CN107988956A - A kind of track alteration device and method based on angular transducer and absolute encoder - Google Patents
A kind of track alteration device and method based on angular transducer and absolute encoder Download PDFInfo
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- CN107988956A CN107988956A CN201711164541.8A CN201711164541A CN107988956A CN 107988956 A CN107988956 A CN 107988956A CN 201711164541 A CN201711164541 A CN 201711164541A CN 107988956 A CN107988956 A CN 107988956A
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Classifications
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses a kind of track alteration device and method based on angular transducer and absolute encoder, including A piers, B piers and connection guardrail, big dipper module, embedded type control module, alarm lamp, solar panel, lead-acid accumulator, LoRa modules, chassis and shell are both provided with the A piers and B piers；The present invention sets portable hard shoulder using access, and flexible, cost is low；Hard shoulder is carried out using dipper system to position in real time, control accuracy is high, safe；It is accurately positioned using dipper system and realizes that multilane changes；Realize that urban traffic road network changes in real time using big data, tackle at any time since change of the factor to road demand, the realizations such as traffic accident, vehicle flowrate change, bad weather automatically control.
Description
Technical field
The present invention relates to tide track technical field, more specifically, more particularly to a kind of based on angular transducer and exhausted
To the track alteration device and method of encoder.
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
The GPS satellite navigation system, the GLONASS GLONASS satellite navigation system of Russia and the Big Dipper in China that include the U.S. are defended
Star 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 not knowing for the above-mentioned prior art, it is proposed that one kind is based on angular transducer and definitely
The track change device and variation of encoder, can carry out the conversion in tide track automatically, and can realize automatic obstacle-avoiding,
Production and application cost is reduced, reduces influence of the manpower factor to intelligent tide track.
The present invention is achieved through the following technical solutions above-mentioned purpose：It is a kind of based on angular transducer and absolute encoder
Track change device, including A piers, B piers and connection guardrail, the both ends for connecting guardrail are respectively hinged at the central shaft and B piers of A piers
On central shaft；Angular transducer is mounted between the A piers and B piers and connection guardrail；
Big dipper module, embedded type control module, alarm lamp, solar panel, lead are both provided with the A piers and B piers
Acid accumulator, LoRa modules, chassis and shell, embedded type control module connect section control base station, plumbic acid by LoRa modules
Storage battery is fixed on chassis, and base plate cover is mounted in outer casing bottom, is provided with convex block on chassis, outer casing bottom be provided with chassis
The matched groove of convex block, be further fixed on bottom disk-drive motor on shell, bottom disk-drive motor connection ball-screw, on chassis
It is provided with and is sleeved on the matched feed screw nut of the ball-screw, the feed screw nut on the ball-screw, chassis is driven
Dynamic motor drives chassis to move up and down in the bottom of shell when driving ball screw turns；The shell upper end is provided with alarm
Lamp, the outer surface of shell are provided with solar panel, and solar panel connects lead acid storage battery by solar charging circuit
Pond, the big dipper module are arranged at enclosure, and moving mechanism and locking mechanism are arranged on chassis；
Three directional wheels, an orientation motor, laser range finder and survey are also equipped with the chassis of the A piers and B piers
Distance meter drives motor, and three directional wheels include a driving wheel and two followers, and orientation motor connection driving wheel is by driving institute
Driving wheel rotation is stated, the movement for driving A piers or B piers is moved by driving wheel, absolute encoder is installed on the driving wheel, is gone out
It is consistent these three directions of the direction of the zero-bit of absolute encoder, the direction of motion of hard shoulder and driving wheel during factory；Ranging
Instrument driving motor is fixed on the shell, and rangefinder driving motor connection laser range finder simultaneously drives turning for the laser range finder
It is dynamic, horizontal notch is offered on shell, connection guardrail passes through level trough through horizontal notch connection central shaft and laser range finder
Mouth is irradiated to outside hard shoulder.
