CN108004955A - A kind of tide track altering system and method that avoidance is carried out using camera - Google Patents
A kind of tide track altering system and method that avoidance is carried out using camera Download PDFInfo
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- CN108004955A CN108004955A CN201711165169.2A CN201711165169A CN108004955A CN 108004955 A CN108004955 A CN 108004955A CN 201711165169 A CN201711165169 A CN 201711165169A CN 108004955 A CN108004955 A CN 108004955A
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F15/00—Safety arrangements for slowing, redirecting or stopping errant vehicles, e.g. guard posts or bollards; Arrangements for reducing damage to roadside structures due to vehicular impact
- E01F15/006—Lane control by movable lane separating barriers, e.g. shiftable barriers, retractable kerbs ; Apparatus or barriers specially adapted therefor, e.g. wheeled barriers
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- 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
- 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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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
- G08C23/06—Non-electrical signal transmission systems, e.g. optical systems through light guides, e.g. optical fibres
-
- 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
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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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Multimedia (AREA)
- Power Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of tide track altering system and method that avoidance is carried out using camera, including remote control center, traffic lights background data server, section control base station and track change robot, when needing to carry out the change in tide track, remote control center sends tide track change signal to section control base station, section control base station is sent command-control signal of walking to track change robot all on corresponding tide lane segment by way of wireless data transmission in real time, each track change robot performs corresponding mobile when receiving respective walking order, and positional information is fed back into section control base station in real time；The present invention can realize the automatic change in tide track according to demand, with reference to traffic lights background data server, realize that urban traffic road network changes in real time using big data, tackle at any time due to change of the factor to road demand such as traffic accident, vehicle flowrate changes, realize automatically controlling for tide track.
Description
Technical field
The present invention relates to tide track technical field, more specifically, more particularly to a kind of utilizing camera progress 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
To include the GPS satellite navigation system, GLONASS (GLONASS) satellite navigation system of Russia and the Big Dipper in China in the U.S.
Satellite navigation system.
GPS of America satellite navigation system is that constantly earthward certain frequency of broadcast transmission is simultaneously for the satellite that utilizes in space flight
The radio signals of some special location informations is loaded with to realize the alignment system of positioning measurement.The system is by space motion
The three parts such as satellite constellation, ground control segment, User Part form.GPS satellite navigation system originates in army of the I958 U.S.
One project of side, l964 comes into operation, in the 1970s, land, sea, and air of U.S. joint research and development satellite of new generation
Position system GPS, main purpose is to provide real-time, round-the-clock and global navigation Service for three big field of land, sea and air, and is used for
Some military purposes such as information gathering, Nuclear detonation monitoring and emergency communication, to l994, Global coverage rate is up to 24 of 98%
Own lay of gps satellite constellation is completed.During GPS satellite navigation system use, GPS with it is round-the-clock,
The features such as high accuracy, automation, high benefit, is applied successfully to geodesic survey, engineering survey, aeroplane photography, Navigation for Means of Transportation
With a variety of subjects such as control, crustal movement measurement, engineering project deformation measurement, resources survey, geodynamics, the economy achieved
Benefit and social benefit.The operational satellites of GPS satellite navigation system are located at the overhead away from earth's surface 20200km, are evenly distributed on 6
In orbital plane (each orbital plane 4), orbit inclination angle is 55 °.In addition, also 3 active redundancy satellites are in orbit.Satellite
Distribution all to can observe the satellite of more than 4, and the navigation that can be prestored in the satel-lite Anywhere, any time in the whole world
Information also can use a period of time, but navigation accuracy can be reduced gradually, and the precision reached at present is about 10 meters.
GLONASS (GLONASS), is Russian " Global Satellite Navigation System GLOBAL NAVIGATION SATELLITE
The abbreviation of SYSTEM ".GLONASS satellite navigation system is developed in Soviet Union's period earliest, after the plan, Russia continued by Russia
Ross starts to establish the Global Satellite Navigation System of this country alone for 1993, which started operation in 2007, only opened at that time
Put the domestic satellite positioning of Russia and navigation Service.By 2009, its service range was extended to the whole world.GLONASS satellite
Navigation system main services content includes determining land, the coordinate at sea and aerial target and motion velocity information etc..GLONASS
Constellation is made of 30 satellites altogether, and 27 stars are evenly distributed on the orbit plane of 3 subcirculars, these three orbit planes two
Two are separated by 120 degree, and each orbital plane has 8 satellites, 45 degree is separated by between coplanar interior satellite, orbit altitude 2.36 ten thousand is public
In, 15 divide when the cycle of operation 11 is small, 64.8 degree of orbit inclination angle, and precision reaches 10 meters or so at present.
