CN107974968A - A kind of tide track altering system and method based on compass angle measurement laser ranging - Google Patents
A kind of tide track altering system and method based on compass angle measurement laser ranging Download PDFInfo
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- CN107974968A CN107974968A CN201711165098.6A CN201711165098A CN107974968A CN 107974968 A CN107974968 A CN 107974968A CN 201711165098 A CN201711165098 A CN 201711165098A CN 107974968 A CN107974968 A CN 107974968A
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- change robot
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F15/00—Safety arrangements for slowing, redirecting or stopping errant vehicles, e.g. guard posts or bollards; Arrangements for reducing damage to roadside structures due to vehicular impact
- E01F15/006—Lane control by movable lane separating barriers, e.g. shiftable barriers, retractable kerbs ; Apparatus or barriers specially adapted therefor, e.g. wheeled barriers
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F15/00—Safety arrangements for slowing, redirecting or stopping errant vehicles, e.g. guard posts or bollards; Arrangements for reducing damage to roadside structures due to vehicular impact
- E01F15/003—Individual devices arranged in spaced relationship, e.g. buffer bollards
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/30—Arrangements interacting with transmitters or receivers otherwise than by visible means, e.g. using radar reflectors or radio transmitters
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/60—Upright bodies, e.g. marker posts or bollards; Supports for road signs
- E01F9/604—Upright bodies, e.g. marker posts or bollards; Supports for road signs specially adapted for particular signalling purposes, e.g. for indicating curves, road works or pedestrian crossings
- E01F9/615—Upright bodies, e.g. marker posts or bollards; Supports for road signs specially adapted for particular signalling purposes, e.g. for indicating curves, road works or pedestrian crossings illuminated
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/60—Upright bodies, e.g. marker posts or bollards; Supports for road signs
- E01F9/658—Upright bodies, e.g. marker posts or bollards; Supports for road signs characterised by means for fixing
- E01F9/669—Upright bodies, e.g. marker posts or bollards; Supports for road signs characterised by means for fixing for fastening to safety barriers or the like
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/095—Traffic lights
Abstract
The invention discloses a kind of tide track altering system and method based on compass angle measurement laser ranging, including remote control center, traffic lights background data server, section control base station and track change robot, when needing to carry out the change in tide track, remote control center sends tide track change signal to section control base station, section control base station is sent command-control signal of walking to track change robot all on corresponding tide lane segment by way of wireless data transmission in real time, each track change robot performs corresponding mobile when receiving respective walking order, and positional information is fed back into section control base station in real time；The present invention can realize the automatic change in tide track according to demand, with reference to traffic lights background data server, realize that urban traffic road network changes in real time using big data, tackle at any time due to change of the factor to road demand such as traffic accident, vehicle flowrate changes, realize automatically controlling for tide track.
Description
Technical field
The present invention relates to tide track technical field, more specifically, more particularly to a kind of being based on compass angle measurement Laser Measuring
Away from tide track altering system and method.
Background technology
Automobile brings great convenience for the trip of the mankind, but as the quick increase of automobile quantity, traffic congestion are asked
Inscribe increasingly severe.Although government constantly builds highway, city expressway, the growth rate of road is far below automobile number
The growth of amount.In order to solve this problem, government puts into more and more funds in recent years and energy is used for developing intellectual resource traffic
System, improves the traffic efficiency of road, alleviates traffic jam issue.
" tidal phenomena " of traffic is the one of the major reasons of urban traffic blocking, the direction magnitude of traffic flow of going down town every morning
Greatly, the direction magnitude of traffic flow of going out of the city is small, and at night be then go out of the city direction flow it is big, the direction magnitude of traffic flow of going down town is small.Reply is sooner or later
A kind of typical solution of peak traffic flow is to enable tide track, morning peak go down town vehicle it is more when, increase is gone down town direction lane
Number, reduction are gone out of the city direction lane number, evening peak go out of the city vehicle it is more when, increase is gone out of the city direction lane number, and reduction is gone down town direction lane
Number.Current tide track is timing tide track, changes the traveling in tide track within the defined time of morning and evening peak period
Direction, to adjust number of track-lines, use is also that ground double amber lines and stop-light are implemented to control to track direction.Traditional profit
Implement the mode of control to track direction with ground double amber lines and stop-light, since numerous vehicles " being at loggerheads ", mark are inadequate
Many drawbacks such as clear, are gradually set the mode of isolation strip to substitute in lane side.And by manually being set between different tracks
Isolation strip has implemented inconvenience since workload is huge, thus there are many emerging intelligent tide tracks to meet the tendency of again and
It is raw.
U.S.'s Gold Gate Bridge is to carry out one of section of changeable driveway earliest in the world, and bridge floor is 27 meters wide, removes both sides
Pavement, section are two-way six-lane, and morning hours four into four go out, and afternoon, guardrail moved right a track, form reverse situation.
Early postoperative management department sets tide track to solve the problems, such as this using artificial method to set up.On the lane line among bridge
There is an eye every one section, work car is slowly travelled among track, and both sides respectively have a staff to be sitting in the flat of underbody
On platform, the staff on the both sides of work car carries out plug respectively, and track can be changed by walking one time.Many at home
Small city also can using it is this it is artificial by the way of the safe heap of Plastic traffic is set so that isolate it is a kind of individually road supply tide
Vehicle uses.This mode for manually setting tide track operates fairly simple, and maintenance cost and cost are relatively low；It is but this
Early, the evening peak phase manually sets the mode of tide road to need to expend substantial amounts of artificial and time cost, and efficiency is low, and tide car
Road conversion is not easy, while the vehicle run at high speed easily damages construction personnel, and risk factor is higher.