A kind of track variation based on angular transducer and absolute encoder, includes the following steps：
S1：The signal lamp in tide track is controlled, the signal lamp of tide track inlet is converted to red light, and start first
Group track change robot；
S2：A piers and B piers carry out power-up initializing respectively, and judge itself to whether there is failure, and breakdown judge includes electric power storage
Whether judgement that whether the whether enough judgements of pond electricity, big dipper module can position, wireless transport module can normally transmit letter
Whether all motors can work normally in breath and hard shoulder；If A piers or B piers are there are failure, to there are the A piers of failure
Or B piers restarted after again to the hard shoulder carry out breakdown judge, if A piers or B piers still suffer from failure, there will be the A of failure
The fault message of pier or B piers passes to section control base station, and lights the warning light of the hard shoulder, which is not moved
It is dynamic；If failure is not present in A piers and B piers, judge that A piers and B piers can be moved, and enter S3 steps；
S3：A piers and B piers obtain target position information respectively, and by the link division Cheng Ruo of current location and target location
Dry part, every part of length is 10cm, obtains the segmented objects positional information after division；A piers and B piers to move each movement in turn
The mode of 10cm is moved to target location；
S4：The junction setting angle sensor of A piers and connection guardrail, and Big Dipper mould is installed at the top of A piers and B piers
Block, the absolute position of A piers and B piers is determined by big dipper module, it is possible thereby to learn absolute position of the connection guardrail relative to ground
Put and absolute angle, the relative angle of connection guardrail and A piers is learnt by angular transducer, then by it with being connected the absolute of guardrail
Angle combine draw A piers relative to ground relative angle and A piers relative to ground absolute angle, according to the A in S3 steps
Pier current location and target location determine the direction of motion of A piers, and absolute encoder is housed between A piers and driving wheel, can be direct
The angle between A piers and driving wheel is obtained, by orienting motor rotary driving wheel, it is moved towards target location；
S5：A piers are first turned on the alarm lamp of itself and carry out obstacle judgement, and the mode that obstacle judges is laser ranging method,
Before A piers every time movement, laser range finder on B piers is along the direction direct projection of connection guardrail to A piers, to tide track during detection
Direction rotates the rangefinder driving motor on B piers, makes the direction of the laser range finder on B piers with being connected guardrail in 5 degree, in B piers
On laser range finder launch obstacle judgement carried out after light, the length for connecting guardrail be S, if the rotation of rangefinder rotary electric machine
During the distance that measures of laser range finder be consistently greater thanThen judge light that laser range finder is sent not by
Block, i.e., have the stroke of one section of 10cm long and accessible on the motion path of A piers, into S6 steps；If rangefinder rotates electricity
Being less than occurred in the distance that laser range finder measures during machine rotatesSituation, then judge laser range finder send out
The light gone out was blocked, then was delayed after 3s and carries out obstacle judgement to A piers again；
S6：The locking device of A piers and B piers is unclamped, the orientation motor rotated on A piers drives driving wheel to rotate, and makes A piers direct
Moved towards target location；A piers move along a straight line under the driving of orientation motor to segmented objects locality, the fortune of A piers
Dynamic distance is 10cm, and control motor makes A piers linear motion 10cm, and when A piers move, B piers keep free following state, in A
After pier has moved 10cm, A piers determine the current current location information of itself by big dipper module, and by current location information with walking
The first segmentation positional information obtained in rapid S5 is contrasted, if the current location information of A piers and first fragment bit confidence
Manner of breathing overlaps, then A piers, which move to fragment bit and postpone, closes alarm lamp and lock locking device, if the current location information of A piers with
First segmentation positional information is misaligned, then A piers continue movement until the current location information and first fragment bit confidence of A piers
Manner of breathing overlaps；
S7：The junction setting angle sensor of B piers and connection guardrail, and Big Dipper mould is installed at the top of A piers and B piers
Block, the absolute position of A piers and B piers is determined by big dipper module, it is possible thereby to learn absolute position of the connection guardrail relative to ground
Put and absolute angle, the relative angle of connection guardrail and B piers is learnt by angular transducer, then by it with being connected the absolute of guardrail
Angle combine draw B piers relative to ground relative angle and B piers relative to ground absolute angle, according to the B in S3 steps
Pier current location and target location determine the direction of motion of B piers, and absolute encoder is housed between B piers and driving wheel, can be direct
