CN107988957A - Tide track altering system and method based on optoelectronic scanning avoidance - Google Patents
Tide track altering system and method based on optoelectronic scanning avoidance Download PDFInfo
- Publication number
- CN107988957A CN107988957A CN201711165055.8A CN201711165055A CN107988957A CN 107988957 A CN107988957 A CN 107988957A CN 201711165055 A CN201711165055 A CN 201711165055A CN 107988957 A CN107988957 A CN 107988957A
- Authority
- CN
- China
- Prior art keywords
- piers
- track
- tide
- base station
- chassis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000005693 optoelectronics Effects 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000008859 change Effects 0.000 claims abstract description 85
- 230000005540 biological transmission Effects 0.000 claims abstract description 28
- 239000013307 optical fiber Substances 0.000 claims abstract description 3
- 230000033001 locomotion Effects 0.000 claims description 45
- 230000011218 segmentation Effects 0.000 claims description 25
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 19
- 239000002253 acid Substances 0.000 claims description 18
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 11
- 230000004888 barrier function Effects 0.000 claims description 9
- 239000012634 fragment Substances 0.000 claims description 8
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 claims description 7
- 230000015556 catabolic process Effects 0.000 claims description 6
- 230000003111 delayed effect Effects 0.000 claims description 6
- 230000029058 respiratory gaseous exchange Effects 0.000 claims description 5
- 238000009826 distribution Methods 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000005622 photoelectricity Effects 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 19
- 238000004891 communication Methods 0.000 description 7
- 238000002955 isolation Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000011161 development Methods 0.000 description 4
- 230000018109 developmental process Effects 0.000 description 4
- 239000000203 mixture Substances 0.000 description 4
- 206010039203 Road traffic accident Diseases 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000003137 locomotive effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000001228 spectrum Methods 0.000 description 2
- 239000002023 wood Substances 0.000 description 2
- 241000270609 Caretta caretta Species 0.000 description 1
- 241000220300 Eupsilia transversa Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000368 destabilizing effect Effects 0.000 description 1
- 238000005474 detonation Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 230000003760 hair shine Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000009738 saturating Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- 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
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/60—Upright bodies, e.g. marker posts or bollards; Supports for road signs
- E01F9/604—Upright bodies, e.g. marker posts or bollards; Supports for road signs specially adapted for particular signalling purposes, e.g. for indicating curves, road works or pedestrian crossings
- E01F9/615—Upright bodies, e.g. marker posts or bollards; Supports for road signs specially adapted for particular signalling purposes, e.g. for indicating curves, road works or pedestrian crossings illuminated
- E01F9/617—Illuminated or wired-up posts, bollards, pillars or like upstanding bodies or structures for traffic guidance, warning or control
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/60—Upright bodies, e.g. marker posts or bollards; Supports for road signs
- E01F9/658—Upright bodies, e.g. marker posts or bollards; Supports for road signs characterised by means for fixing
- E01F9/669—Upright bodies, e.g. marker posts or bollards; Supports for road signs characterised by means for fixing for fastening to safety barriers or the like
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/095—Traffic lights
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Road Signs Or Road Markings (AREA)
Abstract
The invention discloses a kind of tide track altering system and method based on optoelectronic scanning avoidance, including remote control center, traffic lights background data server, section control base station and track group of change robot, the data transmission port of remote control center carries out real-time Data Transmission with the data transmission port of traffic lights background data server by way of optical fiber transmission or wireless data transmission, remote control center sends tide track change signal to section control base station in real time, section control base station is sent command-control signal of walking to track group of change robot all in corresponding road section by way of wireless data transmission in real time；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.
Description
Technical field
The present invention relates to tide track technical field, more specifically, more particularly to a kind of based on optoelectronic scanning avoidance
Tide track altering system and method.
Background technology
Automobile brings great convenience for the trip of the mankind, but as the quick increase of automobile quantity, traffic congestion are asked
Inscribe increasingly severe.Although government constantly builds highway, city expressway, the growth rate of road is far below automobile number
The growth of amount.In order to solve this problem, government puts into more and more funds in recent years and energy is used for developing intellectual resource traffic
System, improves the traffic efficiency of road, alleviates traffic jam issue.
" tidal phenomena " of traffic is the one of the major reasons of urban traffic blocking, the direction magnitude of traffic flow of going down town every morning
Greatly, the direction magnitude of traffic flow of going out of the city is small, and at night be then go out of the city direction flow it is big, the direction magnitude of traffic flow of going down town is small.Reply is sooner or later
A kind of typical solution of peak traffic flow is to enable tide track, morning peak go down town vehicle it is more when, increase is gone down town direction lane
Number, reduction are gone out of the city direction lane number, evening peak go out of the city vehicle it is more when, increase is gone out of the city direction lane number, and reduction is gone down town direction lane
Number.Current tide track is timing tide track, changes the traveling in tide track within the defined time of morning and evening peak period
Direction, to adjust number of track-lines, use is also that ground double amber lines and stop-light are implemented to control to track direction.Traditional profit
Implement the mode of control to track direction with ground double amber lines and stop-light, since numerous vehicles " being at loggerheads ", mark are inadequate
Many drawbacks such as clear, are gradually set the mode of isolation strip to substitute in lane side.And by manually being set between different tracks
Isolation strip has implemented inconvenience since workload is huge, thus there are many emerging intelligent tide tracks to meet the tendency of again and
It is raw.
U.S.'s Gold Gate Bridge is to carry out one of section of changeable driveway earliest in the world, and bridge floor is 27 meters wide, removes both sides
Pavement, section are two-way six-lane, and morning hours four into four go out, and afternoon, guardrail moved right a track, form reverse situation.
Early postoperative management department sets tide track to solve the problems, such as this using artificial method to set up.On the lane line among bridge
There is an eye every one section, work car is slowly travelled among track, and both sides respectively have a staff to be sitting in the flat of underbody
On platform, the staff on the both sides of work car carries out plug respectively, and track can be changed by walking one time.Many at home
Small city also can using it is this it is artificial by the way of the safe heap of Plastic traffic is set so that isolate it is a kind of individually road supply tide
Vehicle uses.This mode for manually setting tide track operates fairly simple, and maintenance cost and cost are relatively low；It is but this
Early, the evening peak phase manually sets the mode of tide road to need to expend substantial amounts of artificial and time cost, and efficiency is low, and tide car
Road conversion is not easy, while the vehicle run at high speed easily damages construction personnel, and risk factor is higher.