Tide track efficiency is low, time cost is high in order to solve the problems, such as manually to set, traffic control department using traffic lights and
The mode of traffic indication board, pressure when the fixed tide time of the tide road delimitation to some fixations is to alleviate traffic congestion
Power.Peak period on and off duty or go out of the city go down town peak period when, by setting corresponding stop-light or direction board, temporarily
Tide road is set, alleviates congestion in road, this system control mode has saved time and cost of labor, improved tide track
Applicability.But this mode does not have obvious isolation guardrail, due to driver road markings is unfamiliar with or notice not
The problems such as concentration, be easy to cause to rush by mistake and go by mistake, so as to influence the utilization to tide track, certain friendship is likely to result in when serious
Interpreter's event.
The developed countries such as the U.S. are for a series of problems for manually setting tide track and signal control of intersection, invention
A kind of tide lane changing machine, had not only overcome and has manually set tidal efficiency low, but also realized being effectively isolated for tide road.This
Kind tide lane changing machine is substantially a running locomotive, by setting various mechanical devices in intra-locomotive, with
The guardrail in one track is moved to another track up by the operation of locomotive, which greatly enhances lane guardrail conversion speed,
Cost of labor is reduced, be further divided into several sections for especially interminable tide track runs completion car at the same time by more lane change machines
Road converts.But since planning limits, original isolation strip or greenbelt cannot be removed, and cause tide lane changing machine cannot
Widely use, and the transcriber purchase cost is higher, it is necessary to special isolation strip, while the cost of a tide lane changing machine
More than 3,000,000 dollars, therefore it also strongly limit the development of this technology.
In order to improve the adaptability in tide track, the research staff in Shenzhen designs a kind of intelligent tide track again, should
Intelligent tide track is formally exposed using remote control guardrail and the combining form of lamp control in Shen Nan South Mountain section, intelligence tide
Nighttide track can be automatic that tide track is set automatically according to the size of vehicle flowrate.This intelligence tide track innovation bright spot exists
In the introduction of remote control guardrail, it is similar to common guardrail, but bottom motors drive four pulleys, as long as plugging in, guardrail can
Transverse shifting is carried out to be commanded with remote controler, the isolation switching in tide track was realized in 1 minute.Also there is intelligence barrier at the same time
Hinder identification technology, be able to detect that the barrier run into during guardrail lane change.Compared to traditional traffic dispersion mode, significantly
Reduce the risk and live load of traffic police on duty.Traffic police can be variable by hand-held remote controller, control according to site traffic situation
Divide to traveling lane mark and adjust driveway travel directions at any time；If there is substantially current feature at crossing, in the feelings of no accident
Under condition, traffic police can also shift to an earlier date the time into line program input fixed signal conversion, by its auto-changing；In addition, control centre
Label can also be controlled using remote control means in due course by instruments monitor crossing road conditions；If realizing, computer joins
The intersection annunciator of net, moreover it is possible to distinguish simultaneously auto-control by automatic recognition system.Shenzhen, Beijing etc. are regional at present
Come into operation in succession, application prospect is very extensive.But in the operational process in this intelligent tide track, due to center
The presence of isolation guardrail and greenbelt, on the one hand, the eastbound vehicle being lined up after overflowing cannot be introduced into the left-hand rotation of tide track, cause tide
Nighttide lane utilization ratio is not high, and on the other hand, this two cannot be introduced into tide track due to being hindered by guardrail for the right-hand rotation of southing mouth, also drop
The low utilization rate in tide track.
Meanwhile this essentially it is still by way of hand-held remote controller carries out intelligent tide lane control
Manually control, destabilizing factor is more, is easy to be influenced be subject to manpower factor, and is not easy centralized Control, greatly
Ground limits the development in intelligent tide track.
One of an important factor for communication in intelligent tide track is also the development of limitation tide track, such as Shenzhen are this
The mode of intelligent tide track intelligence traffic police scene hand-held remote controller is controlled remote control guardrail, it can only be carried out closely
Control, and can not realize the long-range centralized Control of a wide range of remote control guardrail.
Technology of Internet of things is then the important opportunity for breaking through this problem.With intelligent tide track and the hair of Internet of Things
Exhibition, requirement of the in the market to wireless technology increasingly increase.Especially low-power consumption, height how are made what is advocated technology of Internet of things
The wireless connection of reliability, becomes the pursuit of modern internet of things equipment manufacturer, also becomes the mesh of wireless chip supplier
Mark.Wireless technology in Internet of Things application has many kinds, including LAN and wide area network.The wireless technology of composition LAN has
The WiFi of 2.4GHz, bluetooth, Zigbee etc., the wireless technology for forming wide area network mainly have 2G/3G/4G.LoRa is LPWAN communications
One kind in technology, is a kind of overlength distance Radio Transmission Technology based on spread spectrum.This technology change in the past on
Transmission range and the compromise of power consider mode, provide to the user it is a kind of it is simple can realize at a distance, the system of low-power consumption.Together
When, free frequency range uses Lo Ra in the world, including 433,868,915MHz.LoRa technologies are a kind of extra long distances
Small wireless technology, has merged digital spread spectrum, Digital Signal Processing and forward error correction coding technology.There can be number using LoRa technologies
One wireless data sending network of ten thousand wireless data transmission module compositions, the base station net of similar existing mobile communication, each node
The mobile phone user of similar mobile network, in whole network coverage, face-to-face communication between each network node and gateway away from
From 5 kilometers can be reached, in addition it is farther.LoRa technologies have the characteristics that remote, low-power consumption, multinode, low cost.
If LoRa systems are dissolved into the control in intelligent tide track, it can break away from and be held by traffic police merely
Remote controler carrys out the defects of intelligent control tide track, to realize the centralized Control in intelligent tide track, and can greatly
Production cost is reduced, reduces the overall power in intelligent tide track, improves the popularity rate in intelligent tide track.