Beidou satellite navigation system is the global navigation satellite system that China voluntarily develops, and is after GPS of America satellite
3rd Global Satellite Navigation System after navigation system and Russian Glonass satellite navigation system.Beidou satellite navigation system
System provides global range, round-the-clock, high-precision satellite navigation positioning and time service service, and with distinctive short message communication energy
Power.On December 27th, 2012, Beidou satellite navigation system starting region formally services, and possesses the covering Asian-Pacific area, is China
Space Science and Technology and satellite communication are to industrialization, the milestone of marketing development.Under the cooperation of bottom surface facility, Beidou satellite navigation
The Real-Time Positioning of system is significantly larger than GPS satellite navigation system, has had reached now in the case of 80 kilometers/hour
2 centimetres of precision.
With significantly improving for each field Beidou satellite navigation system popularity of communications and transportation, application environment it is further
Perfect, service ability is remarkably reinforced, and the application of Beidou satellite navigation system achieves extremely significant achievement, for this reason, being based on
Beidou satellite navigation system, proposes the lane change guidance method of the controllable hard shoulder mode in non-timed section tide track, by designing base
In the track of Beidou satellite navigation system, change robot realizes that track is changed, with reference to existing monitoring and license plate recognition technology energy
Reach and Full automatic unmanned is realized in change lane, recycle big data system, may finally realize round-the-clock track oneself
It is dynamic to adjust, solve the problems, such as by caused congestion in road the problems such as tidal phenomena, traffic accident, weather anomaly.
The content of the invention
It is an object of the invention to solve above-mentioned the deficiencies in the prior art, it is proposed that a kind of to carry out avoidance using camera
Tide track altering system and method, can carry out the conversion in tide track automatically, and can realize automatic obstacle-avoiding, reduce life
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 that avoidance is carried out using camera
Altering system, including remote control center, traffic lights background data server, section control base station and block of wood, same
All block of wood on tide track form block of wood group, the data transmission port and traffic lights of remote control center
The data transmission port of background data server carries out real time data biography by way of optical fiber transmission or wireless data transmission
Defeated, the data transmission port of remote control center passes through optical fiber transmission or wireless with the data transmission port of section control base station
The mode of data transfer carries out real-time Data Transmission；Remote control center obtains tide from traffic lights background data server
The information of vehicle flowrate in track where track analyses whether to need the change for carrying out tide track, is needing to carry out the change in tide track
The traffic lights information that remote control center changes tide track at signal and present period tide turning roadway terminal when more is real
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 to block of wood all on corresponding tide lane segment, each block of wood performs corresponding when receiving respective walking order
It is mobile, and positional information is fed back into section control base station in real time；
Block of wood group on every tide track includes the multiple block of wood being distributed along tide track side, adjacent block of wood
Between be spaced 2~6 meters；Described block of wood include housing, big dipper module, embedded type control module, alarm lamp, solar panel,
Lead-acid accumulator, LoRa modules, mobile module, obstacle avoidance module, angle judgment module and chassis, embedded type control module pass through
LoRa modules connect section control base station, and lead-acid accumulator is fixed on chassis, and chassis is fixed on outer casing bottom；On the shell
End is provided with alarm lamp, and the outer surface of shell is provided with solar panel, and solar panel passes through solar charging circuit
Connect lead-acid accumulator, the big dipper module and obstacle avoidance module are arranged at enclosure, mobile module, angle judgment module and
Locking mechanism is arranged on chassis；
Sieve that the angle judgment module includes the electronic compass being arranged on chassis and drives the electronic compass to rotate
Disk-drive motor, sieve disk-drive motor are fixed on chassis, the mobile module include being arranged on driving wheel on chassis,
Two driven wheels and the movement driving motor for driving the driving wheel to rotate, the locking mechanism connect mobile module and for pair
Driving wheel is locked and decontroled；Described block of wood is when dispatching from the factory, the direction of the direction of electronic compass, the direction of block of wood and driving wheel
It is all identical, all it is directed towards direct north；The obstacle avoidance module includes setting the shooting inside housings and being fixedly connected with the casing
Head driving motor and horizontally disposed camera, webcam driver motor connects camera and drives to be turned in the range of 90 degree of camera
It is dynamic；The front of the housing offers 100 degree of open slot, and camera shoots the image of open slot scope inner stripe；Base plate cover
Be provided with convex block on outer casing bottom, chassis, outer casing bottom be provided with the matched groove of convex block on chassis, on shell
Bottom disk-drive motor is further fixed on, bottom disk-drive motor connects ball-screw, is provided with chassis and the ball-screw matches
The feed screw nut of conjunction, the feed screw nut are sleeved on the ball-screw, when bottom disk-drive motor drives ball screw turns
Chassis is driven to move up and down in the bottom of shell；Absolute encoder is also equipped with the driving wheel, the absolute encoder is set
Put between driving wheel and chassis, driving wheel direction is identical with the steering of electronic compass when block of wood dispatches from the factory, at this time absolute encoder
In null positions.
