CN107974977A - Change robot and variation in a kind of tide track using infrared obstacle avoidance - Google Patents

Abstract

The invention discloses a tidal lane changing robot adopting infrared obstacle avoidance, which comprises a pier A, a pier B and a connecting guardrail, and the two ends of the connecting guardrail are respectively hinged on the central axis of the A pier and the central axis of the B pier; There are Beidou modules, embedded control modules, alarm lights, solar panels, lead-acid batteries, LoRa modules, chassis and shells on both pier and pier B; the invention utilizes road entrances and exits to set up mobile isolation pier, which is flexible and low cost. low; use the Beidou system for real-time positioning of the isolation pier, high control accuracy and high safety; use the Beidou system for precise positioning to realize multi-lane changes; use big data to realize real-time changes in the urban traffic road network, and respond to traffic accidents, traffic flow changes, The change of road demand due to bad weather and other factors can realize automatic control.

Description

A tidal lane changing robot and its changing method using infrared obstacle avoidance

technical field

The present invention relates to the technical field of tidal lanes, more specifically, to a tidal lane changing robot and a changing method using infrared obstacle avoidance.

Background technique

Cars have brought great convenience to human travel, but with the rapid increase in the number of cars, traffic congestion is becoming more and more serious. Although the government continues to build roads and urban expressways, the growth rate of roads is far lower than the growth of the number of cars. In order to solve this problem, the government has invested more and more funds and energy in the development of intelligent transportation systems in recent years to improve the efficiency of road traffic and alleviate traffic congestion.

The "tidal phenomenon" of traffic is one of the important reasons for urban traffic congestion. Every morning, the traffic flow in the direction of the city is large, and the traffic flow in the direction of the city is small. At night, the traffic flow in the direction of the city is large, and the traffic flow in the direction of the city is small. A typical solution to deal with morning and evening peak traffic flow is to use tidal lanes. When there are many vehicles entering the city in the morning peak, increase the number of lanes in the direction of entering the city and reduce the number of lanes in the direction of leaving the city. Number of direction lanes. The current tidal lane is a timed tidal lane, changing the driving direction of the tidal lane within the specified time in the morning and evening peak hours to adjust the number of lanes. The double yellow lines on the ground and traffic lights are also used to control the lane direction. The traditional method of using double yellow lines on the ground and traffic lights to control the direction of the lane has been gradually replaced by the way of setting up a barrier on the side of the lane due to many disadvantages such as "topping the cow" by many vehicles and unclear signs. However, it is inconvenient to manually set up isolation zones between different lanes due to the huge workload, so many emerging intelligent tidal lanes have emerged as the times require.

The Golden Gate Bridge in the United States is one of the earliest road sections in the world to implement variable lanes. The bridge deck is 27 meters wide. Except for the sidewalks on both sides, the road section is a two-way six-lane road section. The opposite situation. In the early days, the management department adopted the artificial setting method to set up the tidal lane to solve this problem. There is an eye at every other section of the lane line in the middle of the bridge. The working vehicle is driving slowly in the middle of the lane. There is a worker sitting on the platform at the bottom of the vehicle on each side, and the staff on both sides of the working vehicle perform plugging and unplugging operations respectively. , walk once to change the lane. Many small cities in China will also use this artificial method to set up plastic traffic safety piles, thereby isolating a separate road for tidal vehicles. This method of artificially setting tidal lanes is relatively simple to operate, and the maintenance cost and cost are relatively low; however, this method of artificially setting tidal lanes during morning and evening peak hours requires a lot of labor and time costs, is inefficient, and is not easy to change tidal lanes At the same time, vehicles traveling at high speed are likely to cause injury to construction workers, and the risk factor is relatively high.

In order to solve the problem of low efficiency and high time cost of manually setting tidal lanes, the traffic control department uses traffic lights and traffic signs to designate fixed tidal times for some fixed tidal roads to relieve the pressure of traffic congestion. During the peak hours of commuting or entering the city, by setting up corresponding traffic lights or signs, tidal roads are temporarily set up to alleviate road congestion. This system control method saves time and labor costs and improves the efficiency of tidal lanes. applicability. However, there is no obvious isolation guardrail in this way. Due to the driver's unfamiliarity with the road signs or inattention, it is easy to cause mistakes, which will affect the use of tidal lanes. In severe cases, it may cause certain traffic accidents. .

Developed countries such as the United States have invented a tidal lane changer for a series of problems in artificially setting tidal lanes and intersection signal lights, which not only overcomes the low efficiency of artificial tidal setting, but also realizes the effective isolation of tidal roads. This tidal lane changer is essentially a running locomotive. By setting various mechanical devices inside the locomotive, it moves the guardrail of one lane to another lane as the locomotive runs, which greatly improves the lane guardrail change. The speed reduces the labor cost. For the particularly long tidal lane, it can be divided into several sections and multiple lane changers run at the same time to complete the lane change. However, due to planning restrictions, the original isolation belt or green belt cannot be removed, so the tidal lane changer cannot be widely used, and the purchase cost of the changer is relatively high, requiring a special isolation belt. At the same time, the cost of a tidal lane changer is between More than 3 million US dollars, so it also greatly limits the development of this technology.