The angle between B piers and driving wheel is obtained, by orienting motor rotary driving wheel, it is moved towards target location；
S8：Before B piers every time movement, the laser range finder on A piers is along the direction direct projection of connection guardrail to B piers, detection
When the rangefinder that is rotated to tide track direction on A piers drive motor, make the direction of laser range finder on A piers with being connected guardrail
In 5 degree, the laser range finder on A piers carries out obstacle judgement after launching light, if the process that rangefinder driving motor rotates
The distance that middle laser range finder measures is consistently greater thanThen judge that the light that laser range finder is sent is not blocked, i.e.,
There is a trip and accessible on the motion path of B piers, into S8 steps；If rangefinder rotary electric machine swashs during rotating
Being less than occurred in the distance that optar measuresSituation, then judge that the light that laser range finder is sent was blocked,
Then it is delayed after 3s and obstacle judgement is carried out to B piers again；
S9：The orientation motor rotated on B piers drives driving wheel to rotate, and B piers is directly toward target location movement；B piers exist
Orient and move along a straight line under the driving of motor to segmented objects locality, the move distance of B piers is 10cm, and control motor makes
B piers linear motion 10cm, when B piers move, B piers keep free following state, and after B piers have moved 10cm, B piers pass through north
Bucket module determines the current current location information of itself, and first fragment bit that will be obtained in current location information and step S5
Confidence breath is contrasted, if the current location information of B piers is overlapped with first fragment bit confidence manner of breathing, B piers move to segmentation
Alarm lamp is closed behind position and locks locking device, if the current location information of B piers and first segmentation positional information are misaligned,
Then B piers continue movement until the current location information of B piers is overlapped with first fragment bit confidence manner of breathing；
S10：Section control base station sends remaining segmentation positional information successively to A piers and B piers, and repeats above-mentioned S5~S9
Step, until A piers and B piers reach target location, completes the movement of one group of track change robot；
S11：After the completion of the movement of first group of hard shoulder group, remaining hard shoulder group is repeated in above-mentioned S3~S10 steps,
Until all hard shoulder groups are moved to the opposite side in tide track；
S12：The signal lamp in tide track is controlled, it is green light to make its new Way in, completes the change in whole tide track
Change process.
The beneficial effects of the present invention are：
1st, the present invention using tide track side movable type hard shoulder, it is necessary to during changing Lane directly will it is mobile after
The mode that opposite side track is moved to from pier realizes the conversion in tide track, and flexible, cost is low.
2nd, the present invention is positioned in real time using dipper system progress hard shoulder, and control accuracy is high, safe.
3rd, the present invention is accurately positioned using dipper system realizes that multilane changes, while realizes urban transportation using big data
Road 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
Change, realization automatically controls.
4th, the present invention reduces the universal wheel drive on B piers by the way of A hard shoulders drive B hard shoulders to move together
The use of motor, reduces overall cost.
5th, brake positioning of the invention does not only rely on the braking mechanism inside block of wood, can also be directly by the outer of A piers or B piers
Shell entire lowering is placed on ground, is realized that the shell side of block of wood is directly contacted with ground, is avoided the only wheel of A piers and B piers
Hard shoulder caused by being contacted with ground slides, and positioning has been better achieved, and the positioning method that shell declines can be effective
Prevent from entering debris inside A piers or B piers, so as to influence the normal use of hard shoulder.
6th, the present invention is real by setting solar panel and the internal lead-acid accumulator set on the shell of hard shoulder
The charging at any time of existing hard shoulder and without the use under cable status, because the number of change lane normally only one to two in one day
It is secondary, thus lead-acid accumulator can realize completely daily change lane more can, while solar panel can ensure to isolate
The continuation of the journey of pier longer time.
7th, the present invention by the setting of alarm lamp can be that hard shoulder not only plays a warning role when in use, moreover it is possible to every
Fault alarm is carried out from when breaking down inside pier, prevents that track can not change situation caused by hard shoulder failure.
Brief description of the drawings
Fig. 1 is a kind of front view structure signal of track change device based on angular transducer and absolute encoder of the present invention
Figure.
Fig. 2 is the three dimensional structure diagram of A piers or B piers of the present invention.
Fig. 3 is the internal sectional structure schematic diagram of A piers or B piers of the present invention.