Further, the remote control center connects traffic lights background data server and is changed in tide track
The control of Shi Liyong traffic lights background data server not before changing the inlet in tide track remain red light phase and
Exit remains green light phase.
Further, at the bottom of the bottom disk-drive motor drives chassis when the bottom of shell moves up and down by ball-screw
The displacement distance of disk is more than the height between outer casing bottom and ground.
Further, the driving wheel and two driven wheels are all universal wheels.
Further, the big dipper module is installed on the top of the shell.
A kind of tide track variation that avoidance is carried out using camera, is included the following steps：
1) remote control center receives the current tide lane flow amount letter that traffic lights background data server is sent
Traffic lights information at breath and tide track entrance and exit, thus judges whether to need the change for carrying out tide track；If need
The change in tide track is carried out, then will need to carry out the change of tide track and the traffic lights at the entrance and exit of tide track
Information is sent to section control base station in real time；
2) section control base station receives the information that remote control center is sent, and according to tide track entrance and exit at
Traffic lights information situation, will be needed in the case of being red light in the traffic lights of current tide track inlet into runway become
Information more and the coordinate information of mobile final position is needed to be sent on each block of wood each block of wood；
3) block of wood on whole tide track is not according to tide track is moved when front direction successively before changing, specifically
Move mode is as follows：
3.1) block of wood carries out power-up initializing, and judges itself to whether there is failure, and breakdown judge includes lead-acid accumulator
Whether judgement that whether the whether enough judgements of electricity, big dipper module can position, LoRa modules can normally transmit information and pier
Whether sub internal all motors can work normally；If block of wood is there are failure, after restarting there are block of wood of failure
Breakdown judge is carried out to the block of wood again, if block of wood still suffers from failure, the fault message there will be block of wood of failure passes to road
Section control base station, and the warning light of the block of wood is lighted, which is not moved；If block of wood, judge that block of wood can carry out
It is mobile, into 3.2 steps；
3.2) the compass driving electric motor starting of block of wood, drives electronic compass to rotate a circle, realizes that the calibration of electronic compass is determined
Position, obtains the current outbound course of electronic compass；
3.3) big dipper module on block of wood obtains the current location information of current block of wood, is obtained with reference at road segment controller
The coordinate information of the mobile final position of needs draw the direction of motion of block of wood；
3.4) driving wheel used due to the moving mechanism of block of wood for universal wheel, the initial position of driving wheel be it is unknown,
Rotating driving wheel rotates absolute encoder, and absolute encoder can directly acquire the angle between driving wheel and block of wood；Tie again
The direction of motion of the block of wood obtained in the current outbound course of the electronic compass obtained in step 3.2 and step 3.3 is closed, rotates and drives
Driving wheel makes the direction that its face needs is moved；
3.5) block of wood opens the alarm lamp of itself and carries out obstacle judgement, and the mode that obstacle judges is surveyed as diffusing reflection camera
Away from method, camera is opened, rotates the webcam driver motor on block of wood, makes the camera on block of wood left in the range of open slot
Turn right 90 degree dynamic, judge to keep shooting state in this process, the picture of acquisition is judged using image recognition technology obstacle；If take the photograph
The picture obtained during being shot as head can not find barrier all the time using image recognition technology, then it represents that in scanning process
Barrier is not encountered, i.e., barrier is not present on the path that block of wood will move, and block of wood can carry out the movement step of next step；
If the picture that camera obtains during shooting is found that barrier using image recognition technology, then it represents that is touched in scanning process
Arrived barrier, i.e., on the path that block of wood will move may barrier, then the 3s that needs to be delayed carries out obstacle judgement again；
3.6) determine it is accessible after, the direction of motion that block of wood determines in starting along step 3.4 is moved, until reaching
Destination, completes the movement of block of wood；
3.7) when block of wood is moved to final position, locking mechanism is started to work, and driving wheel is locked, realizes the lock of block of wood
It is fixed；
4) after the locking of block of wood driving wheel, bottom disk-drive motor setting in motion, bottom disk-drive motor drives ball-screw to turn
Driving chassis is moved upwards in the bottom of shell when dynamic, i.e., shell moves downward, until the bottom of shell is contacted with ground, then is closed
Bottom disk-drive motor and alarm lamp are closed, completes the movement of single block of wood；
5) after block of wood on whole section completes movement, the change in whole tide track is realized.