In order to improve the adaptability of the tidal lane, the R&D personnel in Shenzhen have designed an intelligent tidal lane. This intelligent tidal lane adopts the combination of remote control guardrail and light control and is officially unveiled in the Nanshan section of Shennan Avenue. The intelligent tidal lane The tidal lane can be automatically set according to the size of the traffic flow. The innovative highlight of this intelligent tidal lane is the introduction of the remote control guardrail, which looks like an ordinary guardrail, but the motor at the bottom drives four pulleys. As long as the power is plugged in, the guardrail can move laterally with the command of the remote control, and the tide can be realized within 1 minute. Lane switching. At the same time, it also has intelligent obstacle recognition technology, which can detect obstacles encountered during the lane change of the guardrail. Compared with traditional traffic control methods, it greatly reduces the risk and workload of traffic police on duty. According to the traffic conditions on the spot, the traffic police can control the variable directional driving lane signs to adjust the lane driving direction at any time through the hand-held remote control; if there are obvious traffic characteristics at the intersection, and in the absence of emergencies, the traffic police can also input and fix the program in advance The time of sign conversion is automatically changed by it; in addition, the control center can also monitor the road conditions at the intersection through the instrument, and use remote control means to control the sign in a timely manner; automatic regulation. At present, Shenzhen, Beijing and other regions have been put into use one after another, and the application prospect is very broad. However, during the operation of this intelligent tidal lane, due to the existence of the central isolation guardrail and the green belt, on the one hand, vehicles overflowing the eastbound queuing cannot enter the tidal lane and turn left, resulting in a low utilization rate of the tidal lane. On the one hand, the right turn at the south entrance cannot enter the tidal lane due to the obstruction of the guardrail, which also reduces the utilization rate of the tidal lane.

At the same time, this method of intelligent tidal lane control through a hand-held remote control is still manual control in essence, with many unstable factors, it is very easy to be affected by human factors, and it is not easy to centralize control, which greatly limits Development of intelligent tidal lanes.

The communication of intelligent tidal lanes is also one of the important factors that limit the development of tidal lanes. For example, the intelligent traffic police in Shenzhen's intelligent tidal lanes control the remote guardrails by holding a remote control on site. It can only be controlled at close range, but cannot Realize remote centralized control of large-scale remote guardrails.

The Internet of Things technology is an important opportunity to break through this problem. With the development of smart tidal lanes and the Internet of Things, there is an increasing demand for wireless technology in the market. Especially in the Internet of Things technology, how to create low-power, high-reliability wireless connections has become the pursuit of modern Internet of Things equipment manufacturers and the goal of wireless chip suppliers. There are many types of wireless technologies in IoT applications, including LAN and WAN. The wireless technologies that make up the local area network include 2.4GHz WiFi, Bluetooth, Zigbee, etc. The wireless technologies that make up the wide area network mainly include 2G/3G/4G. LoRa is one of the LPWAN communication technologies, and it is an ultra-long-distance wireless transmission technology based on spread spectrum technology. This technology has changed the trade-off between transmission distance and power in the past, and provides users with a simple system that can achieve long-distance and low power consumption. At the same time, Lo Ra is used in free frequency bands around the world, including 433, 868, and 915MHz. LoRa technology is an ultra-long-distance small wireless technology that combines digital spread spectrum, digital signal processing and forward error correction coding technology. Using LoRa technology, there can be a wireless data transmission network composed of tens of thousands of wireless data transmission modules, similar to the existing mobile communication base station network, each node is similar to mobile phone users of the mobile network, within the entire network coverage, each network The visual communication distance between nodes and gateways can reach 5 kilometers or even farther. LoRa technology has the characteristics of long distance, low power consumption, multi-node, and low cost.

If the LoRa system is integrated into the control of the intelligent tidal lane, it will be able to get rid of the defect of relying solely on the traffic police hand-held remote control to control the intelligent tidal lane, so as to realize the centralized control of the intelligent tidal lane and greatly reduce the production cost , reduce the overall power consumption of intelligent tidal lanes, and increase the penetration rate of intelligent tidal lanes.

The positioning system plays an extremely important role in the automatic operation of tidal lanes. The current positioning systems mainly include the GPS satellite navigation system of the United States, the GLONASS satellite navigation system of Russia and the Beidou satellite navigation system of my country.

The US GPS satellite navigation system is a positioning system that uses satellites flying in space to continuously broadcast radio signals of a certain frequency and loaded with some special positioning information to the ground to achieve positioning measurement. The system consists of three parts: the satellite constellation for space operation, the ground control part, and the user part. The GPS satellite navigation system started as a project of the U.S. military in 1958 and was put into use in 1964. In the 1970s, the U.S. Army, Navy and Air Force jointly developed a new generation of satellite positioning system GPS. The main purpose is to provide real-time, All-weather and global navigation services are used for some military purposes such as intelligence collection, nuclear explosion monitoring, and emergency communications. By 1994, the deployment of 24 GPS satellite constellations with a global coverage rate of up to 98% had been completed. In the process of using the GPS satellite navigation system, the global satellite positioning system has been successfully used in geodetic surveying, engineering surveying, aerial photography, vehicle navigation and control, crustal movement measurement, engineering Deformation measurement, resource exploration, geodynamics and other disciplines have achieved good economic and social benefits. The working satellites of the GPS satellite navigation system are located in the sky above 20200km from the earth's surface, evenly distributed on 6 orbital planes (4 on each orbital plane), and the orbital inclination is 55°. In addition, there are 3 active backup satellites in orbit. The distribution of satellites makes it possible to observe more than 4 satellites anywhere in the world at any time, and the navigation information pre-stored in the satellites can be used for a period of time, but the navigation accuracy will gradually decrease, and the current accuracy is about 10 meters .