Tide track efficiency is low, time cost is high in order to solve the problems, such as manually to set, traffic control department using traffic lights and
The mode of traffic indication board, pressure when the fixed tide time of the tide road delimitation to some fixations is to alleviate traffic congestion
Power.Peak period on and off duty or go out of the city go down town peak period when, by setting corresponding stop-light or direction board, temporarily
Tide road is set, alleviates congestion in road, this system control mode has saved time and cost of labor, improved tide track
Applicability.But this mode does not have obvious isolation guardrail, due to driver road markings is unfamiliar with or notice not
The problems such as concentration, be easy to cause to rush by mistake and go by mistake, so as to influence the utilization to tide track, certain friendship is likely to result in when serious
Interpreter's event.
The developed countries such as the U.S. are for a series of problems for manually setting tide track and signal control of intersection, invention
A kind of tide lane changing machine, had not only overcome and has manually set tidal efficiency low, but also realized being effectively isolated for tide road.This
Kind tide lane changing machine is substantially a running locomotive, by setting various mechanical devices in intra-locomotive, with
The guardrail in one track is moved to another track up by the operation of locomotive, which greatly enhances lane guardrail conversion speed,
Cost of labor is reduced, be further divided into several sections for especially interminable tide track runs completion car at the same time by more lane change machines
Road converts.But since planning limits, original isolation strip or greenbelt cannot be removed, and cause tide lane changing machine cannot
Widely use, and the transcriber purchase cost is higher, it is necessary to special isolation strip, while the cost of a tide lane changing machine
More than 3,000,000 dollars, therefore it also strongly limit the development of this technology.
In order to improve the adaptability in tide track, the research staff in Shenzhen designs a kind of intelligent tide track again, should
Intelligent tide track is formally exposed using remote control guardrail and the combining form of lamp control in Shen Nan South Mountain section, intelligence tide
Nighttide track can be automatic that tide track is set automatically according to the size of vehicle flowrate.This intelligence tide track innovation bright spot exists
In the introduction of remote control guardrail, it is similar to common guardrail, but bottom motors drive four pulleys, as long as plugging in, guardrail can
Transverse shifting is carried out to be commanded with remote controler, the isolation switching in tide track was realized in 1 minute.Also there is intelligence barrier at the same time
Hinder identification technology, be able to detect that the barrier run into during guardrail lane change.Compared to traditional traffic dispersion mode, significantly
Reduce the risk and live load of traffic police on duty.Traffic police can be variable by hand-held remote controller, control according to site traffic situation
Divide to traveling lane mark and adjust driveway travel directions at any time；If there is substantially current feature at crossing, in the feelings of no accident
Under condition, traffic police can also shift to an earlier date the time into line program input fixed signal conversion, by its auto-changing；In addition, control centre
Label can also be controlled using remote control means in due course by instruments monitor crossing road conditions；If realizing, computer joins
The intersection annunciator of net, moreover it is possible to distinguish simultaneously auto-control by automatic recognition system.Shenzhen, Beijing etc. are regional at present
Come into operation in succession, application prospect is very extensive.But in the operational process in this intelligent tide track, due to center
The presence of isolation guardrail and greenbelt, on the one hand, the eastbound vehicle being lined up after overflowing cannot be introduced into the left-hand rotation of tide track, cause tide
Nighttide lane utilization ratio is not high, and on the other hand, this two cannot be introduced into tide track due to being hindered by guardrail for the right-hand rotation of southing mouth, also drop
The low utilization rate in tide track.
Meanwhile this essentially it is still by way of hand-held remote controller carries out intelligent tide lane control
Manually control, destabilizing factor is more, is easy to be influenced be subject to manpower factor, and is not easy centralized Control, greatly
Ground limits the development in intelligent tide track.
One of an important factor for communication in intelligent tide track is also the development of limitation tide track, such as Shenzhen are this
The mode of intelligent tide track intelligence traffic police scene hand-held remote controller is controlled remote control guardrail, it can only be carried out closely
Control, and can not realize the long-range centralized Control of a wide range of remote control guardrail.
Technology of Internet of things is then the important opportunity for breaking through this problem.With intelligent tide track and the hair of Internet of Things
Exhibition, requirement of the in the market to wireless technology increasingly increase.Especially low-power consumption, height how are made what is advocated technology of Internet of things
The wireless connection of reliability, becomes the pursuit of modern internet of things equipment manufacturer, also becomes the mesh of wireless chip supplier
Mark.Wireless technology in Internet of Things application has many kinds, including LAN and wide area network.The wireless technology of composition LAN has
The WiFi of 2.4GHz, bluetooth, Zigbee etc., the wireless technology for forming wide area network mainly have 2G/3G/4G.LoRa is LPWAN communications
One kind in technology, is a kind of overlength distance Radio Transmission Technology based on spread spectrum.This technology change in the past on
Transmission range and the compromise of power consider mode, provide to the user it is a kind of it is simple can realize at a distance, the system of low-power consumption.Together
When, free frequency range uses Lo Ra in the world, including 433,868,915MHz.LoRa technologies are a kind of extra long distances
Small wireless technology, has merged digital spread spectrum, Digital Signal Processing and forward error correction coding technology.There can be number using LoRa technologies
One wireless data sending network of ten thousand wireless data transmission module compositions, the base station net of similar existing mobile communication, each node
The mobile phone user of similar mobile network, in whole network coverage, face-to-face communication between each network node and gateway away from
From 5 kilometers can be reached, in addition it is farther.LoRa technologies have the characteristics that remote, low-power consumption, multinode, low cost.
If LoRa systems are dissolved into the control in intelligent tide track, it can break away from and be held by traffic police merely
Remote controler carrys out the defects of intelligent control tide track, to realize the centralized Control in intelligent tide track, and can greatly
Production cost is reduced, reduces the overall power in intelligent tide track, improves the popularity rate in intelligent tide track.
Alignment system plays the role of particularly important, current alignment system master in the use of tide track automatic running
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 a kind of tide based on optoelectronic scanning avoidance
Nighttide track altering system and method, can carry out the conversion in tide track automatically, and can realize automatic obstacle-avoiding, reduce production
And use cost, reduce influence of the manpower factor to intelligent tide track.