Fig. 4 is a kind of flow diagram of the track variation based on angular transducer and absolute encoder of the present invention.
In figure, 1-A piers, 2-B piers, 3- connections guardrail, 4- central shafts, 5- angular transducers, 6- ball-screws, 7- shells,
8- laser range finders, 9- rangefinders driving motor, 10- big dipper modules, 11- alarm lamps, 12- bottoms disk-drive motor, 13- shaft couplings
Device, 14- lead-acid accumulators, 15- followers, 16- chassis, 17- absolute encoders, 18- driving wheels, 19- solar panels.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings：
As shown in Figures 1 to 3, a kind of track change device based on angular transducer and absolute encoder, including A piers 1, B
Pier 2 and connection guardrail 3, the both ends of connection guardrail 3 are respectively hinged on the central shaft 4 of A piers 1 and the central shaft of B piers 2, the A piers
Angular transducer is mounted between 1 and B piers 2 and connection guardrail 3.
Big dipper module 10, embedded type control module, alarm lamp 11, solar cell are both provided with the A piers 1 and B piers 2
Plate 19, lead-acid accumulator 14, LoRa modules, chassis 16 and shell 7, embedded type control module connect section by LoRa modules and control
Base station processed, lead-acid accumulator 14 are fixed on chassis 16, and chassis 16 is sleeved on 7 bottom of shell, is provided with convex block on chassis 16, outside
7 bottom of shell be provided with the matched groove of convex block on chassis 16, be further fixed on bottom disk-drive motor 12, chassis on shell 7
Drive motor 12 to connect ball-screw 6, be provided with and the 6 matched feed screw nut of ball-screw, the silk on chassis 16
Thick stick nut is sleeved on the ball-screw 6, and bottom disk-drive motor 12 drives ball-screw 6 to drive chassis 16 when rotating in shell
7 bottom moves up and down, and bottom disk-drive motor 12 connects the ball-screw 6 by shaft coupling 13；7 upper end of shell is set
There is alarm lamp 11, the outer surface of shell 7 is provided with solar panel 19, and solar panel 19 passes through solar charging circuit
Lead-acid accumulator 14 is connected, the big dipper module 10 is arranged inside shell 7, and moving mechanism and locking mechanism are arranged at bottom
On disk 16.
Three directional wheels, an orientation motor, laser range finder 8 are also equipped with the chassis 16 of the A piers 1 and B piers 2
Motor 9 is driven with rangefinder, three directional wheels include a driving wheel 18 and two followers 15, orientation motor connection driving wheel
18 are driven the driving wheel 18 to rotate, and the movement for driving A piers 1 or B piers 2 is moved by driving wheel 18, is pacified on the driving wheel
Equipped with absolute encoder 17, the direction of the zero-bit of absolute encoder 17, the direction of motion of hard shoulder and driving wheel 18 is made when dispatching from the factory
These three directions are consistent；Rangefinder driving motor 9 is fixed on shell 7, and rangefinder driving motor 9 connects laser range finder
8 and the rotation of the laser range finder 8 is driven, offer horizontal notch on shell 7, connection guardrail 3 is through the connection of horizontal notch
Central shaft and laser range finder 8 pass through horizontal notch and are irradiated to outside hard shoulder.
