segment control base station sequentially sends the remaining segment position information to the pier A (1) and the pier B (2), and the steps from S5 to S8 are repeated until the pier A (1) and the pier B (2) reach the target positions, so that the first group of lane change robot group is moved;