Alignment system plays the role of particularly important, current alignment system master in the use of tide track automatic running
To include the GPS satellite navigation system, GLONASS (GLONASS) satellite navigation system of Russia and the Big Dipper in China in the U.S.
Satellite navigation system.
GPS of America satellite navigation system is that constantly earthward certain frequency of broadcast transmission is simultaneously for the satellite that utilizes in space flight
The radio signals of some special location informations is loaded with to realize the alignment system of positioning measurement.The system is by space motion
The three parts such as satellite constellation, ground control segment, User Part form.GPS satellite navigation system originates in army of the I958 U.S.
One project of side, l964 comes into operation, in the 1970s, land, sea, and air of U.S. joint research and development satellite of new generation
Position system GPS, main purpose is to provide real-time, round-the-clock and global navigation Service for three big field of land, sea and air, and is used for
Some military purposes such as information gathering, Nuclear detonation monitoring and emergency communication, to l994, Global coverage rate is up to 24 of 98%
Own lay of gps satellite constellation is completed.During GPS satellite navigation system use, GPS with it is round-the-clock,
The features such as high accuracy, automation, high benefit, is applied successfully to geodesic survey, engineering survey, aeroplane photography, Navigation for Means of Transportation
With a variety of subjects such as control, crustal movement measurement, engineering project deformation measurement, resources survey, geodynamics, the economy achieved
Benefit and social benefit.The operational satellites of GPS satellite navigation system are located at the overhead away from earth's surface 20200km, are evenly distributed on 6
In orbital plane (each orbital plane 4), orbit inclination angle is 55 °.In addition, also 3 active redundancy satellites are in orbit.Satellite
Distribution all to can observe the satellite of more than 4, and the navigation that can be prestored in the satel-lite Anywhere, any time in the whole world
Information also can use a period of time, but navigation accuracy can be reduced gradually, and the precision reached at present is about 10 meters.
GLONASS (GLONASS), is Russian " Global Satellite Navigation System GLOBAL NAVIGATION SATELLITE
The abbreviation of SYSTEM ".GLONASS satellite navigation system is developed in Soviet Union's period earliest, after the plan, Russia continued by Russia
Ross starts to establish the Global Satellite Navigation System of this country alone for 1993, which started operation in 2007, only opened at that time
Put the domestic satellite positioning of Russia and navigation Service.By 2009, its service range was extended to the whole world.GLONASS satellite
Navigation system main services content includes determining land, the coordinate at sea and aerial target and motion velocity information etc..GLONASS
Constellation is made of 30 satellites altogether, and 27 stars are evenly distributed on the orbit plane of 3 subcirculars, these three orbit planes two
Two are separated by 120 degree, and each orbital plane has 8 satellites, 45 degree is separated by between coplanar interior satellite, orbit altitude 2.36 ten thousand is public
In, 15 divide when the cycle of operation 11 is small, 64.8 degree of orbit inclination angle, and precision reaches 10 meters or so at present.
Beidou satellite navigation system is the global navigation satellite system that China voluntarily develops, and is after GPS of America satellite
3rd Global Satellite Navigation System after navigation system and Russian Glonass satellite navigation system.Beidou satellite navigation system
System provides global range, round-the-clock, high-precision satellite navigation positioning and time service service, and with distinctive short message communication energy
Power.On December 27th, 2012, Beidou satellite navigation system starting region formally services, and possesses the covering Asian-Pacific area, is China
Space Science and Technology and satellite communication are to industrialization, the milestone of marketing development.Under the cooperation of bottom surface facility, Beidou satellite navigation
The Real-Time Positioning of system is significantly larger than GPS satellite navigation system, has had reached now in the case of 80 kilometers/hour
2 centimetres of precision.
With significantly improving for each field Beidou satellite navigation system popularity of communications and transportation, application environment it is further
Perfect, service ability is remarkably reinforced, and the application of Beidou satellite navigation system achieves extremely significant achievement, for this reason, being based on
Beidou satellite navigation system, proposes the lane change guidance method of the controllable hard shoulder mode in non-timed section tide track, by designing base
In the track of Beidou satellite navigation system, change robot realizes that track is changed, with reference to existing monitoring and license plate recognition technology energy
Reach and Full automatic unmanned is realized in change lane, recycle big data system, may finally realize round-the-clock track oneself
It is dynamic to adjust, solve the problems, such as by caused congestion in road the problems such as tidal phenomena, traffic accident, weather anomaly.
The content of the invention
It is an object of the invention to solve above-mentioned the deficiencies in the prior art, it is proposed that one kind is based on compass angle measurement laser ranging
Tide track altering system and method, the conversion in tide track can be carried out automatically, and can realize automatic obstacle-avoiding, reduced
Production and application cost, reduces influence of the manpower factor to intelligent tide track.