GLONASS is the abbreviation of "Global Navigation Satellite System GLOBAL NAVIGATION SATELLITE SYSTEM" in Russian. The GLONASS satellite navigation system was first developed in the Soviet Union, and Russia continued the plan. Russia began to establish its own global satellite navigation system in 1993. The system began to operate in 2007. At that time, only satellite positioning and navigation in Russia were open. Serve. By 2009, its service scope had expanded to the whole world. The main service content of the GLONASS satellite navigation system includes determining the coordinates and movement speed information of land, sea and air targets. The GLONASS constellation consists of a total of 30 satellites, 27 of which are evenly distributed on three nearly circular orbital planes. These three orbital planes are separated by 120 degrees, and each orbital plane has 8 satellites. The distance between the satellites is 45 degrees, the orbital height is 23,600 kilometers, the operation period is 11 hours and 15 minutes, the orbital inclination is 64.8 degrees, and the current accuracy is about 10 meters.

The Beidou satellite navigation system is a global satellite navigation and positioning system independently developed by my country. It is the third global satellite navigation system after the US GPS satellite navigation system and the Russian GLONASS satellite navigation system. The Beidou satellite navigation system provides global, all-weather, high-precision satellite navigation positioning and timing services, and has a unique short message communication capability. On December 27, 2012, the Beidou satellite navigation system launched its regional official service, covering the Asia-Pacific region, which is a milestone in the industrialization and marketization of my country's aerospace technology and satellite communications. With the cooperation of the ground facilities, the real-time positioning accuracy of the Beidou satellite navigation system has been much higher than that of the GPS satellite navigation system, and has now reached an accuracy of 2 cm at 80 km/h.

With the significant increase in the popularity of the Beidou satellite navigation system in various fields of transportation, the further improvement of the application environment, and the obvious enhancement of service capabilities, the application of the Beidou satellite navigation system has achieved remarkable results. Therefore, based on the Beidou satellite navigation system, A lane-changing guidance method based on controllable isolation pier for tidal lanes in a non-definite period is proposed. Lane changing is realized by designing a lane-changing robot based on the Beidou satellite navigation system. Combining with existing monitoring and license plate recognition technologies, it can realize fully automatic and unmanned lane change when changing lanes. Human operation, and then using the big data system, can finally realize the automatic adjustment of all-weather lanes, and solve the problem of road congestion caused by tidal phenomena, traffic accidents, abnormal weather and other problems.

Contents of the invention

The purpose of the present invention is to solve the ignorance of the above-mentioned prior art, and propose a tidal lane changing robot and a changing method using infrared obstacle avoidance, which can automatically change tidal lanes, and can realize automatic obstacle avoidance, reducing production and use. cost, and reduce the impact of human factors on intelligent tidal lanes.

The present invention achieves the above object through the following technical solutions: a tidal lane change robot using infrared obstacle avoidance, including A pier, B pier and connecting guardrails, the two ends of the connecting guardrails are respectively hinged on the central axis of A pier and B pier on the central axis;

A Beidou module, an embedded control module, a warning light, a solar panel, a lead-acid battery, a LoRa module, a chassis, and a casing are both arranged on the A-pier and B-pier. The acid battery is fixed on the chassis, the chassis is set on the bottom of the casing, there are bumps on the bottom of the casing, grooves matching the bumps on the bottom of the casing, and a chassis driving motor is fixed on the casing, and the chassis driving motor is connected to the ball screw, the chassis is provided with a screw nut matching the ball screw, the screw nut is set on the ball screw, and the chassis drive motor drives the ball screw to rotate when the chassis is driven up and down at the bottom of the shell movement; the upper end of the shell is provided with a warning light, the outer surface of the shell is provided with a solar panel, the solar panel is connected to the lead-acid battery through a solar charging circuit, the Beidou modules are all set inside the shell, and both the moving mechanism and the locking mechanism are set on the chassis;

Three directional wheels, a directional motor, an infrared range finder and a range finder drive motor are also installed on the chassis of the A pier and B pier, the three directional wheels include a driving wheel and two driven wheels, and the directional motor is connected The driving wheel is driven to rotate the driving wheel, and the movement of the driving wheel drives the movement of the A pier or the B pier. An absolute encoder is installed on the driving wheel. When leaving the factory, the zero position of the absolute encoder, the movement direction of the isolation pier and the The direction of the driving wheel is consistent in these three directions; the driving motor of the rangefinder is fixed on the shell, the driving motor of the rangefinder is connected to the infrared rangefinder and drives the rotation of the infrared rangefinder, and a horizontal notch is provided on the shell. The connecting guardrail is connected to the central axis through the horizontal notch, and the infrared rangefinder is irradiated to the outside of the isolation pier through the horizontal notch;

An electronic compass and a compass drive motor are also installed on the A pier and B pier, the compass drive motor is fixed on the shell, the compass drive motor is connected to the electronic compass and drives the electronic compass to rotate on the horizontal plane to calibrate the angle, and the electronic compass rotates according to The angle at which the electronic compass is located identifies the angle at which pier A or pier B is located.