The present invention is achieved through the following technical solutions above-mentioned purpose：A kind of tide track based on optoelectronic scanning avoidance becomes
More system, including remote control center, traffic lights background data server, section control base station and track change robot
Group, the data transmission port of remote control center pass through light with the data transmission port of traffic lights background data server
The mode of fibre transmission or wireless data transmission carries out real-time Data Transmission, and remote control center is real by tide track change signal
When send to section control base station, the control base station command-control signal that will be walked by way of wireless data transmission in section is real-time
Send in corresponding road section in group of all track change robots, each track change group of robot receive it is respective
Corresponding movement is performed during walking order, and positional information is fed back into section control base station in real time；
Track group of change robot includes multigroup track change robot group along the distribution of tide track direction, adjacent
0.5~1 meter is spaced between track change robot group, each track change robot group includes A piers, B piers and connection guardrail,
Hinge connection is used between A piers and connection guardrail, B piers are fixedly connected with 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；
One driving wheel and two followers are installed on the chassis of the A piers, one is additionally provided with the chassis of A piers and is determined
To motor, orientation motor connection driving wheel is driven the driving wheel to rotate, and the fortune of whole A piers is driven by driving wheel movement
It is dynamic；Guardrail driving motor, guardrail driving motor connection connection guardrail, guardrail driving motor movement are additionally provided with inside the A piers
When drive the overall of link guardrail and B the piers composition around central shaft rotate the inside of the A piers to be additionally provided with first unrestrained
Reflection photoelectric switch and the first optoelectronic switch driving motor, the first optoelectronic switch driving motor connection first diffuse electric switch
And the described first rotation for diffusing electric switch is driven, offer horizontal big notch on A piers, first electric switch that diffuses is saturating
Horizontal big notch is crossed to be irradiated to outside A piers；
Three universal wheels are installed on the chassis of the B piers, the inside of B piers be additionally provided with second diffuse electric switch and
Second optoelectronic switch drives motor, and the second optoelectronic switch driving motor connection second, which diffuses, electric switch and drives described second
Diffuse the rotation of electric switch, offers horizontal small-rabbet on B piers, and second electric switch that diffuses shines through horizontal small-rabbet
It is mapped to outside B piers.
Further, it is directional wheel driving wheel and follower to be provided with the chassis of the A piers, and orientation motor is embedded in
The inside chassis of A piers, orientation motor be electrically connected with lead-acid accumulator and powered by lead-acid accumulator, orient motor with it is embedded
Control module is electrically connected and the running speed and rotation direction of itself is controlled by embedded type control module, orientation motor connection master
Driving wheel simultaneously drives the driving wheel to rotate, and the movement of whole A piers is driven by driving wheel movement.
Further, the opening radian of the horizontal big notch is quadrant.
Further, the opening radian of the horizontal small-rabbet is quadrant.
A kind of tide track variation based on optoelectronic scanning avoidance, includes the following steps：
S1：Multigroup track change robot group, every group of track are set in the direction in the side in tide track along tide track
Change robot group includes A piers and B piers, and 0.5~1 meter is spaced between adjacent one group of track change robot group；
S2：Remote control center judges each road according to the information of vehicle flowrate that traffic lights background data server is transmitted
Whether section needs to carry out the change in tide track, if desired carries out the change in tide track, and remote control center is by tide track
Change signal to send in real time to section control base station, ordered walking by way of wireless data transmission by section control base station
Control signal is sent to change robot group in track all in corresponding road section in real time；
S3：The A piers of robot group are changed in first group of track and B piers carry out power-up initializing respectively, and whether judge itself
There are failure, breakdown judge includes the whether enough judgements of battery capacity, the judgement whether big dipper module can position, LoRa moulds
Whether block can normally transmit whether motor all in information and hard shoulder can work normally；If A piers or B piers there are failure,
Then to carrying out breakdown judge to the hard shoulder again after restarting there are the hard shoulder of failure, if A piers or B piers still suffer from failure,
Then the fault message there will be the hard shoulder of failure passes 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 and B piers, judge that A piers and B piers can be moved, and enter S4 and walk
Suddenly；
S4：Section control base station is according to the interval that the initial position message and target position information of each hard shoulder are 10cm
The motion path of each hard shoulder is divided, obtains the location segment positional information that each hard shoulder needs to stop；Section
The segmentation positional information of each hard shoulder is sent on corresponding hard shoulder by control base station；
S5：A piers receive first segmentation positional information that section control base station is sent, and A piers are first turned on the report of itself
Warning lamp simultaneously carries out obstacle judgement, and the mode that obstacle judges sentences method for distinguishing as optoelectronic switch to penetrating, before A piers every time movement, B piers
On second diffuse direction face A pier of the electric switch along connection guardrail, on tide track direction driving B piers during detection
Second optoelectronic switch drives motor, makes the on B piers second scope for diffusing 90 degree of electric switch scanning tide track direction,
If second on B piers diffuses, second electric switch that diffuses is not received by optical telecommunications to electric switch all the time in the process
Number, then it represents that barrier is not encountered during scanning, then has the stroke of one section of 10cm long on the motion path of A hard shoulders simultaneously
It is accessible, into S5 steps；Second diffuses electric switch terminating during if the second optoelectronic switch driving motor rotates
Receive photosignal, then it represents that barrier is encountered during scanning, then is delayed after 3s and A hard shoulders progress obstacle is sentenced again
It is disconnected；
S6：The locking device of A piers and B piers is unclamped, A piers move along a straight line to target location direction, the move distance of A piers
For 10cm, control motor makes A piers linear motion 10cm, and when A piers move, B piers keep free following state, are moved in A piers
After complete 10cm, A piers determine the current current location information of itself by big dipper module, and by current location information and step S5
The first segmentation positional information obtained is contrasted, if the current location information of A piers and first fragment bit confidence manner of breathing weight
Close, then A piers move to fragment bit and postpone closing alarm lamp and lock locking device, if the current location information of A piers and first
Segmentation positional information is misaligned, then A piers continue movement until the current location of A piers coincides with segmentation position；
S7：B piers every time movement before, first on A piers diffuse electric switch along connection guardrail direction face B piers,
Motor is driven to the first optoelectronic switch on tide track direction rotation A piers during detection, makes first on A piers to diffuse and establishes by cable
Close and rotate 90 degree, first on A piers diffuses after electric switch launches light and carries out obstacle judgement in the process, if first
First electric switch that diffuses is not received by photosignal during optoelectronic switch driving motor rotates, then the movement of A piers
There is the stroke of one section of 10cm long and accessible on path, into S5 steps；If the mistake that the first optoelectronic switch driving motor rotates
First electric switch that diffuses receives photosignal in journey, then is delayed after 3s and carries out obstacle judgement to A piers again；
S8：The guardrail rotary electric machine on A piers is driven, guardrail rotary electric machine drives the entirety of connection guardrail and B piers composition around A
Pier is rotated；After B piers have moved 10cm, B piers determine the current current location information of itself by big dipper module, and ought
Front position information is contrasted with the first segmentation positional information obtained in step S5, if the current location information of B piers is with dividing
Location information coincides, then into S9 steps；If the current location information of B piers and segmentation positional information it is misaligned, B piers after
Reforwarding is moved until the current location of B piers coincides with segmentation position；
S9：Section control base station sends remaining segmentation positional information successively to A piers and B piers, and repeats above-mentioned S5~S8
Step, until A piers and B piers reach target location, completes the movement of first group of track change robot group；
S10：After the completion of the movement of first group of track change robot group, remaining track change robot group is repeated in
Above-mentioned S3~S9 steps, until all track change robot groups are moved to the opposite side in tide track, complete whole tide
The conversion process in nighttide track.