The present invention is achieved through the following technical solutions above-mentioned purpose：A kind of tide car based on compass angle measurement laser ranging
Road altering system, including remote control center, traffic lights background data server, section control base station and track change machine
Device people, all tracks change robots on same tide track form a tracks group of change robot, long-range control
The data transmission port at center processed and the data transmission port of traffic lights background data server transmitted by optical fiber or
The mode of wireless data transmission carries out real-time Data Transmission, data transmission port and the section control base station of remote control center
Data transmission port carries out real-time Data Transmission by way of optical fiber transmission or wireless data transmission；Remote control center from
The information of vehicle flowrate in track where traffic lights background data server obtains tide track analyses whether to need to carry out tide
The change in track, when needing to carry out the change in tide track remote control center by tide track change signal and it is current when
Traffic lights information at Duan Chaoxi turning roadway terminals is sent to section control base station, section control base station in real time passes through wireless data
The mode of transmission will walk, and command-control signal is real-time to be sent to track change robot all on corresponding tide lane segment
On, each track change robot performs corresponding mobile and in real time that positional information is anti-when receiving respective walking order
Feed section control base station；
Track group of change robot on every tide track includes the multiple tracks being distributed along tide track side
Robot is changed, 2~6 meters are spaced between the change robot of adjacent track；The track change robot includes hard shoulder shell
Body, big dipper module, embedded type control module, alarm lamp, solar panel, lead-acid accumulator, LoRa modules, mobile module,
Obstacle avoidance module, angle judgment module and chassis, embedded type control module connect section control base station by LoRa modules, and plumbic acid stores
Battery is fixed on chassis, and chassis is fixed on outer casing bottom；The shell upper end is provided with alarm lamp, and the outer surface of shell is set
There is a solar panel, solar panel connects lead-acid accumulator by solar charging circuit, the big dipper module and keeps away
Barrier module is arranged at enclosure, and mobile module, angle judgment module and locking mechanism are arranged on chassis；
The angle judgment module includes the electronic compass being arranged on chassis, and the mobile module includes being arranged on chassis
On the caterpillar drive that rotates of two Athey wheels of two Athey wheels and driving, the locking mechanism connection mobile module is used in combination
In being locked and decontroled to Athey wheel；Robot is changed when dispatching from the factory in the track, the direction of electronic compass and hard shoulder
Towards identical, direct north is all directed towards；What the obstacle avoidance module included setting inside housings and being fixedly connected with the casing swashs
Optar drives motor and horizontally disposed laser range finder, and laser range finder driving motor connection laser range finder simultaneously drives sharp
Rotated in the range of 90 degree of optar；The front of the housing offers 100 degree of open slot, the laser that laser range finder is sent
Appear the maximum outside open slot and in detection opening groove location and can detect distance.
Further, the remote control center connects traffic lights background data server and is changed in tide track
The control of Shi Liyong traffic lights background data server not before changing the inlet in tide track remain red light phase and
Exit remains green light phase.
Further, absolute angle coding disk is also associated with the motor head of the laser range finder driving motor, passed through
Absolute angle coding disk realizes that laser range finder driving motor moves back and forth in the range of specified angle.
Further, two Athey wheels drive each via a track drive motor.
A kind of tide track variation based on compass angle measurement laser ranging, includes the following steps：
1) remote control center receives the current tide lane flow amount letter that traffic lights background data server is sent
Traffic lights information at breath and tide track entrance and exit, thus judges whether to need the change for carrying out tide track；If need
The change in tide track is carried out, then will need to carry out the change of tide track and the traffic lights at the entrance and exit of tide track
Information is sent to section control base station in real time；
2) section control base station receives the information that remote control center is sent, and according to tide track entrance and exit at
Traffic lights information situation, will be needed in the case of being red light in the traffic lights of current tide track inlet into runway become
Information more and need the coordinate information of mobile final position to be sent to each track in each track change robot to become
More in robot；
3) the track change robot on whole tide track is according to tide track is not carried out when front direction successively before changing
Mobile, specific move mode is as follows：
3.1) change robot in track carries out power-up initializing, and judges that itself whether there is failure, and breakdown judge includes
Whether judgement that whether the whether enough judgements of electric quantity of lead-acid storage battery, big dipper module can position, LoRa modules can normally pass
Pass information and track changes whether all motors of robot interior can work normally；If there is event in track change robot
Barrier, then to carrying out breakdown judge to the hard shoulder again after restarting there are the hard shoulder of failure, if track change robot is still
There are failure, then the fault message there will be the track change robot of failure passes to section control base station, and lights the car
Road changes the warning light of robot, track change robot is not moved；If robot is changed in track, track is judged
Change robot can be moved, into 3.2 steps；
3.2) caterpillar drive of track change robot drives Athey wheel to be rotated with differential, realizes that machine is changed in track
The original place of people rotates, and the electronic compass on chassis rotates a circle in this process, and realizes the calibration positioning of itself, obtains
The current outbound course of electronic compass；
3.3) big dipper module in track change robot obtains the current location information of current lane change robot, knot
The coordinate information for closing the mobile final position of the needs obtained at road segment controller draws the movement side of track change robot
To；
3.4) since track change robot uses track structure, the angle between hard shoulder and the driving wheel of crawler belt is
It is known, change machine with reference to the track obtained in the current outbound course of the electronic compass obtained in step 3.2 and step 3.3
The direction of motion of people, direct differential rotate Athey wheel, rotate track change robot original place, until track change robot
Towards the direction of motion of direct face track change robot；
3.5) block of wood opens the alarm lamp of itself and carries out obstacle judgement, and the mode that obstacle judges is diffusing reflection laser ranging
Instrument telemetry, opens laser range finder, rotates the laser range finder driving motor on block of wood, the laser range finder on block of wood is existed
90 degree of left-right rotation in the range of open slot, judge that laser range finder keeps launching the state of laser, obtain in this process
The distance measured in this process, and by the distance with needing mobile gauged distance L to make comparisons；What if laser range finder measured
Length is consistently greater than gauged distance L, then it represents that does not encounter barrier in scanning process, i.e., is not deposited on the path that block of wood will move
In barrier, block of wood can carry out the movement step of next step；If the length that laser range finder measures occurs being less than gauged distance L
Situation, then it represents that encountered barrier in scanning process, i.e., on the path that block of wood will move may barrier, then need to prolong
When 3s carry out obstacle judgement again；
3.6) determine it is accessible after, the direction of motion that track change robot determines in starting along step 3.4 is transported
It is dynamic, until arriving at, complete the movement of track change robot；
3.7) when change robot in track is moved to final position, locking mechanism is started to work, and Athey wheel is locked, and is realized
Change the locking of robot in track；
4) after the track change machine on whole section completes movement per capita, the change in whole tide track is realized.
Further, the remote control center connects traffic lights background data server and is changed in tide track
The control of Shi Liyong traffic lights background data server not before changing the inlet in tide track remain red light phase and
Exit remains green light phase.