As shown in figure 4, a kind of track variation based on angular transducer and absolute encoder, includes the following steps：
S1：The signal lamp in tide track is controlled, the signal lamp of tide track inlet is converted to red light, and start first
Group track change robot；
S2：A piers 1 and B piers 2 carry out power-up initializing respectively, and judge itself to whether there is failure, and breakdown judge includes storing
Whether judgement that whether the whether enough judgements of battery capacity, big dipper module 10 can position, wireless transport module can normally pass
Pass whether motor all in information and hard shoulder can work normally；If A piers 1 or B piers 2 are there are failure, to there is event
The A piers 1 or B piers 2 of barrier carry out breakdown judge to the hard shoulder again after being restarted, will if A piers 1 or B piers 2 still suffer from failure
There are the A piers 1 of failure or the fault message of B piers 2 to pass to section control base station, and lights the warning light of the hard shoulder, not right
The hard shoulder is moved；If failure is not present in A piers 1 and B piers 2, judge that A piers 1 and B piers 2 can be moved, and enter
S3 steps；
S3：A piers 1 and B piers 2 obtain target position information respectively, and by the link division of current location and target location into
Several pieces, every part of length is 10cm, obtains the segmented objects positional information after division；A piers 1 and B piers 2 are each to move in turn
The mode for moving 10cm is moved to target location；
S4：The junction setting angle sensor of A piers 1 and connection guardrail 3, and the top of A piers 1 and B piers 2 is provided with north
Struggle against module 10, and the absolute position of A piers 1 and B piers 2 is determined by big dipper module 10, it is possible thereby to learn connection guardrail 3 relative to ground
The absolute position in face and absolute angle, the relative angle of connection guardrail 3 and A piers 1 is learnt by angular transducer, then by it with connecting
Connect guardrail 3 absolute angle combine draw A piers 1 relative to ground relative angle and A piers 1 relative to ground absolute angle,
1 current location of A piers and target location in S3 steps determine the direction of motion of A piers 1, are equipped between A piers 1 and driving wheel 18
Absolute encoder 17, can directly acquire the angle between A piers 1 and driving wheel 18, by orienting motor rotary driving wheel 18, make
It is moved towards target location；
S5：A piers 1 are first turned on the alarm lamp 11 of itself and carry out obstacle judgement, and the mode that obstacle judges is laser ranging
Method, before A piers 1 every time movement, laser range finder 8 on B piers 2 along the direction direct projection of connection guardrail 3 to A piers 1, during detection to
Tide track direction rotates the rangefinder driving motor 9 on B piers 2, makes the direction of laser range finder 8 on B piers 2 with being connected guardrail
3 be in 5 degree, and the laser range finder 8 on B piers 2 carries out obstacle judgement after launching light, and the length of connection guardrail 3 is S, if surveying
The distance that laser range finder 8 measures during distance meter rotary electric machine rotates is consistently greater thanThen judge laser range finder
8 light sent are not blocked, i.e., have the stroke of one section of 10cm long and accessible on the motion path of A piers 1, into S6 steps
In；Being less than occurred in the distance that laser range finder 8 measures during if rangefinder rotary electric machine rotatesSituation,
Then judge that the light that laser range finder 8 is sent was blocked, be then delayed after 3s and obstacle judgement is carried out to A piers 1 again；
S6：The locking device of A piers 1 and B piers 2 is unclamped, the orientation motor on A piers 1 is rotated and drives driving wheel 18 to rotate, make A
Pier 1 is directly toward target location movement；A piers 1 move along a straight line under the driving of orientation motor to segmented objects locality,
The move distance of A piers 1 is 10cm, control motor make A piers 1 move along a straight line 10cm, when A piers 1 move, B piers 2 keep freely with
With state, after A piers 1 have moved 10cm, A piers 1 determine the current current location information of itself by big dipper module 10, and ought
Front position information is contrasted with obtained in step S5 first segmentation positional information, if the current location information of A piers 1 and the
One fragment bit confidence manner of breathing overlaps, then A piers 1 move to fragment bit and postpone closing alarm lamp 11 and lock locking device, if A piers
1 current location information and first segmentation positional information are misaligned, then A piers 1 continue movement until the present bit confidence of A piers 1
Breath is overlapped with first fragment bit confidence manner of breathing；
S7：The junction setting angle sensor 5 of B piers 2 and connection guardrail, and the top of A piers 1 and B piers 2 is provided with north
Struggle against module 18, and the absolute position of A piers 1 and B piers 2 is determined by big dipper module 18, it is possible thereby to learn connection guardrail 3 relative to ground
The absolute position in face and absolute angle, the relative angle of connection guardrail and B piers 2 is learnt by angular transducer, then by it with connecting
The absolute angle combination for connecing guardrail draws B piers 2 relative to the relative angle and B piers 2 on ground relative to the absolute angle on ground, root
The direction of motion of B piers 2 is determined according to 2 current location of B piers in S3 steps and target location, equipped with exhausted between B piers 2 and driving wheel 18