The beneficial effects of the present invention are：
1st, the automatic change for carrying out avoidance using optoelectronic switch, can realizing tide track according to demand of the invention, together
When combine traffic lights background data server, realize that urban traffic road network changes in real time using big data, at any time should
To due to change of the factor to road demand such as traffic accident, vehicle flowrate change, bad weathers, realizing the automatic control in tide track
System.
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 making for the universal wheel drive motor on B piers by the way of A piers drive B piers to move together
With reducing 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.
8th, it is during the present invention detects the group movement of track change robot using the unrestrained transmitting effect of optoelectronic switch
It is no that not only judging result is more accurate there are obstacle, and relative to camera shooting mode it is more easy, greatly reduce
The cost that avoidance judges, improves the practicality of the present apparatus.
9th, invention track change robot can carry out automatic fault detection on startup, only track change robot without
It can just be moved during failure, can effectively avoid the failure problems of track change robot itself causes to the change of tide track
Influence.
10th, the present invention changes the movement of robot by closed-loop control track, and track change robot passes through big dipper module
The positional information of itself is obtained in real time, recycles the moving method of segmented, and it is mobile more accurate to make, and what is finally positioned is accurate
Degree is also very high.
Brief description of the drawings
Fig. 1 is the present invention based on the tide track altering system of optoelectronic scanning avoidance and the general structure schematic diagram of method.
Fig. 2 is the overlooking the structure diagram of track change robot group of the present invention.
Fig. 3 is the main structure diagram of track change robot group of the present invention.
Fig. 4 is the three dimensional structure diagram of A piers of the present invention.
Fig. 5 is the three dimensional structure diagram of B piers of the present invention.
Fig. 6 is the schematic cross-sectional view of A piers of the present invention.
Fig. 7 is the schematic cross-sectional view of B piers of the present invention.
Fig. 8 is the flow diagram that one group of track change robot of the present invention is changed into runway.
In figure, 1-A piers, 2-B piers, 3- connections guardrail, 4- shells, 5- alarm lamps, 6- solar panels, 7- lead acid storage batteries
Pond, 8- big dipper modules, 9- chassis, 10- bottoms disk-drive motor, 11- ball-screws, 12- feed screw nuts, 13- shaft couplings, 14- master
Driving wheel, 15- followers, 16- universal wheels, 17- guardrails driving motor, the first optoelectronic switches of 18- driving motor, 19- first are unrestrained anti-
Penetrate optoelectronic switch, the driving of the second optoelectronic switches of 20- motor, 21- second diffuse electric switch, 22- horizontal big notch, 23- water
Flat small-rabbet.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings：
As shown in Fig. 1~7, the tide track altering system based on optoelectronic scanning avoidance, including remote control center, traffic
Signal lamp background data server, section control base station and track group of change robot, the data transfer of remote control center
The data transmission port of port and traffic lights background data server is transmitted by optical fiber or the side of wireless data transmission
Formula carries out real-time Data Transmission, and remote control center sends tide track change signal to section control base station, section in real time
Control base station is sent walking command-control signal to car all in corresponding road section by way of wireless data transmission in real time
In road group of change robot, each track change group of robot performs corresponding move when receiving respective walking order
It is dynamic, and positional information is fed back into section control base station in real time.
Track group of change robot includes multigroup track change robot group along the distribution of tide track direction, adjacent
0.5~1 meter is spaced between track change robot group, each track change robot group includes A piers 1, B piers 2 and connection shield
Column 3, uses hinge connection between A piers 1 and connection guardrail 3, B piers 2 are fixedly connected with connection guardrail 3.
Big dipper module 8, embedded type control module, alarm lamp 5, solar panel are both provided with the A piers 1 and B piers 2
6th, lead-acid accumulator 7, LoRa modules, chassis 9 and shell 4, embedded type control module connect section by LoRa modules and control base
Stand, lead-acid accumulator 7 is fixed on chassis 9, and chassis 9 is sleeved on 4 bottom of shell, and convex block, 4 bottom of shell are provided with chassis 9
Be provided with the matched groove of convex block on chassis 9, be further fixed on bottom disk-drive motor 10, bottom disk-drive motor on shell 4
10 connect ball-screws 11, are provided with and the matched feed screw nut 12 of the ball-screw 11, the feed screw nut on chassis 9
12 are sleeved on the ball-screw 11, and bottom disk-drive motor 10 drives ball-screw 11 to drive chassis 9 when rotating in shell 4
Bottom moves up and down, and bottom disk-drive motor 10 connects ball-screw 11 by shaft coupling 13, when chassis 9 moves to minimum point with ground
Face contacts, and the weight of whole track change robot is transferred to by ground to bear by chassis 9 at this time, is become equivalent to whole track
More robot becomes a stake prevented on the ground, can effectively prevent movement of the track change robot on ground；Institute
State 4 upper end of shell and be provided with alarm lamp 5, the outer surface of shell 4 is provided with solar panel 6, and solar panel 6 is by too
Positive energy charging circuit connection lead-acid accumulator 7, the big dipper module 8 are arranged inside shell 4, moving mechanism and locking mechanism
It is arranged on chassis 9.
The big dipper module 8 is arranged inside shell 4, and the top of A piers 1 and B piers 2 is provided with empty slot, is detained above empty slot
There is end cap, big dipper module 8 is located inside empty slot.