A method for changing tidal lanes using infrared obstacle avoidance, comprising the steps of:

S1: Control the signal light of the tidal lane, make the signal light at the entrance of the tidal lane change to a red light, and start the first group of lane changing robots;

S2: Pier A and Pier B are powered on and initialized respectively, and judge whether there is a fault. The fault judgment includes judging whether the battery power is sufficient, whether the Beidou module can be positioned, whether the wireless transmission module can transmit information normally, and isolating the piers Whether all the motors inside can work normally; if there is a fault in A or B, restart the faulty A or B and then make a fault judgment on the isolated pier. If A or B still has a fault, Then, the fault information of the faulty pier A or B is transmitted to the road section control base station, and the alarm light of the isolation pier is lit, and the isolation pier is not moved; Pier and Pier B can be moved, and enter step S3;

S3: Pier A and Pier B obtain the target location information respectively, and divide the connection between the current location and the target location into several parts, the length of each part is 10cm, and obtain the divided target location information; Take turns to move to the target position by moving 10cm each time;

S4: The compass driving motor of Pier A starts, drives the electronic compass on Pier A to rotate a circle, determines the orientation of Pier A, and determines the direction of movement of Pier A according to the current position and target position of Pier A in step S3, and the movement direction of Pier A and the active An absolute encoder is installed between the wheels, which can directly obtain the angle between the A pier and the driving wheel, and rotate the driving wheel through the directional motor to make it move towards the target position;

S5: Pier A first turns on its own alarm lights and judges obstacles. The method of obstacle judgment is laser ranging. Before each movement of Pier A, the infrared rangefinder on Pier B shoots directly to Pier A along the direction of the guardrail. Above, turn the driving motor of the rangefinder on Pier B towards the tidal lane during detection, so that the orientation of the infrared rangefinder on Pier B is 5 degrees from the connecting guardrail, and the infrared rangefinder on Pier B emits infrared light After the obstacle judgment, the length of the connecting guardrail is S. If the distance measured by the infrared rangefinder is always greater than Then it is judged that the infrared light emitted by the infrared rangefinder is not blocked, that is, there is a 10cm long stroke on the movement path of Pier A without obstacles, and enters step S6; if the infrared rangefinder is in the process of rotating the motor The distance measured by the instrument appears to be too small In the case of the situation, it is judged that the infrared light emitted by the infrared rangefinder has been blocked, and then the obstacle judgment is performed on Pier A again after a delay of 3s;

S6: Loosen the locking device of Pier A and Pier B, turn the directional motor on Pier A to drive the driving wheel to rotate, so that Pier A moves directly towards the target position; Pier A is driven by the directional motor to make a straight line in the direction of the segmented target position Movement, the movement distance of pier A is 10cm, control the motor to make pier A move 10cm in a straight line, when pier A moves, pier B maintains a free following state, after pier A moves 10cm, pier A determines its current position through the Beidou module Current position information, and compare the current position information with the first subsection position information obtained in step S5, if the current position information of A pier coincides with the first subsection position information, then A pier moves to subsection Turn off the alarm light and lock the locking device after positioning. If the current position information of Pier A does not coincide with the position information of the first segment, Pier A will continue to move until the current position information of Pier A is consistent with the position information of the first segment. coincide;

S7: The compass driving motor of Pier B starts, drives the electronic compass on Pier B to rotate a circle, determines the orientation of Pier B, and determines the direction of movement of Pier B according to the current position and target position of Pier B in step S3, and the movement direction of Pier B and the active An absolute encoder is installed between the wheels, which can directly obtain the angle between the B pier and the driving wheel, and rotate the driving wheel through the directional motor to make it move towards the target position;

S8: Before each movement of Pier B, the infrared rangefinder on Pier A shoots directly onto Pier B along the direction of the guardrail. When detecting, turn the rangefinder drive motor on Pier A to the direction of the tidal lane, so that the The orientation of the infrared rangefinder is 5 degrees from the connecting guardrail. The infrared rangefinder on Pier A emits infrared light to judge obstacles. If the distance measured by the infrared rangefinder during the rotation of the drive motor always greater than Then it is judged that the infrared light emitted by the infrared range finder is not blocked, that is, there is no obstacle on the movement path of the B pier, and the step S8 is entered; if the infrared range finder measures the The distance appears to be less than If it is judged that the infrared light emitted by the infrared rangefinder has been blocked, it will be judged on the obstacle of Pier B again after a delay of 3s;

S9: Turn the directional motor on the B pier to drive the driving wheel to rotate, so that the B pier moves directly towards the target position; under the drive of the directional motor, the B pier moves linearly in the direction of the segmented target position, and the movement distance of the B pier is 10cm. The motor makes B-pier move in a straight line for 10cm. When B-pier moves, B-pier maintains a free following state. After B-pier moves 10cm, B-pier determines the current position information of itself through the Beidou module, and compares the current position information with the step Comparing the position information of the first segment obtained in S5, if the current position information of Pier B coincides with the position information of the first segment, then turn off the alarm light and lock the locking device after Pier B moves to the segment position, If the current position information of Pier B does not coincide with the position information of the first segment, then Pier B continues to move until the current position information of Pier B coincides with the position information of the first segment;

S10: The road section control base station sends the remaining segmental position information to Pier A and Pier B sequentially, and repeats the above steps S5-S9 until both Pier A and Pier B reach the target position, completing the movement of a group of lane changing robots;

S11: After the movement of the first group of isolation pier groups is completed, the remaining isolation pier groups repeat the above steps from S3 to S10 in turn until all isolation pier groups are moved to the other side of the tidal lane;

S12: Control the signal light of the tidal lane so that the new entrance direction is a green light, and complete the entire tidal lane change process.

The beneficial effects of the present invention are:

1. The present invention utilizes the movable isolation pier on one side of the tidal lane, and directly moves the isolation pier to the other lane when the lane needs to be changed to realize the change of the tidal lane, which is flexible and low in cost.