Further, the move mode of track change robot moves for segmented in step 3.6, will entirely move road
Footpath is divided into some sections, and every section of terminal point coordinate is sent in the change robot of track, and robot is changed according to step 3.2 in track
The process of~step 3.6 is moved at every section of terminal point coordinate successively, and according to the position of itself when at every section of emphasis coordinate
Travel direction determines confidence breath again, continues to execute the process of step 3.2~step 3.6, until the movement of track change robot
To final position.
Further, two Athey wheels drive each via a track drive motor, pass through two track drive motors
Do not rotate at the same speed and realize that the differential of two Athey wheels rotates, and then realize the rotation and steering of track change robot.
Further, absolute angle coding disk is also associated with the motor head of the laser range finder driving motor, passed through
Absolute angle coding disk realizes that laser range finder driving motor moves back and forth in the range of specified angle.
The beneficial effects of the present invention are：
(1) the tide track altering system based on compass angle measurement laser ranging of the invention can realize tide according to demand
The automatic change in track, in combination with traffic lights background data server, urban traffic road net is realized using big data
Network changes in real time, tackles at any time due to change of the factor to road demand such as traffic accident, vehicle flowrate change, bad weathers, real
Existing tide track automatically controls.
(2) remote control center of the invention only needs to send the change signal in tide track, section control base station and track
Change robot can realize the change in tide track automatically, and the degree of automation is high, without manually supervision and operation, be conducive to whole
The centralized management in the tide track in a city.
(3) change robot in track of the invention can carry out automatic fault detection on startup, only change machine in track
It can just be moved during people's fault-free, can effectively avoid the failure problems of track change robot itself causes to become tide track
Influence more.
(4) track of the invention change robot can carry out judgement and the Athey wheel angle of self-view before movement
Judge, so that track change robot also smoothly can voluntarily find the correct direction of motion in the case where direction is indefinite,
Realize track change robot automatic reverse, avoid because place when poor direction caused by track change it is ill
Problem, when shifting even if the initial position of track change robot also can accurate motion to target location.
(5) change robot in track of the invention can carry out avoidance judgement before movement, if there are obstacle on tide track
Thing then without movement, avoids track from changing robot during the motion because the influence of barrier can not be successfully work and touch
The problem of impacting other people normally travels to other people motor vehicle, that is, avoid block of wood from making to collide with vehicle in movement.
(6) present invention changes the movement of robot by closed-loop control track, and track change robot passes through big dipper module
The positional information of itself is obtained in real time, recycles the moving method of segmented, and it is mobile more accurate to make, and what is finally positioned is accurate
Degree is also very high.
(7) present invention is used as locating module by big dipper module, and the precision of positioning is up to Centimeter Level, can accurately realize car
Road changes the running fix of robot, and precision is high.
(8) present invention uses crawler belt as motion, not only mobile stabilization, but also can realize track change robot
Pivot stud, the convenient direction for changing track change robot.
(9) present invention can drive hard shoulder housing to chassis direction after final position is reached by bottom disk-drive motor
Movement, whole block of wood are integrally attached on ground, add the stability of block of wood in itself.
Brief description of the drawings
Fig. 1 is a kind of flow diagram of the tide track variation based on compass angle measurement laser ranging of the present invention.
Fig. 2 is the three dimensional structure diagram of change robot in track of the present invention.
Fig. 3 is the sectional view of change robot in track of the present invention.
Fig. 4 is the top view of change robot in track of the present invention.
In figure, 1- Athey wheels, 2- end caps, 3- head covers, 4- big dipper modules, 5- hard shoulders housing, 6- alarm lamps, 7- solar energy
Solar panel, the first track drives of 8- motor, 9- chassis, 10- lead-acid accumulators, the second track drives of 11- motor, 12- Laser Measurings
Distance meter driving motor, 13- laser range finders, 14- absolute angles coding disk, 15- open slots.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings, and for the ease of expression, track is changed robot in Fig. 1
Sketch as block of wood, be base station by road segment controller summary, it is electronic compass that electronic compass, which is sketched,：
As shown in figs. 2 to 4, a kind of tide track altering system based on compass angle measurement laser ranging, including remote control
Center, traffic lights background data server, section control base station and track change robot, on same tide track
All track change robots form a track group of change robot, the data transmission port of remote control center and friendship
The data transmission port of ventilating signal lamp background data server carries out reality by way of optical fiber transmission or wireless data transmission
When data transfer, the data transmission port of the data transmission port and section control base station of remote control center transmitted by optical fiber
Or the mode of wireless data transmission carries out real-time Data Transmission；Remote control center is from traffic lights background data server
The information of vehicle flowrate in track where obtaining tide track analyses whether to need the change for carrying out tide track, is needing to carry out tide
Remote control center changes tide track red green at signal and present period tide turning roadway terminal during the change in track
Lamp information is sent to section control base station in real time, and section control base station is by way of wireless data transmission by walking order control
Signal is sent to track change robot all on corresponding tide lane segment in real time, and each track change robot is receiving
It is corresponding mobile to being performed during respective walking order, and positional information is fed back into section control base station in real time.
Remote control center, road segment controller and track change robot form three-decker formula system from top to bottom.Road
Paragraph controller includes base station control module, LoRa Internet of Things base station and communication module, the LoRa Internet of Things base station and communication mould
Block is connected with base station control module by serial ports, and the road segment controller changes machine by LoRa Internet of Things base station and track
LoRa modules on people realize that LoRa wireless telecommunications connect, and the road segment controller passes through in communication module realization and remote control
On the one hand the communication connection of the heart, the base station control module receive the movement instruction that remote control center is sent and by movement instructions
The control command to each track change robot is generated afterwards, and control command is sent to by base station control module by LoRa modules
In the LoRa modules of corresponding track change robot；On the other hand receive after track change robot performs move and pass through
The new positional information that LoRa modules are sent out, and the positional information is transferred to remote control center by communication module.