One driving wheel 14 and two followers 15 are installed on the chassis 9 of the A piers 1, also set up on the chassis 9 of A piers 1
There is an orientation motor, orientation motor connection driving wheel 14 is driven the driving wheel 14 to rotate, and band is moved by driving wheel 14
Move the movement of whole A piers 1；Guardrail driving motor 17, the guardrail driving connection connection shield of motor 17 are additionally provided with inside the A piers 1
Column 3, guardrail driving motor 17 drives the link guardrail and B piers 2 to form entirety when moving carry out rotating the A around central shaft
The inside of pier 1 be additionally provided with first diffuse 19 and first optoelectronic switch of electric switch driving motor 18, the first optoelectronic switch drive
The dynamic connection of motor 18 first, which diffuses, electric switch 19 and drives the described first rotation for diffusing electric switch 19, is opened on A piers 1
Equipped with horizontal big notch 22, first electric switch 19 that diffuses is irradiated to outside A piers 1 through horizontal big notch 22.The B piers 2
Chassis 9 on three universal wheels 16 are installed, the inside of B piers 2 is additionally provided with second and diffuses 21 and second photoelectricity of electric switch
Switch drive motor 20, the second optoelectronic switch driving motor 20 connection second, which diffuses, electric switch 21 and to be driven described second unrestrained
The rotation of reflection photoelectric switch 21, horizontal small-rabbet 23 is offered on B piers 2, and second diffuses electric switch 21 through horizontal small
Notch 23 is irradiated to outside B piers 2.
It is directional wheel that driving wheel 14 and follower 15 are provided with the chassis 9 of the A piers 1, and orientation motor is embedded in A piers
Inside 1 chassis 9, orientation motor is electrically connected with lead-acid accumulator 7 and is powered by lead-acid accumulator 7, orients motor and insertion
Formula control module is electrically connected and the running speed and rotation direction of itself is controlled by embedded type control module, orientation motor connection
Driving wheel 14 simultaneously drives the driving wheel 14 to rotate, and the movement of whole A piers 1 is driven by the movement of driving wheel 14.
The opening radian of the horizontal big notch 22 is quadrant；The opening radian of the horizontal small-rabbet 23 is four
/ mono- circle.
As shown in figure 8, a kind of tide track variation based on optoelectronic scanning avoidance, includes the following steps：
S1：Multigroup track change robot group, every group of track are set in the direction in the side in tide track along tide track
Change robot group includes A piers 1 and B piers 2, and 0.5~1 meter is spaced between adjacent one group of track change robot group；
S2：Remote control center judges each road according to the information of vehicle flowrate that traffic lights background data server is transmitted
Whether section needs to carry out the change in tide track, if desired carries out the change in tide track, and remote control center is by tide track
Change signal to send in real time to section control base station, ordered walking by way of wireless data transmission by section control base station
Control signal is sent to change robot group in track all in corresponding road section in real time；
S3：The A piers 1 of robot group are changed in first group of track and B piers 2 carry out power-up initializing respectively, and judge that itself is
It is no there are failure, breakdown judge include the whether enough judgements of battery capacity, the judgement whether big dipper module 8 can position,
Whether LoRa modules can normally transmit whether motor all in information and hard shoulder can work normally；If A piers 1 or B piers 2 are deposited
In failure, then to carrying out breakdown judge to the hard shoulder again after restarting there are the hard shoulder of failure, if A piers 1 or B piers 2 are still
There are failure, then the fault message there will be the hard shoulder of failure passes to section control base station, and lights the police of the hard shoulder
Lamp is reported, which is not 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
It is dynamic, and enter S4 steps；
S4：Section control base station is according to the interval that the initial position message and target position information of each hard shoulder are 10cm
The motion path of each hard shoulder is divided, obtains the location segment positional information that each hard shoulder needs to stop；Section
The segmentation positional information of each hard shoulder is sent on corresponding hard shoulder by control base station；
S5：A piers 1 receive first segmentation positional information that section control base station is sent, and A piers 1 are first turned on itself
Alarm lamp 5 simultaneously carries out obstacle judgement, and the mode that obstacle judges sentences method for distinguishing as optoelectronic switch to penetrating, and is moved every time in A piers 1
Before, second on B piers 2 diffuses direction face A pier 1 of the electric switch 21 along connection guardrail 3, to tide track direction during detection
The second optoelectronic switch driving motor 20 on B piers 2 is driven, second on B piers 2 electric switch 21 that diffuses is scanned tide track
The scope that 90 degree of direction, if second on B piers 2 diffuse electric switch 21 in the process second diffuse electric switch beginning
Photosignal is not received by eventually, then it represents that barrier is not encountered during scanning, then has one on the motion path of A piers 1
The stroke of section 10cm long is simultaneously accessible, into S5 steps；If second during the driving rotation of motor 20 of the second optoelectronic switch
21 terminating of electric switch that diffuses receives photosignal, then it represents that barrier is encountered during scanning, then it is delayed after 3s again
Obstacle judgement is carried out to A piers 1；
S6：The locking device of A piers 1 and B piers 2 is unclamped, A piers 1 move along a straight line to target location direction, the movement of A piers 1
Distance is 10cm, and control motor makes the linear motion 10cm of A piers 1, and when A piers 1 move, B piers 2 keep free following state, in A
After pier 1 has moved 10cm, A piers 1 determine the current current location information of itself by big dipper module 8, and by current location information
Contrasted with the first segmentation positional information obtained in step S5, if the current location information of A piers 1 and first fragment bit
Confidence manner of breathing overlaps, then A piers 1 move to fragment bit and postpone closing alarm lamp 5 and lock locking device, if the current location of A piers 1
Information and first segmentation positional information are misaligned, then A piers 1 continue movement until the current location of A piers 1 is mutually overlapping with segmentation position
Close；
S7：B piers 2 every time movement before, first on A piers 1 diffuse electric switch 19 along connection guardrail 3 direction face
B piers 2, the first optoelectronic switch rotated to tide track direction during detection on A piers 1 drive motor 18, make first on A piers 1 unrestrained
Reflection photoelectric switch 19 rotates 90 degree, and first on A piers 1 diffuses after electric switch 19 launches light and carry out in the process
Obstacle judges, if first electric switch 19 that diffuses is not received by light during the first optoelectronic switch driving motor 18 rotates
Electric signal, then have the stroke of one section of 10cm long and accessible, into S5 steps on the motion path of A piers 1；If the first photoelectricity is opened
Close first electric switch 19 that diffuses during driving motor 18 rotates and receive photosignal, be then delayed after 3s again to A
Pier 1 carries out obstacle judgement；
S8：The guardrail rotary electric machine on A piers 1 is driven, guardrail rotary electric machine drives the entirety that connection guardrail 3 and B piers 2 form
Rotated around A piers 1；After B piers 2 have moved 10cm, B piers 2 determine the current present bit confidence of itself by big dipper module 8
Breath, and current location information is contrasted with the first segmentation positional information obtained in step S5, if the present bit of B piers 2
Confidence breath is overlapped with fragment bit confidence manner of breathing, then into S9 steps；If the current location information of B piers 2 is with being segmented positional information not
Overlap, then B piers 2 continue movement until the current location of B piers 2 coincides with segmentation position；
S9：Section control base station sends remaining segmentation positional information successively to A piers 1 and B piers 2, and repeat above-mentioned S5~
S8 steps, until A piers 1 and B piers 2 reach target location, complete the movement of first group of track change robot group；
S10：After the completion of the movement of first group of track change robot group, remaining track change robot group is repeated in
Above-mentioned S3~S9 steps, until all track change robot groups are moved to the opposite side in tide track, complete whole tide
The conversion process in nighttide track.