2. The present invention utilizes the Beidou system for real-time positioning of the isolation pier, which has high control precision and high safety.

3. The present invention utilizes the Beidou system to accurately locate multiple lanes, and at the same time utilizes big data to realize real-time changes to the urban traffic road network, so as to respond to changes in road demand due to factors such as traffic accidents, changes in traffic flow, and severe weather at any time, and realize automatic control.

4. The present invention adopts the method that the isolation pier A drives the isolation pier B to move together, which reduces the use of the universal wheel drive motor on the B pier and reduces the overall cost.

5. The brake positioning of the present invention not only relies on the brake mechanism inside the pier, but also directly lowers the shell of pier A or pier B to the ground as a whole, so that the side of the pier’s shell directly contacts the ground, avoiding that only pier A and pier B The sliding of the isolation pier caused by the contact between the wheels and the ground can better realize the positioning, and the positioning method of the lower shell can effectively prevent debris from entering the interior of the A or B pier, thus affecting the normal use of the isolation pier.

6. The present invention realizes the charging of the isolation pier at any time and the use of the cable-free state by arranging a solar power generation panel on the outer shell of the isolation pier and a lead-acid battery installed inside, because the number of lane changes in a day is generally only one to two times, Therefore, the lead-acid battery can fully realize the higher performance of changing lanes every day, and the solar power generation panel can ensure a longer battery life of the isolation pier.

7. The setting of the warning light in the present invention can make the isolation pier not only play a warning role when in use, but also give a fault alarm when there is a failure inside the isolation pier, so as to prevent the situation that the lane cannot be changed due to the failure of the isolation pier.

Description of drawings

Fig. 1 is a schematic diagram of the front view structure of a tidal lane changing robot using infrared obstacle avoidance according to the present invention.

Fig. 2 is a three-dimensional structural schematic diagram of Pier A or Pier B of the present invention.

Fig. 3 is a schematic diagram of the internal sectional structure of Pier A or Pier B of the present invention.

Fig. 4 is a schematic flowchart of a tidal lane change method using infrared obstacle avoidance according to the present invention.

In the figure, 1-A pier, 2-B pier, 3-connecting guardrail, 4-compass drive motor, 5-compass mounting frame, 6-electronic compass, 7-housing, 8-infrared rangefinder, 9-distance measurement Instrument drive motor, 10-Beidou module, 11-alarm light, 12-chassis drive motor, 13-coupling, 14-lead-acid battery, 15-driven wheel, 16-chassis, 17-absolute encoder, 18-drive Wheels, 19-solar panels.

Detailed ways

The present invention will be further described below in conjunction with accompanying drawing:

As shown in Figures 1 to 3, a tidal lane change robot using infrared obstacle avoidance includes Pier A 1, Pier B 2 and a connecting guardrail 3. The two ends of the connecting guardrail 3 are respectively hinged on the central axis of Pier A 1 and Pier B on the central axis of pier 2.

A Beidou module 10, an embedded control module, a warning light 11, a solar panel 19, a lead-acid battery 14, a LoRa module, a chassis 16, and a housing 7 are both arranged on the A pier 1 and B pier 2, and the embedded control module passes through The LoRa module is connected to the road section control base station, the lead-acid battery 14 is fixed on the chassis 16, the chassis 16 is set on the bottom of the casing 7, the chassis 16 is provided with a bump, and the bottom of the casing 7 is provided with a groove matching the bump on the chassis 16 , the chassis drive motor 12 is also fixed on the shell 7, the chassis drive motor 12 is connected to the ball screw, the chassis 16 is provided with a screw nut that matches the ball screw, and the screw nut is sleeved on the ball screw On the bar, when the chassis drive motor 12 drives the ball screw to rotate, it drives the chassis 16 to move up and down at the bottom of the shell 7, and the chassis drive motor 12 is connected to the ball screw through a coupling 13; the upper end of the shell 7 is provided with a warning light 11, and the shell The outer surface of 7 is provided with a solar panel 19, and the solar panel 19 is connected to the lead-acid battery 14 through a solar charging circuit.

Three directional wheels, a directional motor, an infrared range finder 8 and a range finder drive motor 9 are also installed on the chassis 16 of the A pier 1 and B pier 2, and the three directional wheels include a driving wheel 18 and two The driven wheel 15, the directional motor is connected to the driving wheel 18 to be driven to rotate the driving wheel 18, and the movement of the driving wheel 18 drives the movement of the A pier 1 or the B pier 2. The driving wheel 18 is equipped with an absolute encoder 17. Make the zero position of the absolute encoder 17, the moving direction of the isolation pier and the orientation of the driving wheel 18 consistent; the rangefinder drive motor 9 is fixed on the shell 7, and the rangefinder drive motor 9 is connected to the infrared rangefinder 8 and drive the rotation of the infrared rangefinder 8, the housing 7 is provided with a horizontal notch, the connecting guardrail 3 passes through the horizontal notch to connect the central axis and the infrared rangefinder 8 shines to the outside of the isolation pier through the horizontal notch.

An electronic compass 6 and a compass drive motor 4 are also installed on the A pier 1 and B pier 2, the compass drive motor 4 is fixed on the housing, the compass drive motor 4 is connected to the electronic compass 6 and drives the electronic compass 6 to rotate on the horizontal plane To calibrate the angle, after the electronic compass 6 is rotated, the angle at which the A pier 1 or the B pier 2 is located is identified according to the angle at which the electronic compass 6 is located. The electronic compass 6 is installed on the compass drive motor through the compass mounting bracket 5 .