The base station control module uses Android system, be additionally provided with road segment controller touch display screen, memory module,
Power module and warning circuit, power module are used to be powered for whole road segment controller, touch display screen, warning circuit and
Memory module is electrically connected with robot control module, and the memory module is dealt into road for storing each track change robot
On paragraph controller and remote control center is dealt into the information on base station, and touch display screen is used to carry out road segment controller live tune
The real-time display of examination, the input of real-time control command and track change robot motion's information, the warning circuit are used on road
The whole system of paragraph controller is alarmed when occurring abnormal.
The communication distance that LoRa is wireless is within 5 kilometers, and the control range of base station is cars all on road within 5 kilometers
Road changes robot, and base station carries out Collaborative Control to these tracks change robot.
Track group of change robot on every tide track includes the multiple tracks being distributed along tide track side
Robot is changed, 2~6 meters are spaced between the change robot of adjacent track；The track change robot includes hard shoulder shell
Body 5, big dipper module 4, embedded type control module, alarm lamp 6, solar panel 7, lead-acid accumulator 10, LoRa modules, movement
Module, obstacle avoidance module, angle judgment module and chassis 9, are provided with end cap 2,2 upper end center position of end cap on hard shoulder housing 5
Head cover 3 is fixed with, big dipper module 4 is fixed on the middle part of head cover 3.
Embedded type control module connects section control base station by LoRa modules, and lead-acid accumulator 10 is fixed on chassis 9,
Chassis 9 is fixed on outer casing bottom；The shell upper end is provided with alarm lamp 6, and the outer surface of shell is provided with solar panel
7, solar panel 7 connects lead-acid accumulator 10 by solar charging circuit, and the big dipper module 4 and obstacle avoidance module are all provided with
Put inside the housing, mobile module, angle judgment module and locking mechanism are arranged on chassis 9.
The big dipper module 4 includes radio frequency unit and is connected with the radio frequency unit and is used to receiving and handling the Big Dipper
The positioning signal that satellite navigation and location system is sent receives processing unit, the output terminal of the signal processing unit and control
Molding block is connected by serial ports.
The angle judgment module includes the electronic compass being arranged on chassis 9, and the mobile module includes being arranged on bottom
The caterpillar drive that two Athey wheels 1 of two Athey wheels 1 and driving on disk 9 rotate, the mobile mould of locking mechanism connection
Block simultaneously is used to Athey wheel 1 is locked and decontroled；Robot is changed when dispatching from the factory in the track, the direction of electronic compass and every
It is identical from the direction of pier, all it is directed towards direct north；The obstacle avoidance module includes being arranged on the inside of housing 5 and is fixed with housing 5
The laser range finder driving motor 12 and horizontally disposed laser range finder 13 of connection, laser range finder driving motor 12 connect laser
Rangefinder 13 and driving rotates in the range of 1390 degree of laser range finder；The front of the housing 5 offers 100 degree of open slot
15, the maximum that the laser that laser range finder 13 is sent is appeared in outside open slot 15 and 15 location of detection opening groove can detect away from
From.
The remote control center connects traffic lights background data server and friendship is utilized when tide track is changed
The control of ventilating signal lamp background data server the inlet in tide track does not remain red light phase before changing and exit is begun
Green light phase is kept eventually.
Two Athey wheels 1 drive each via a track drive motor.Two track drive motors are respectively the first shoe
Band driving 8 and second track drive motor 12 of motor, the first track drive motor 8 and the second track drive motor 12 be not with synchronized
Degree rotates or can be achieved when being rotated to different directions the rotation of track change robot.
As shown in Figure 1, a kind of tide track variation based on compass angle measurement laser ranging, includes the following steps：
1) remote control center receives the current tide lane flow amount letter that traffic lights background data server is sent
Traffic lights information at breath and tide track entrance and exit, thus judges whether to need the change for carrying out tide track；If need
The change in tide track is carried out, then will need to carry out the change of tide track and the traffic lights at the entrance and exit of tide track
Information is sent to section control base station in real time；
2) section control base station receives the information that remote control center is sent, and according to tide track entrance and exit at
Traffic lights information situation, will be needed in the case of being red light in the traffic lights of current tide track inlet into runway become
Information more and need the coordinate information of mobile final position to be sent to each track in each track change robot to become
More in robot；
3) the track change robot on whole tide track is according to tide track is not carried out when front direction successively before changing
Mobile, specific move mode is as follows：
3.1) change robot in track carries out power-up initializing, and judges that itself whether there is failure, and breakdown judge includes
Whether judgement that whether the whether enough judgements of 10 electricity of lead-acid accumulator, big dipper module 4 can position, LoRa modules can be normal
Transmit information and track changes whether all motors of robot interior can work normally；If there is event in track change robot
Barrier, then to carrying out breakdown judge to the hard shoulder again after restarting there are the hard shoulder of failure, if track change robot is still
There are failure, then the fault message there will be the track change robot of failure passes to section control base station, and lights the car
Road changes the warning light of robot, track change robot is not moved；If robot is changed in track, track is judged
Change robot can be moved, into 3.2 steps；
3.2) caterpillar drive of track change robot drives Athey wheel 1 to be rotated with differential, realizes that machine is changed in track
The original place of device people rotates, and the electronic compass on chassis 9 rotates a circle in this process, and realizes the calibration positioning of itself,
Obtain the current outbound course of electronic compass；
3.3) big dipper module 4 in track change robot obtains the current location information of current lane change robot,
The movement of track change robot is drawn with reference to the coordinate information of the mobile final position of the needs obtained at road segment controller
Direction；
3.4) since track change robot uses track structure, the angle between hard shoulder and the driving wheel of crawler belt is
It is known, change machine with reference to the track obtained in the current outbound course of the electronic compass obtained in step 3.2 and step 3.3
The direction of motion of people, direct differential rotate Athey wheel 1, rotate track change robot original place, until track change robot
Direction direct face track change robot the direction of motion；
3.5) block of wood opens the alarm lamp 6 of itself and carries out obstacle judgement, and the mode that obstacle judges is established by cable to diffuse
13 telemetrys are closed, open laser range finder 13, the laser range finder driving motor 12 on block of wood is rotated, makes the Laser Measuring on block of wood
90 degree of left-right rotation in the range of open slot 15 of distance meter 13, judge that laser range finder 13 keeps launching laser in this process
State, obtain the distance that measures in this process, and by the distance with needing mobile gauged distance L to make comparisons；If laser
The length that rangefinder measures is consistently greater than gauged distance L, then it represents that does not encounter barrier in scanning process, i.e. block of wood will move
Path on barrier is not present, block of wood can carry out the movement step of next step；If the length that laser range finder measures occurs
Less than the situation of gauged distance L, then it represents that barrier has been encountered in scanning process, i.e., can energy barrier on the path that block of wood will move
Hinder thing, then need delay 3s to carry out obstacle judgement again；
3.6) determine it is accessible after, the direction of motion that track change robot determines in starting along step 3.4 is transported
It is dynamic, until arriving at, complete the movement of track change robot；
3.7) when change robot in track is moved to final position, locking mechanism is started to work, and Athey wheel 1 is locked, real
The locking of existing track change robot；
4) after the track change machine on whole section completes movement per capita, the change in whole tide track is realized.