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 (5)
1. the tide track altering system based on optoelectronic scanning avoidance, it is characterised in that：Including remote control center, traffic signals
Lamp background data server, section control base station and track group of change robot, the data transmission port of remote control center
With the data transmission port of traffic lights background data server optical fiber transmit or wireless data transmission by way of into
Row real-time Data Transmission, remote control center send tide track change signal to section control base station, section control in real time
Base station will be walked by way of wireless data transmission, and command-control signal is real-time to be sent to track change all in corresponding road section
More in group of robot, the execution when receiving respective walking order of each track change group of robot is corresponding mobile, and
Positional information is fed back into section control base station in real time；
Track group of change robot includes multigroup track change robot group along the distribution of tide track direction, adjacent track
0.5~1 meter is spaced between change robot group, each track change robot group includes A piers (1), B piers (2) and connection and protects
Column (3), uses hinge connection between A piers (1) and connection guardrail (3), B piers (2) are fixedly connected with connection guardrail (3)；
Big dipper module (8), embedded type control module, alarm lamp (5), solar-electricity are both provided with the A piers (1) and B piers (2)
Pond plate (6), lead-acid accumulator (7), LoRa modules, chassis (9) and shell (4), embedded type control module are connected by LoRa modules
Section control base station is connect, lead-acid accumulator (7) is fixed on chassis (9), and chassis (9) are sleeved on shell (4) bottom, chassis (9)
On be provided with convex block, shell (4) bottom is provided with to be further fixed on the matched groove of convex block on chassis (9), shell on (4)
Bottom disk-drive motor (10), bottom disk-drive motor (10) connection ball-screw (11), is provided with and the ball wire on chassis (9)
Thick stick (11) matched feed screw nut (12), the feed screw nut (12) are sleeved on the ball-screw (11), chassis driving
Motor (10) drives ball-screw (11) to drive chassis (9) to move up and down in the bottom of shell (4) when rotating；The shell (4)
Upper end is provided with alarm lamp (5), and the outer surface of shell (4) is provided with solar panel (6), and solar panel (6) passes through
Solar charging circuit connection lead-acid accumulator (7), it is internal that the big dipper module (8) is arranged at shell (4), moving mechanism and
Locking mechanism is arranged on chassis (9)；
One driving wheel (14) and two followers (15), the chassis (9) of A piers (1) are installed on the chassis (9) of the A piers (1)
On be additionally provided with an orientation motor, orientation motor connection driving wheel (14) is driven the driving wheel (14) to rotate, and passes through master
Driving wheel (14) movement drives the movement of whole A piers (1)；Guardrail driving motor (17), guardrail are additionally provided with inside the A piers (1)
Motor (17) connection connection guardrail (3) is driven, guardrail driving motor (17) drives the link guardrail and B piers (2) group when moving
Into the overall inside for around central shaft rotate the A piers (1) be additionally provided with first and diffuse electric switch (19) and first
Optoelectronic switch driving motor (18), the first optoelectronic switch driving motor (18) connection first, which diffuses, electric switch (19) and to be driven
Described first rotation for diffusing electric switch (19), offers horizontal big notch (22), the first diffusing reflection photoelectricity on A piers (1)
Switch (19) is irradiated to A piers (1) outside through horizontal big notch (22)；
Three universal wheels (16) are installed, the inside of B piers (2) is additionally provided with the second diffusing reflection on the chassis (9) of the B piers (2)
Optoelectronic switch (21) and the second optoelectronic switch driving motor (20), the second optoelectronic switch driving motor (20) connect the second diffusing reflection
Optoelectronic switch (21) simultaneously drives the described second rotation for diffusing electric switch (21), and B piers offer horizontal small-rabbet on (2)
(23), second diffuse that through horizontal small-rabbet (23) to be irradiated to B piers (2) exterior for electric switch (21).
2. the tide track altering system according to claim 1 based on optoelectronic scanning avoidance, it is characterised in that：The A
It is directional wheel that driving wheel (14) and follower (15) are provided with the chassis (9) of pier (1), and orientation motor is embedded in A piers (1)
Chassis (9) is internal, and orientation motor is electrically connected with lead-acid accumulator (7) and by lead-acid accumulator (7) power supply, orient motor with it is embedding
Enter formula control module to be electrically connected and control the running speed and rotation direction of itself by embedded type control module, orientation motor connects
Connect driving wheel (14) and drive the driving wheel (14) to rotate, the movement of whole A piers (1) is driven by driving wheel (14) movement.
3. the tide track altering system according to claim 1 based on optoelectronic scanning avoidance, it is characterised in that：The water
The opening radian for putting down big notch (22) is quadrant.
4. the tide track altering system according to claim 1 based on optoelectronic scanning avoidance, it is characterised in that：The water
The opening radian of flat small-rabbet (23) is quadrant.