As shown in Figure 4, a tidal lane change method using infrared obstacle avoidance includes the following steps:

S1: Control the signal light of the tidal lane, make the signal light at the entrance of the tidal lane change to a red light, and start the first group of lane changing robots;

S2: A terminal 1 and B terminal 2 are powered on and initialized respectively, and judge whether there is a fault. The fault judgment includes whether the battery power is sufficient, whether the Beidou module 10 can be positioned, and whether the wireless transmission module can transmit information normally. And whether all the motors in the isolation pier can work normally; if there is a fault in A pier 1 or B pier 2, restart the faulty A pier 1 or B pier 2 and then perform a fault judgment on the isolation pier, if A pier 1 or B pier 2 still has a fault, then the fault information of the faulty pier 1 or B pier 2 is transmitted to the road section control base station, and the alarm light of the isolation pier is lit, and the isolation pier is not moved; if A pier 1 and B pier 2 are not faulty, then it is judged that A pier 1 and B pier 2 can be moved, and enter step S3;

S3: Pier A 1 and Pier B 2 obtain target location information respectively, and divide the connection between the current location and the target location into several parts, each with a length of 10 cm, and obtain the segmented target location information after division; Pier A 1 and Pier B 2 moves to the target position by taking turns to move 10cm each time;

S4: The compass driving motor 4 of Pier A 1 starts, drives the electronic compass 6 on Pier A 1 to rotate once, determines the orientation of Pier A 1, and determines the orientation of Pier A 1 according to the current position and target position of Pier A 1 in step S3 In the direction of movement, an absolute encoder 17 is installed between Pier A 1 and the driving wheel 18, which can directly obtain the angle between Pier A 1 and the driving wheel 18, and rotate the driving wheel 18 through the directional motor to make it move towards the target position ;

S5: Pier A 1 first turns on its own alarm light 11 and performs obstacle judgment. The obstacle judgment method is the laser ranging method. Before each movement of Pier A 1, the infrared rangefinder 8 on Pier B 2 is connected to the guardrail 3 The direction directly hits Pier A 1. When detecting, turn the rangefinder drive motor 9 on Pier B 2 in the direction of the tidal lane, so that the orientation of the infrared rangefinder 8 on Pier B 2 is 5 degrees from the connecting guardrail 3. The infrared rangefinder 8 on the B pier 2 emits infrared light to carry out obstacle judgment, and the length connecting the guardrail 3 is S. If the distance measured by the infrared rangefinder 8 is always greater than Then it is judged that the infrared light emitted by the infrared rangefinder 8 is not blocked, that is, there is a section of 10cm long stroke on the movement path of the A pier 1 without obstacles, and it enters the step S6; The distance measured by the range finder 8 is too small If it is judged that the infrared light emitted by the infrared rangefinder 8 has been blocked, then after a delay of 3s, the obstacle judgment is performed on the A pier 1 again;

S6: Loosen the locking device of Pier A 1 and Pier B 2, turn the directional motor on Pier A 1 to drive the driving wheel 18 to rotate, so that Pier A 1 moves directly towards the target position; Pier A 1 is driven by the directional motor Carry out linear motion in the direction of the target position of the segment, and the movement distance of Pier A1 is 10cm. Control the motor to make Pier A1 move linearly for 10cm. When Pier A1 moves, Pier B2 maintains a free following state. Finally, Pier A 1 determines its own current location information through the Beidou module 10, and compares the current location information with the first segmented location information obtained in step S5, if the current location information of Pier A 1 is the same as the first segment location information If the segmented position information coincides, then Pier A 1 moves to the segmented position and turns off the alarm light 11 and locks the locking device. If the current position information of Pier A 1 does not coincide with the first segmented position information, then Pier A 1 Continue to move until the current position information of Pier A 1 coincides with the position information of the first segment;

S7: The compass driving motor 4 of B-pier 2 starts, drives the electronic compass 6 on B-pier 2 to rotate a circle, determines the orientation of B-pier 2, and determines the direction of B-pier 2 according to the current position and target position of B-pier 2 in step S3 In the direction of movement, an absolute encoder 17 is installed between the B-pier 2 and the driving wheel 18, which can directly obtain the angle between the B-pier 2 and the driving wheel 18, and rotate the driving wheel 18 through the directional motor to make it move toward the target position ;

S8: Before each movement of Pier B 2, the infrared rangefinder 8 on Pier A 1 shoots directly onto Pier B 2 along the direction connecting the guardrail 3, and turns the rangefinder on Pier A 1 to drive in the direction of the tidal lane during detection The motor 9 makes the orientation of the infrared range finder 8 on the A pier 1 be 5 degrees to the connecting guardrail 3, and the infrared range finder 8 on the A pier 1 emits infrared rays to perform obstacle judgment. If the range finder drives the motor 9 In the process of turning, the distance measured by the infrared range finder 8 is always greater than Then it is judged that the infrared light emitted by the infrared rangefinder 8 is not blocked, that is, there is no obstacle on the movement path of the B pier 2, and it enters the step S8; 8 The measured distance is too small If it is judged that the infrared light emitted by the infrared range finder 8 has been blocked, then after a delay of 3s, the obstacle judgment is performed on the B pier 2 again;