The remote control center connects traffic lights background data server and friendship is utilized when tide track is changed
The control of ventilating signal lamp background data server the inlet in tide track does not remain red light phase before changing and exit is begun
Green light phase is kept eventually.
The move mode of track change robot moves for segmented in step 3.6, if will entirely motion path be divided into
Dry section, every section of terminal point coordinate are sent in the change robot of track, and robot is changed according to step 3.2~step in track
3.6 process is moved at every section of terminal point coordinate successively, and according to the positional information of itself when at every section of emphasis coordinate
Travel direction determines again, continues to execute the process of step 3.2~step 3.6, until track change robot is moved to finally
Position.
Two Athey wheels 1 drive each via a track drive motor, pass through the not synchronized of two track drive motors
Rotate and realize that the differential of two Athey wheels 1 rotates, and then realize the rotation and steering of track change robot.
Absolute angle coding disk 14 is also associated with the motor head of the laser range finder driving motor 12, passes through absolute angle
Degree coding disk 14 realizes that laser range finder driving motor 12 moves back and forth in the range of specified angle.
Above-described embodiment is presently preferred embodiments of the present invention, is not the limitation to technical solution of the present invention, as long as
The technical solution that can be realized without creative work on the basis of above-described embodiment, is regarded as falling into patent of the present invention
Rights protection scope in.
Claims (9)
- A kind of 1. tide track altering system based on compass angle measurement laser ranging, it is characterised in that：Including remote control center, Traffic lights background data server, section control base station and track change robot, it is all on same tide track Track change robot form track group of change robot, data transmission port and the traffic of remote control center are believed The data transmission port of signal lamp background data server is counted in real time by way of optical fiber transmission or wireless data transmission According to transmission, the data transmission port of remote control center transmitted with the data transmission port of section control base station by optical fiber or The mode of wireless data transmission carries out real-time Data Transmission；Remote control center is obtained from traffic lights background data server The information of vehicle flowrate in track where tide track analyses whether to need the change for carrying out tide track, is needing to carry out tide track Change when the traffic lights that change tide track at signal and present period tide turning roadway terminal of remote control center believe Breath is sent to section control base station in real time, and section control base station will be walked command-control signal by way of wireless data transmission Real-time to send to track change robot all on corresponding tide lane segment, each track change robot is receiving respectively From walking order when perform corresponding mobile, and positional information is fed back into section control base station in real time；Track group of change robot on every tide track includes changing along multiple tracks of tide track side distribution Robot, adjacent track are spaced 2~6 meters between changing robot；The track change robot includes hard shoulder housing (5), big dipper module (4), embedded type control module, alarm lamp (6), solar panel (7), lead-acid accumulator (10), LoRa Module, mobile module, obstacle avoidance module, angle judgment module and chassis (9), embedded type control module pass through LoRa module link roads Section control base station, lead-acid accumulator (10) are fixed on chassis (9), and chassis (9) are fixed on outer casing bottom；The shell upper end is set Alarm lamp (6) is equipped with, the outer surface of shell is provided with solar panel (7), and solar panel (7) passes through solar recharging Circuit connection lead-acid accumulator (10), the big dipper module (4) and obstacle avoidance module are arranged at enclosure, mobile module, angle Degree judgment module and locking mechanism are arranged on chassis (9)；The angle judgment module includes the electronic compass being arranged on chassis (9), and the mobile module includes being arranged on chassis (9) caterpillar drive that two Athey wheels (1) of two Athey wheels (1) and driving on rotate, the locking mechanism connection move Dynamic model block simultaneously is used to Athey wheel (1) is locked and decontroled；Robot is changed when dispatching from the factory in the track, the finger of electronic compass To identical with the direction of hard shoulder, direct north is all directed towards；The obstacle avoidance module includes being arranged on housing (5) inside and and shell The laser range finder driving motor (12) and horizontally disposed laser range finder (13) that body (5) is fixedly connected, laser range finder driving Motor (12) connects laser range finder (13) and drives and rotated in the range of (13) 90 degree of laser range finder；The housing (5) is just Face offers 100 degree of open slot (15), and the laser that laser range finder (13) is sent appears open slot (15) outside and detection opening Maximum in groove (15) location can detect distance.