5. the tide track variation according to claim 1 based on optoelectronic scanning avoidance, it is characterised in that：Including such as
Lower step：
S1：Multigroup track change robot group, every group of track change are set in the direction in the side in tide track along tide track
Robot group includes A piers (1) and B piers (2), and 0.5~1 meter is spaced between adjacent one group of track change robot group；
S2：Remote control center judges that each section is according to the information of vehicle flowrate that traffic lights background data server is transmitted
The no change for needing to carry out tide track, if desired carries out the change in tide track, remote control center changes tide track
Signal is sent to section control base station in real time, is controlled walking order by way of wireless data transmission by section control base station
Signal is sent to change robot group in track all in corresponding road section in real time；
S3：The A piers (1) of robot group are changed in first group of track and B piers (2) carry out power-up initializing respectively, and judge that itself is
It is no there are failure, breakdown judge include the whether enough judgements of battery capacity, the judgement whether big dipper module (8) can position,
Whether LoRa modules can normally transmit whether motor all in information and hard shoulder can work normally；If A piers (1) or B piers
(2) there are failure, then to carrying out breakdown judge to the hard shoulder again after restarting there are the hard shoulder of failure, if A piers (1) or
B piers (2) still suffer from failure, then the fault message there will be the hard shoulder of failure passes 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 S4 steps；
S4：Section control base station will be every according to the interval that the initial position message and target position information of each hard shoulder are 10cm
The motion path of a hard shoulder is divided, and obtains the location segment positional information that each hard shoulder needs to stop；Section controls
The segmentation positional information of each hard shoulder is sent on corresponding hard shoulder by base station；
S5：A piers (1) receive first segmentation positional information that section control base station is sent, and A piers (1) are first turned on itself
Alarm lamp (5) simultaneously carries out obstacle judgement, and the mode that obstacle judges sentences method for distinguishing as optoelectronic switch to penetrating, and is transported every time in A piers (1)
Before dynamic, second on B piers (2) diffuses direction face A pier (1) of the electric switch (21) along connection guardrail (3), to tide during detection
The second optoelectronic switch driving motor (20) on nighttide track direction driving B piers (2), makes second on B piers (2) to diffuse and establishes by cable
The scope of 90 degree of (21) scanning tide track direction is closed, second on B piers (2) diffuses electric switch (21) in the process
If second electric switch that diffuses is not received by photosignal all the time, then it represents that barrier is not encountered during scanning,
Then there is the stroke of one section of 10cm long and accessible on the motion path of A piers (1), into S5 steps；If the second optoelectronic switch drives
Second electric switch (21) terminating that diffuses receives photosignal during dynamic motor (20) rotates, then it represents that the process of scanning
In encounter barrier, then be delayed 3s after again to A piers (1) carry out obstacle judgement；
S6：The locking device of A piers (1) and B piers (2) is unclamped, A piers (1) move along a straight line to target location direction, A piers (1)
Move distance is 10cm, control motor make A piers (1) move along a straight line 10cm, when A piers (1) moves, B piers (2) holding 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 (8),
And contrasted current location information with the first segmentation positional information obtained in step S5, if the current location of A piers (1)
Information is overlapped with first fragment bit confidence manner of breathing, then A piers (1) move to fragment bit and postpone closing alarm lamp (5) and lock
Determine device, if the current location information of A piers (1) and first segmentation positional information are misaligned, A piers (1) continue movement until A
The current location of pier (1) coincides with segmentation position；
S7：B piers (2) every time movement before, first on A piers (1) diffuse electric switch (19) along connection guardrail (3) direction
Face B piers (2), the first optoelectronic switch driving motor (18) on A piers (1) is rotated to tide track direction during detection, makes A piers
(1) first on the electric switch (19) that diffuses rotates 90 degree, and first on A piers (1) diffuses electric switch in the process
(19) obstacle judgement is carried out after launching light, if the first diffusing reflection during the first optoelectronic switch driving motor (18) rotates
Optoelectronic switch (19) is not received by photosignal, then the stroke for having one section of 10cm long on the motion path of A piers (1) has no barrier
Hinder, into S5 steps；First diffuses electric switch (19) during if the first optoelectronic switch driving motor (18) rotates
Photosignal is received, then is delayed after 3s and obstacle judgement is carried out to A piers (1) again；
S8：The guardrail rotary electric machine on A piers (1) is driven, guardrail rotary electric machine drive connection guardrail (3) and B piers (2) form whole
Body is rotated around A piers (1)；After B piers (2) have moved 10cm, B piers (2) determine current itself work as by big dipper module (8)
Front position information, and current location information is contrasted with the first segmentation positional information obtained in step S5, if B piers
(2) current location information is overlapped with fragment bit confidence manner of breathing, then into S9 steps；If the current location information of B piers (2) is with dividing
Location information is misaligned, then B piers (2) continue movement until the current location of B piers (2) coincides with segmentation position；
S9：Section control base station sends remaining segmentation positional information successively to A piers (1) and B piers (2), and repeat above-mentioned S5~
S8 steps, until A piers (1) and B piers (2) reach target location, complete the movement of first group of track change robot group；
S10：After the completion of the movement of first group of track change robot group, remaining track change robot group is repeated in above-mentioned
S3~S9 steps, until all track change robot groups are moved to the opposite side in tide track, complete whole tide car
The conversion process in road.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711165055.8A CN107988957A (en) | 2017-11-21 | 2017-11-21 | Tide track altering system and method based on optoelectronic scanning avoidance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711165055.8A CN107988957A (en) | 2017-11-21 | 2017-11-21 | Tide track altering system and method based on optoelectronic scanning avoidance |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107988957A true CN107988957A (en) | 2018-05-04 |
Family
ID=62031877
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711165055.8A Pending CN107988957A (en) | 2017-11-21 | 2017-11-21 | Tide track altering system and method based on optoelectronic scanning avoidance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107988957A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111362190A (en) * | 2020-03-06 | 2020-07-03 | 安徽宇锋智能科技有限公司 | Fork transport AGV |