S9: Turn the directional motor on the B-pier 2 to drive the driving wheel 18 to rotate, so that the B-pier 2 moves directly towards the target position; the B-pier 2 moves linearly in the direction of the segmented target position under the drive of the directional motor, and the movement of the B-pier 2 The distance is 10cm. Control the motor to make the B-pier 2 move in a straight line for 10cm. When the B-pier 2 moves, the B-pier 2 maintains a free following state. Current position information, and current position information is compared with the first segment position information obtained in step S5, if the current position information of B pier 2 coincides with the first segment position information, then B pier 2 moves to Turn off the alarm light 11 and lock the locking device after the subsection position. If the current position information of B pier 2 does not coincide with the first subsection location information, then B pier 2 continues to move until the current position information of B pier 2 is consistent with the first subsection position information. The location information of each segment overlaps;

S10: The road section control base station sequentially sends the remaining segmental location information to Pier A 1 and Pier B 2, and repeats the above steps S5-S9 until both Pier A 1 and Pier B 2 reach the target position, completing a set of lane changing robots the movement of

S11: After the movement of the first group of isolation pier groups is completed, the remaining isolation pier groups repeat the above steps from S3 to S10 in turn until all isolation pier groups are moved to the other side of the tidal lane;

S12: Control the signal light of the tidal lane so that the new entrance direction is a green light, and complete the entire tidal lane change process.

The above-described embodiments are only preferred embodiments of the present invention, and are not limitations to the technical solutions of the present invention. As long as they are technical solutions that can be realized on the basis of the above-mentioned embodiments without creative work, they should be regarded as falling into the scope of the patent of the present invention. within the scope of protection of rights.

Claims (2)