- 2. the tide track altering system according to claim 1 based on compass angle measurement laser ranging, it is characterised in that：Institute After stating remote control center connection traffic lights background data server and utilizing traffic lights when tide track is changed Number of units according to server controls the inlet in tide track does not remain red light phase before changing and exit remains green light State.
- 3. the tide track altering system according to claim 1 based on compass angle measurement laser ranging, it is characterised in that：Institute State and be also associated with absolute angle coding disk (14) on the motor head of optoelectronic switch driving motor (12), encoded by absolute angle Disk (14) realizes that optoelectronic switch drives motor (12) to be moved back and forth in the range of specified angle.
- 4. the tide track altering system according to claim 1 based on compass angle measurement laser ranging, it is characterised in that：Two Bar Athey wheel (1) drives each via a track drive motor.
- A kind of 5. tide track variation based on compass angle measurement laser ranging, it is characterised in that：Include the following steps：1) remote control center receive the current tide lane flow amount information sent of traffic lights background data server and Traffic lights information at the entrance and exit of tide track, thus judges whether to need the change for carrying out tide track；If desired into The change in row tide track, then will need to carry out the change of tide track and the information of the traffic lights at the entrance and exit of tide track It is sent to section control base station in real time；2) section control base station receives the information that remote control center is sent, and according to red at the entrance and exit of tide track The situation of green light information, will need to change into runway in the case of being red light in the traffic lights of current tide track inlet Information and need the coordinate information of mobile final position to be sent to each track in each track change robot to change machine On device people；3) the track change robot on whole tide track is according to tide track is moved when front direction successively before changing, Specific move mode is as follows：3.1) change robot in track carries out power-up initializing, and judges itself to whether there is failure, and breakdown judge includes plumbic acid Whether judgement that whether the whether enough judgements of storage battery (10) electricity, big dipper module (4) can position, LoRa modules can be normal Transmit information and track changes whether all motors of robot interior can work normally；If there is event in track change robot Barrier, then to carrying out breakdown judge to the hard shoulder again after restarting there are the hard shoulder of failure, if track change robot is still There are failure, then the fault message there will be the track change robot of failure passes to section control base station, and lights the car Road changes the warning light of robot, track change robot is not moved；If robot is changed in track, track is judged Change robot can be moved, into 3.2 steps；3.2) caterpillar drive of track change robot drives Athey wheel (1) to be rotated with differential, realizes that machine is changed in track The original place of people rotates, and the electronic compass on chassis (9) rotates a circle in this process, and realizes the calibration positioning of itself, Obtain the current outbound course of electronic compass；3.3) big dipper module (4) in track change robot obtains the current location information of current lane change robot, knot The coordinate information for closing the mobile final position of the needs obtained at road segment controller draws the movement side of track change robot To；3.4) since track change robot uses track structure, the angle between hard shoulder and the driving wheel of crawler belt is known , with reference to the track change robot obtained in the current outbound course of the electronic compass obtained in step 3.2 and step 3.3 The direction of motion, direct differential rotate Athey wheel (1), rotate track change robot original place, until track change robot Towards the direction of motion of direct face track change robot；3.5) block of wood opens the alarm lamp (6) of itself and carries out obstacle judgement, and the mode that obstacle judges is the electric switch that diffuses (13) telemetry, opens laser range finder (13), rotates the laser range finder driving motor (12) on block of wood, makes swashing on block of wood Optar (13) 90 degree of left-right rotation in the range of open slot (15), judges that laser range finder (13) is kept in this process Launch the state of laser, obtain the distance measured in this process, and by the distance with needing mobile gauged distance L to make ratio Compared with；If the length that laser range finder measures is consistently greater than gauged distance L, then it represents that does not encounter barrier, i.e. pier in scanning process Barrier is not present on the path that son will move, block of wood can carry out the movement step of next step；If laser range finder measures Length occur less than gauged distance L situation, then it represents that barrier, i.e., the road that block of wood will move have been encountered in scanning process Possible barrier on footpath, then need delay 3s to carry out obstacle judgement again；3.6) determine it is accessible after, the direction of motion that track change robot determines in starting along step 3.4 is moved, directly To arriving at, the movement of track change robot is completed；3.7) when change robot in track is moved to final position, locking mechanism is started to work, and Athey wheel (1) is locked, and is realized Change the locking of robot in track；4) after the track change machine on whole section completes movement per capita, the change in whole tide track is realized.
- 6. a kind of tide track variation based on compass angle measurement laser ranging according to claim 5, its feature exist In：The remote control center connects traffic lights background data server and utilizes traffic signals when tide track is changed Lamp background data server control the inlet in tide track does not remain red light phase before changing and exit remains Green light phase.
- 7. a kind of tide track variation based on compass angle measurement laser ranging according to claim 5, its feature exist In：The move mode of track change robot moves for segmented in step 3.6, entirely will be divided into some sections by motion path, Every section of terminal point coordinate is sent in the change robot of track, and mistake of the robot according to step 3.2~step 3.6 is changed in track Cheng Yici is moved at every section of terminal point coordinate, and at every section of emphasis coordinate when carries out again according to the positional information of itself Direction determines, continues to execute the process of step 3.2~step 3.6, until track change robot is moved to final position.
- 8. a kind of tide track variation based on compass angle measurement laser ranging according to claim 5, its feature exist In：Two Athey wheel (1) drives each via a track drive motor, passes through not rotating at the same speed for two track drive motors Realize that the differential of two Athey wheels (1) rotates, and then realize the rotation and steering of track change robot.
- 9. a kind of tide track variation based on compass angle measurement laser ranging according to claim 5, its feature exist In：Absolute angle coding disk (14) is also associated with the motor head of the laser range finder driving motor (12), passes through absolute angle Degree coding disk (14) realizes that laser range finder drives motor (12) to be moved back and forth in the range of specified angle.
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