To encoder 17, the angle between B piers 2 and driving wheel 18 can be directly acquired, by orienting motor rotary driving wheel 18, makes it
Moved towards target location；
S8：Before B piers 2 every time movement, laser range finder 8 on A piers 1 along the direction direct projection of connection guardrail 3 to B piers 2,
The rangefinder rotated during detection to tide track direction on A piers 1 drives motor 9, make the direction of laser range finder 8 on A piers 1 with
It is in 5 degree to connect guardrail 3, and the laser range finder 8 on A piers 1 carries out obstacle judgement after launching light, if rangefinder drives motor
The distance that laser range finder 8 measures during 9 rotations is consistently greater thanThen judge the light that laser range finder 8 is sent
It is not blocked, i.e., has a trip and accessible on the motion path of B piers 2, into S8 steps；If rangefinder rotary electric machine
Being less than occurred in the distance that laser range finder 8 measures during rotationSituation, then judge that laser range finder 8 is sent out
The light gone out was blocked, then was delayed after 3s and carries out obstacle judgement to B piers 2 again；
S9：Rotating the orientation motor on B piers 2 drives driving wheel 18 to rotate, and B piers 2 is directly toward target location movement；B
Pier 2 moves along a straight line under the driving of orientation motor to segmented objects locality, and the move distance of B piers 2 is 10cm, control
Motor makes the linear motion 10cm of B piers 2, and when B piers 2 move, B piers 2 keep free following state, and 10cm has been moved in B piers 2
Afterwards, B piers 2 determine the current current location information of itself by big dipper module 10, and by current location information with being obtained in step S5
The first segmentation positional information obtained is contrasted, if the current location information of B piers 2 and first fragment bit confidence manner of breathing weight
Close, then B piers 2, which move to fragment bit and postpone, closes alarm lamp 11 and lock locking device, if the current location information of B piers 2 and the
One segmentation positional information is misaligned, then B piers 2 continue movement until the current location information and first fragment bit confidence of B piers 2
Manner of breathing overlaps；
S10：Section control base station sends remaining segmentation positional information successively to A piers 1 and B piers 2, and repeat above-mentioned S5~
S9 steps, until A piers 1 and B piers 2 reach target location, complete the movement of one group of track change robot；
S11：After the completion of the movement of first group of hard shoulder group, remaining hard shoulder group is repeated in above-mentioned S3~S10 steps,
Until all hard shoulder groups are moved to the opposite side in tide track；
S12：The signal lamp in tide track is controlled, it is green light to make its new Way in, completes the change in whole tide track
Change process.
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 (2)
- A kind of 1. track change device based on angular transducer and absolute encoder, it is characterised in that：Including A piers (1), B piers (2) and connection guardrail (3), the both ends of connection guardrail (3) are respectively hinged at the central shaft of A piers (1) and the central shaft (4) of B piers (2) On；The A piers (1) and B piers (2) are mounted on angular transducer (5) with being connected between guardrail (3)；Big dipper module (10), embedded type control module, alarm lamp (11), solar energy are both provided with the A piers (1) and B piers (2) Solar panel (19), lead-acid accumulator (14), LoRa modules, chassis (16) and shell (7), embedded type control module pass through LoRa moulds Block connects section control base station, and lead-acid accumulator (14) is fixed on chassis (16), and chassis (16) are sleeved on shell (7) bottom, Convex block is provided with chassis (16), shell (7) bottom is provided with and the matched groove of convex block on chassis (16), shell (7) On be further fixed on bottom disk-drive motor (12), bottom disk-drive motor (12) connection ball-screw (6), be provided with chassis (16) with The matched feed screw nut of the ball-screw (6), the feed screw nut are sleeved on the ball-screw (6), chassis driving Motor (12) drives ball-screw (6) to drive chassis (16) to move up and down in the bottom of shell (7) when rotating；The shell (7) Upper end is provided with alarm lamp (11), and the outer surface of shell (7) is provided with solar panel (19), and solar panel (19) is logical Solar charging circuit connection lead-acid accumulator (14) is crossed, the big dipper module (10) is arranged at shell (7) inside, moving machine Structure and locking mechanism are arranged on chassis (16)；Three directional wheels, orientation motor, a laser ranging are also equipped with the chassis (16) of the A piers (1) and B piers (2) Instrument (8) and rangefinder driving motor (9), three directional wheels include a driving wheel (18) and two followers (15), orientation electricity Machine connection driving wheel (18) is driven the driving wheel (18) to rotate, and is moved by driving wheel (18) and is driven A piers (1) or B piers (2) Movement, absolute encoder (17) is installed on the driving wheel (18), zero-bit, the isolation of absolute encoder (17) are made when dispatching from the factory These three directions of the direction of the direction of motion and driving wheel (18) of pier are consistent；Rangefinder driving motor (9) is fixed on shell (7) on, rangefinder driving motor (9) connection laser range finder (8) simultaneously drives the rotation of the laser range finder (8), shell (7) On offer horizontal notch, connection guardrail (3) passes through horizontal notch through horizontal notch connection central shaft and laser range finder (8) It is irradiated to outside hard shoulder.