1. A tidal lane change robot that adopts infrared obstacle avoidance, is characterized in that: comprise A pier (1), B pier (2) and connecting guardrail (3), the two ends of connecting guardrail (3) are respectively hinged on A pier On the central axis of (1) and the central axis of Pier B (2); A Beidou module (10), an embedded control module, an alarm light (11), a solar battery panel (19), a lead-acid battery (14), and a LoRa module are all arranged on the A pier (1) and the B pier (2). , the chassis (16) and the shell (7), the embedded control module is connected to the road section control base station through the LoRa module, the lead-acid battery (14) is fixed on the chassis (16), the chassis (16) is set on the bottom of the shell (7), and the chassis (16) is provided with projection, and the bottom of shell (7) is provided with the groove that matches with the projection on the chassis (16), also is fixed with chassis drive motor (12) on the shell (7), chassis drive motor ( 12) Connect the ball screw, the chassis (16) is provided with a screw nut matching the ball screw, the screw nut is set on the ball screw, and the chassis drive motor (12) drives the ball screw When the bar rotates, the drive chassis (16) moves up and down at the bottom of the casing (7); The battery board (19) is connected to the lead-acid battery (14) through a solar charging circuit, the Beidou module (10) is all arranged inside the shell (7), and the moving mechanism and the locking mechanism are all arranged on the chassis (16); Three directional wheels, a directional motor, an infrared range finder (8) and a range finder drive motor (9) are all installed on the chassis (16) of said A pier (1) and B pier (2), three The directional wheel includes a driving wheel (18) and two driven wheels (15), the directional motor is connected to the driving wheel (18) and is driven to rotate the driving wheel (18), and the movement of the driving wheel (18) drives the A pier (1) Or the motion of B pier (2), described driving wheel (18) is equipped with absolute encoder (17), makes the zero position of absolute encoder (17), the motion direction of isolation pier and driving wheel (18) when leaving the factory The orientation of these three directions is consistent; the rangefinder drive motor (9) is fixed on the shell (7), and the rangefinder drive motor (9) is connected to the infrared rangefinder (8) and drives the infrared rangefinder ( 8), the shell (7) is provided with a horizontal notch, the connecting guardrail (3) passes through the horizontal notch to connect to the central axis and the infrared range finder (8) shines to the outside of the isolation pier through the horizontal notch; An electronic compass (6) and a compass drive motor (4) are also installed on the A pier (1) and B pier (2), the compass drive motor (4) is fixed on the housing, and the compass drive motor (4) is connected to the electronic The compass (6) drives the electronic compass (6) to rotate on the horizontal plane to calibrate the angle. After the electronic compass (6) rotates, it can identify the location of the A pier (1) or B pier (2) according to the angle of the electronic compass (6). Angle. 2. A tidal lane change method adopting infrared obstacle avoidance, is characterized in that: comprises the steps: S1: Control the signal light of the tidal lane, make the signal light at the entrance of the tidal lane change to a red light, and start the first group of lane changing robots; S2: Pier A (1) and Pier B (2) are powered on and initialized respectively, and judge whether there is a fault. The fault judgment includes judging whether the battery power is sufficient, judging whether the Beidou module (10) can be positioned, and wireless transmission Whether the module can transmit information normally and whether all the motors in the isolated pier can work normally; if there is a fault in the A pier (1) or B pier (2), then check the faulty A pier (1) or B pier (2) After restarting, make a fault judgment on the isolation pier. If there is still a fault in the A pier (1) or B pier (2), the fault information of the faulty pier A (1) or B pier (2) will be transmitted to the road section control Base station, and light the alarm light of the isolated pier, and do not move the isolated pier; if there is no fault in the A pier (1) and the B pier (2), then it is judged that the A pier (1) and the B pier (2) can Move and enter step S3; S3: Pier A (1) and Pier B (2) acquire target location information respectively, and divide the connection between the current location and the target location into several parts, each of which has a length of 10 cm, and obtain segmented target location information after division; Pier A (1) and Pier B (2) move towards the target position by taking turns to move 10cm each time; S4: The compass drive motor (4) of Pier A (1) starts, drives the electronic compass (6) on Pier A (1) to rotate a circle, and determines the orientation of Pier A (1), according to Pier A ( 1) The current position and the target position determine the movement direction of Pier A (1), and an absolute encoder (17) is installed between Pier A (1) and the driving wheel (18), which can directly obtain the direction of Pier A (1) and the driving wheel The included angle between (18) rotates driving wheel (18) by directional motor, makes it move toward target position; S5: Pier A (1) first turns on its own alarm light (11) and performs obstacle judgment. The obstacle judgment method is the laser ranging method. Before each movement of Pier A (1), the infrared rays on Pier B (2) The range finder (8) is directly projected on the A pier (1) along the direction connecting the guardrail (3), and the range finder drive motor (9) on the B pier (2) is rotated to the tidal lane direction during detection, so that the B pier ( 2) The orientation of the infrared range finder (8) on the upper part and the connection guardrail (3) are 5 degrees, and after the infrared range finder (8) on the B pier (2) emits infrared rays, the obstacle judgment is performed, and the connection guardrail ( 3) The length is S, if the distance measured by the infrared rangefinder (8) is always greater than Then it is judged that the infrared light emitted by the infrared rangefinder (8) is not blocked, that is, there is a section of 10cm long stroke on the motion path of Pier A (1) without obstacles, and enters the S6 step; if the rangefinder rotates the motor to rotate During the process, the distance measured by the infrared rangefinder (8) appears to be too small In the case of the situation, it is judged that the infrared light emitted by the infrared rangefinder (8) has been blocked, and then the obstacle judgment is performed on the A pier (1) again after a delay of 3s; S6: Loosen the locking devices of Pier A (1) and Pier B (2), turn the directional motor on Pier A (1) to drive the driving wheel (18) to rotate, and make Pier A (1) move directly towards the target position; A The pier (1) is driven by the directional motor to move linearly in the direction of the segmented target position. The movement distance of pier A (1) is 10cm. At this time, Pier B (2) maintains a free following state. After Pier A (1) moves 10cm, Pier A (1) determines its current location information through the Beidou module (10), and compares the current location information with the step The position information of the first segment obtained in S5 is compared, if the current position information of Pier A (1) coincides with the position information of the first segment, then the alarm light is turned off after Pier A (1) moves to the segment position (11) and lock the locking device, if the current position information of the A pier (1) does not coincide with the position information of the first segment, then the A pier (1) continues to move until the current position information of the A pier (1) is the same as that of the first subsection. The location information of a segment overlaps; S7: The compass drive motor (4) of B-pier (2) starts, drives the electronic compass (6) on the B-pier (2) to rotate a circle, determines the orientation of B-pier (2), according to the B-pier ( 2) The current position and the target position determine the direction of movement of the B-pier (2), and an absolute encoder (17) is installed between the B-pier (2) and the driving wheel (18), which can directly obtain the B-pier (2) and the driving wheel The included angle between (18) rotates driving wheel (18) by directional motor, makes it move toward target position; S8: Before each movement of Pier B (2), the infrared rangefinder (8) on Pier A (1) shoots directly onto Pier B (2) along the direction connecting the guardrail (3), and the direction of the tidal lane during detection Rotate the range finder drive motor (9) on the A pier (1), so that the orientation of the infrared range finder (8) on the A pier (1) is 5 degrees with the connecting guardrail (3), The infrared rangefinder (8) on the upper body emits infrared rays to judge obstacles. If the distance measured by the infrared rangefinder (8) is always greater than Then it is judged that the infrared light emitted by the infrared rangefinder (8) is not blocked, that is, there is no obstacle on the movement path of the B pier (2), and it enters the S8 step; if the rangefinder rotates during the rotation of the motor The distance measured by the infrared rangefinder (8) is too small In the case of the situation, it is judged that the infrared light emitted by the infrared rangefinder (8) has been blocked, and then the obstacle judgment is performed on the B pier (2) again after a delay of 3s; S9: Turn the directional motor on the B pier (2) to drive the driving wheel (18) to rotate, so that the B pier (2) moves directly towards the target position; B pier (2) is driven by the directional motor to the direction of the segmented target position Straight-line motion, the movement distance of B-pier (2) is 10cm, control motor to make B-pier (2) linear motion 10cm, when B-pier (2) moves, B-pier (2) keeps free following state, in B-pier ( 2) After moving 10cm, Pier B (2) determines its own current location information through the Beidou module (10), and compares the current location information with the first segment location information obtained in step S5, if Pier B The current position information of (2) coincides with the position information of the first section, and then the B pier (2) turns off the warning lamp (11) and locks the locking device after moving to the subsection position, if the current position of the B pier (2) The position information does not coincide with the first segment position information, then the B pier (2) continues to move until the current position information of the B pier (2) coincides with the first segment position information; S10: The road section control base station sends the remaining segment position information to Pier A (1) and Pier B (2) sequentially, and repeats the above steps S5-S9 until both Pier A (1) and Pier B (2) reach the target Position, to complete the movement of a group of lane changing robots; S11: After the movement of the first group of isolation pier groups is completed, the remaining isolation pier groups repeat the steps from S3 to S10, until all the isolation pier groups are moved to the other side of the tidal lane; S12: Control the signal light of the tidal lane so that the new entrance direction is a green light, and complete the entire tidal lane change process.