Citations (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3958890A (en) * | 1975-08-11 | 1976-05-25 | Victor Ferrari | Apparatus and method for moving roadway lane dividers |
| CA2280648A1 (en) * | 1998-08-25 | 2000-02-25 | Qwick Kurb, Inc. | Apparatus for translocating lane divider |
| WO2007128083A1 (en) * | 2006-05-10 | 2007-11-15 | Anthony Michael Duffy | System for maximising and controlling tidal flow of traffic in road tunnels and on freeways |
| WO2008098465A1 (en) * | 2007-02-14 | 2008-08-21 | Guozhu Ji | A transversely moveable road barricade |
| CN101936110A (en) * | 2010-08-27 | 2011-01-05 | 东南大学 | Intelligent door control system for rail train doors |
| CN102852102A (en) * | 2012-10-08 | 2013-01-02 | 石家庄优创科技股份有限公司 | Intelligentized traffic isolation system |
| CN103631274A (en) * | 2013-11-20 | 2014-03-12 | 北京航空航天大学 | Three-wheel planar position finder |
| CN103839421A (en) * | 2012-11-27 | 2014-06-04 | 西安嘉乐世纪机电科技有限公司 | System for changing traffic stream direction through movable isolation rails |
| CN204589865U (en) * | 2015-04-10 | 2015-08-26 | 湖南城市学院 | A kind of intelligent traffic facility automatic crash-proof device |
| CN204644919U (en) * | 2015-05-25 | 2015-09-16 | 齐东保 | A kind of multifunctional mobile is elevated roadblock of keeping off a car |
| DE102014104573A1 (en) * | 2014-04-01 | 2015-10-01 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Securing construction sites on traffic routes |
| CN204825733U (en) * | 2015-08-06 | 2015-12-02 | 华北理工大学 | Morning and evening tides lane keeps apart guardrail automatic control system |
| CN105230225A (en) * | 2015-11-10 | 2016-01-13 | 闫夙 | Intelligentized precision automatic hay mower and control device thereof |
| CN205500691U (en) * | 2016-02-02 | 2016-08-24 | 江苏豪林自动化科技有限公司 | Hydraulic lifting platform's limit for height protection system |
| CN106245557A (en) * | 2016-09-09 | 2016-12-21 | 北京卓越信通电子股份有限公司 | A kind of automatic tide track being provided with movable isolation guard bar |
| CN106448204A (en) * | 2016-11-02 | 2017-02-22 | 深圳职业技术学院 | Intelligent robot traffic command system |
| CN206308655U (en) * | 2016-11-28 | 2017-07-07 | 浙江工业大学 | A kind of intelligent automatic control moves guardrail |
| CN106988248A (en) * | 2017-05-17 | 2017-07-28 | 西北师范大学 | Form the intelligent isolating device and application method in tide track |
| CN208533424U (en) * | 2017-11-21 | 2019-02-22 | 浙江工业大学 | Tide lane altering system based on optoelectronic scanning avoidance |
-
2017
- 2017-11-21 CN CN201711165055.8A patent/CN107988957A/en active Pending
Patent Citations (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3958890A (en) * | 1975-08-11 | 1976-05-25 | Victor Ferrari | Apparatus and method for moving roadway lane dividers |
| CA2280648A1 (en) * | 1998-08-25 | 2000-02-25 | Qwick Kurb, Inc. | Apparatus for translocating lane divider |
| WO2007128083A1 (en) * | 2006-05-10 | 2007-11-15 | Anthony Michael Duffy | System for maximising and controlling tidal flow of traffic in road tunnels and on freeways |
| WO2008098465A1 (en) * | 2007-02-14 | 2008-08-21 | Guozhu Ji | A transversely moveable road barricade |
| CN101936110A (en) * | 2010-08-27 | 2011-01-05 | 东南大学 | Intelligent door control system for rail train doors |
| CN102852102A (en) * | 2012-10-08 | 2013-01-02 | 石家庄优创科技股份有限公司 | Intelligentized traffic isolation system |
| CN103839421A (en) * | 2012-11-27 | 2014-06-04 | 西安嘉乐世纪机电科技有限公司 | System for changing traffic stream direction through movable isolation rails |
| CN103631274A (en) * | 2013-11-20 | 2014-03-12 | 北京航空航天大学 | Three-wheel planar position finder |
| DE102014104573A1 (en) * | 2014-04-01 | 2015-10-01 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Securing construction sites on traffic routes |
| CN204589865U (en) * | 2015-04-10 | 2015-08-26 | 湖南城市学院 | A kind of intelligent traffic facility automatic crash-proof device |
| CN204644919U (en) * | 2015-05-25 | 2015-09-16 | 齐东保 | A kind of multifunctional mobile is elevated roadblock of keeping off a car |
| CN204825733U (en) * | 2015-08-06 | 2015-12-02 | 华北理工大学 | Morning and evening tides lane keeps apart guardrail automatic control system |
| CN105230225A (en) * | 2015-11-10 | 2016-01-13 | 闫夙 | Intelligentized precision automatic hay mower and control device thereof |
| CN205500691U (en) * | 2016-02-02 | 2016-08-24 | 江苏豪林自动化科技有限公司 | Hydraulic lifting platform's limit for height protection system |
| CN106245557A (en) * | 2016-09-09 | 2016-12-21 | 北京卓越信通电子股份有限公司 | A kind of automatic tide track being provided with movable isolation guard bar |
| CN106448204A (en) * | 2016-11-02 | 2017-02-22 | 深圳职业技术学院 | Intelligent robot traffic command system |
| CN206308655U (en) * | 2016-11-28 | 2017-07-07 | 浙江工业大学 | A kind of intelligent automatic control moves guardrail |
| CN106988248A (en) * | 2017-05-17 | 2017-07-28 | 西北师范大学 | Form the intelligent isolating device and application method in tide track |
| CN208533424U (en) * | 2017-11-21 | 2019-02-22 | 浙江工业大学 | Tide lane altering system based on optoelectronic scanning avoidance |
Non-Patent Citations (1)
| Title |
|---|
| 韩建海: "《工业机器人 第三版》", 华中科技大学出版社 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111362190A (en) * | 2020-03-06 | 2020-07-03 | 安徽宇锋智能科技有限公司 | Fork transport AGV |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107905158A (en) | A kind of intelligence track shielding system and its method | |
| CN107964900A (en) | A kind of track change robot and tide track variation | |
| CN207672478U (en) | Change robot in a kind of tide track using infrared obstacle avoidance | |
| CN108004992B (en) | A kind of tide lane altering system and method based on absolute encoder | |
| CN108004955B (en) | A kind of tide lane altering system and method carrying out avoidance using camera | |
| CN108004988A (en) | A kind of tide track altering system and method based on laser ranging avoidance | |
| CN108018796A (en) | A kind of tide track altering system and method based on incremental encoder | |
| CN107988958A (en) | A kind of tide track altering system and method based on compass angle measurement infrared distance measuring | |
| CN108035282A (en) | Tide track altering system and method based on camera avoidance | |
| CN107988952A (en) | A kind of tide track change robot and variation based on angular transducer | |
| CN107988955A (en) | Change robot and variation in a kind of tide track using camera avoidance | |
| CN208533424U (en) | Tide lane altering system based on optoelectronic scanning avoidance | |
| CN107974968A (en) | A kind of tide track altering system and method based on compass angle measurement laser ranging | |
| CN107988948A (en) | A kind of tide track altering system and method based on 3D electronic compass | |
| CN208023474U (en) | A kind of track change robot | |
| CN107988957A (en) | Tide track altering system and method based on optoelectronic scanning avoidance | |
| CN107938556B (en) | A kind of tide lane variation using avoiding obstacles by supersonic wave | |
| CN108004991B (en) | A kind of tide lane altering system and method carrying out avoidance using ultrasonic distance measurement | |
| CN208649944U (en) | A kind of tide lane change robot using camera avoidance | |
| CN208884424U (en) | A kind of tide lane change robot using avoiding obstacles by supersonic wave | |
| CN208121643U (en) | A kind of tide lane change robot by camera avoidance | |
| CN208121644U (en) | A kind of lane change device based on angular transducer and absolute encoder | |
| CN208121645U (en) | A kind of camera obstacle avoiding type lane change device | |
| CN208472627U (en) | A kind of tide lane change robot based on absolute encoder | |
| CN108004989A (en) | A kind of track alteration device and method based on infrared obstacle avoidance |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180504 |
|
| WD01 | Invention patent application deemed withdrawn after publication |