- A kind of 2. track variation based on angular transducer and absolute encoder, it is characterised in that：Include the following steps：S1：The signal lamp in tide track is controlled, the signal lamp of tide track inlet is converted to red light, and start first group of car Change robot in road；S2：A piers (1) and B piers (2) carry out power-up initializing respectively, and judge itself to whether there is failure, and breakdown judge includes storing Whether judgement that whether the whether enough judgements of battery capacity, big dipper module (10) can position, wireless transport module can be normal Transmit whether motor all in information and hard shoulder can work normally；If A piers (1) or B piers (2) are there are failure, right There are failure A piers (1) or B piers (2) restarted after again to the hard shoulder carry out breakdown judge, if A piers (1) or B piers (2) are still There are failure, then there will be the A piers (1) of failure or the fault message of B piers (2) to pass to section control base station, and light this every From the warning light of pier, which is not moved；If failure is not present in A piers (1) and B piers (2), judge A piers (1) and B piers (2) can be moved, and enter S3 steps；S3：A piers (1) and B piers (2) obtain target position information respectively, and by the link division of current location and target location into Several pieces, every part of length is 10cm, obtains the segmented objects positional information after division；A piers (1) and B piers (2) to move in turn The mode of movement 10cm is moved to target location every time；S4：The junction setting angle sensor of A piers (1) and connection guardrail (3), and the top of A piers (1) and B piers (2) is installed There is big dipper module (10), the absolute position of A piers (1) and B piers (2) is determined by big dipper module (10), it is possible thereby to learn connection Absolute position and absolute angle of the guardrail (3) relative to ground, connection guardrail (3) and A piers (1) are learnt by angular transducer Relative angle, then it is combined with the absolute angle of connection guardrail (3) and draws relative angle and A pier of the A piers (1) relative to ground (1) relative to the absolute angle on ground, A piers (1) current location and target location in S3 steps determine the fortune of A piers (1) Dynamic direction, is equipped with absolute encoder (17), can directly acquire A piers (1) and driving wheel between A piers (1) and driving wheel (18) (18) angle between, by orienting motor rotary driving wheel (18), makes it be moved towards target location；S5：A piers (1) are first turned on the alarm lamp (11) of itself and carry out obstacle judgement, and the mode that obstacle judges is laser ranging Method, before A piers (1) every time movement, laser range finder (8) on B piers (2) is along the direction direct projection of connection guardrail (3) to A piers (1) On, the rangefinder driving motor (9) on B piers (2) is rotated to tide track direction during detection, makes the laser range finder on B piers (2) (8) direction is with being connected guardrail (3) in 5 degree, and progress obstacle is sentenced after the laser range finder (8) on B piers (2) launches light Disconnected, the length of connection guardrail (3) is S, if the distance that laser range finder (8) measures during rangefinder rotary electric machine rotates begins It is more than eventuallyThen judge that the light that laser range finder (8) is sent is not blocked, i.e., have on the motion path of A piers (1) The stroke of one section of 10cm long is simultaneously accessible, into S6 steps；Laser range finder during if rangefinder rotary electric machine rotates (8) being less than occurred in the distance measuredSituation, then judge that the light that laser range finder (8) is sent was blocked, then It is delayed after 3s and obstacle judgement is carried out to A piers (1) again；S6：The locking device of A piers (1) and B piers (2) is unclamped, the orientation motor rotated on A piers (1) drives driving wheel (18) to rotate, A piers (1) are made to be directly toward target location movement；A piers (1) carry out straight under the driving of orientation motor to segmented objects locality Line moves, and the move distance of A piers (1) is 10cm, and control motor makes A piers (1) linear motion 10cm, when A piers (1) move, B piers (2) keep free following state, after A piers (1) move 10cm, A piers (1) by big dipper module (10) determine currently itself Current location information, and current location information and obtained in step S5 first segmentation positional information are contrasted, if A The current location information of pier (1) is overlapped with first fragment bit confidence manner of breathing, then A piers (1) move to fragment bit and postpone closing report Warning lamp (11) simultaneously locks locking device, if the current location information of A piers (1) and first segmentation positional information are misaligned, A piers (1) movement is continued until the current location information of A piers (1) is overlapped with first fragment bit confidence manner of breathing；S7：B piers (2) and the junction setting angle sensor (5) for connecting guardrail, and the top of A piers (1) and B piers (2) is installed There is big dipper module (18), the absolute position of A piers (1) and B piers (2) is determined by big dipper module (18), it is possible thereby to learn connection Absolute position and absolute angle of the guardrail (3) relative to ground, the phase of connection guardrail and B piers (2) is learnt by angular transducer To angle, then it is combined with the absolute angle of connection guardrail and draws relative angle and B pier (2) phase of the B piers (2) relative to ground For the absolute angle on ground, B piers (2) current location and target location in S3 steps determine the movement side of B piers (2) To, absolute encoder (17) is housed between B piers (2) and driving wheel (18), can directly acquire B piers (2) and driving wheel (18) it Between angle, by orienting motor rotary driving wheel (18), it is moved towards target location；S8：Before B piers (2) every time movement, laser range finder (8) on A piers (1) is along the direction direct projection of connection guardrail (3) to B piers (2) the rangefinder driving motor (9) on A piers (1) is rotated to tide track direction on, during detection, makes the Laser Measuring on A piers (1) For the direction of distance meter (8) with being connected guardrail (3) in 5 degree, the laser range finder (8) on A piers (1) carries out obstacle after launching light Judge, if the distance that laser range finder (8) measures during rangefinder driving motor (9) rotates is consistently greater thanThen Judge that the light that laser range finder (8) is sent is not blocked, i.e., have a trip and accessible on the motion path of B piers (2), Into in S8 steps；Being less than occurred in the distance that laser range finder (8) measures during if rangefinder rotary electric machine rotatesSituation, then judge that the light that laser range finder (8) is sent was blocked, then be delayed 3s after again to B piers (2) into Row obstacle judges；S9：The orientation motor rotated on B piers (2) drives driving wheel (18) to rotate, and B piers (2) is directly toward target location movement； B piers (2) move along a straight line under the driving of orientation motor to segmented objects locality, and the move distance of B piers (2) is 10cm, control motor make B piers (2) linear motion 10cm, and when B piers (2) move, B piers (2) keep free following state, in B After pier (2) has moved 10cm, B piers (2) determine the current current location information of itself by big dipper module (10), and by present bit Confidence is ceased to be contrasted with the first segmentation positional information obtained in step S5, if the current location information and first of B piers (2) A fragment bit confidence manner of breathing overlaps, then B piers (2) move to fragment bit and postpone closing alarm lamp (11) and lock locking device, if B The current location information of pier (2) and first segmentation positional information are misaligned, then B piers (2) continue movement until B piers (2) are worked as Front position information is overlapped with first fragment bit confidence manner of breathing；S10：Section control base station sends remaining segmentation positional information successively to A piers (1) and B piers (2), and repeat above-mentioned S5~ S9 steps, until A piers (1) and B piers (2) reach target location, complete the movement of one group of track change robot；S11：After the completion of the movement of first group of hard shoulder group, remaining hard shoulder group is repeated in above-mentioned S3~S10 steps, until All hard shoulder groups are moved to the opposite side in tide track；S12：The signal lamp in tide track is controlled, it is green light to make its new Way in, completes the transformed of whole tide track Journey.
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