Further, the remote control center connects traffic lights background data server and is changed in tide track
The control of Shi Liyong traffic lights background data server not before changing the inlet in tide track remain red light phase and
Exit remains green light phase.
Further, in step 3.6 block of wood move mode be segmented movement, will entirely motion path be divided into it is some
Section, every section of terminal point coordinate are sent on block of wood, and block of wood is moved to every section successively according to the process of step 3.2~step 3.6
Terminal point coordinate at, and according to the positional information of itself, travel direction determines again when at every section of emphasis coordinate, continues to hold
The process of row step 3.2~step 3.6, until block of wood is moved to final position.
Further, absolute angle coding disk is also associated with the motor head of the webcam driver motor, by absolute
Angular coding disk realizes that webcam driver motor moves back and forth in the range of specified angle.
The beneficial effects of the present invention are：
(1) the tide track altering system that avoidance is carried out using camera of the invention can realize tide car according to demand
The automatic change in road, in combination with traffic lights background data server, urban traffic road network is realized using big data
Change in real time, tackles due to change of the factor to road demand such as traffic accident, vehicle flowrate change, bad weathers, realizes at any time
Tide track automatically controls.
(2) remote control center of the invention only needs to send the change signal in tide track, section control base station and block of wood
The change in tide track can be realized automatically, and the degree of automation is high, without manually supervision and operates, is conducive to the tide in whole city
The centralized management in nighttide track.
(3) block of wood of the invention can carry out automatic fault detection on startup, only can just be moved in block of wood fault-free, energy
It is enough effectively to avoid the failure problems of block of wood itself from causing the influence changed to tide track.
(4) block of wood of the invention can carry out the judgement of self-view and the judgement of driving wheel angle before movement, so that
Block of wood also smoothly can be voluntarily found the correct direction of motion in the case where direction is indefinite, realize moving certainly for block of wood
To avoiding when placing that ill problem is changed in track caused by poor direction, even if the initial position of block of wood occurs
During offset also can accurate motion to target location.
(5) block of wood of the invention can carry out avoidance judgement before movement, if on tide track there are barrier if without
Movement, avoids block of wood shadow caused by the influence of barrier can not be successfully work and meet other people motor vehicle during the motion
The problem of ringing other people normally travels, that is, avoid block of wood from making to collide with vehicle in movement.
(6) by the movement of closed-loop control block of wood, block of wood obtains the position of itself by big dipper module in real time to be believed the present invention
Breath, recycles the moving method of segmented, and it is mobile more accurate to make, and the precision finally positioned is also very high.
(7) present invention is used as locating module by big dipper module, and the precision of positioning is up to Centimeter Level, can accurately realize pier
The running fix of son, precision are high.
(8) present invention uses universal wheel to judge as motion by absolute encoder between driving wheel and block of wood
Relative angle, and can realize that any angle of block of wood driving wheel rotates, and rotational angle is understood, the convenient block of wood that changes quickly changes
Become the direction of motion.
(9) present invention can drive housing to be moved to chassis direction after final position is reached by bottom disk-drive motor,
Whole block of wood is integrally attached on ground, adds the stability of block of wood in itself.
Brief description of the drawings
Fig. 1 is a kind of flow diagram for the tide track variation that avoidance is carried out using camera of the present invention.
Fig. 2 is the three dimensional structure diagram of block of wood of the present invention.
Fig. 3 is the sectional view of block of wood of the present invention.
Fig. 4 is the top view of block of wood of the present invention.
In figure, 1- driving wheels, 2- end caps, 3- head covers, 4- big dipper modules, 5- housings, 6- alarm lamps, 7- solar cells
Plate, 8- movement driving motor, 9- chassis, 10- lead-acid accumulators, 11- driven wheels, 12- webcam drivers motor, 13- cameras,
14- absolute angles coding disk, 15- open slots, 16- bottoms disk-drive motor, 17- roller screws, 18- feed screw nuts.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings, is in Fig. 1 pier by block of wood summary for the ease of expression
Son, is base station by road segment controller summary, is electronic compass by electronic compass summary：
As shown in figs. 2 to 4, a kind of tide track altering system that avoidance is carried out using camera, including in remote control
The heart, traffic lights background data server, section control base station and block of wood, all block of wood structures on same tide track
Into block of wood group, the data transmission port of remote control center and the data transfer of traffic lights background data server
Port carries out real-time Data Transmission, the data transfer of remote control center by way of optical fiber transmission or wireless data transmission
Port and the data transmission port of section control base station are counted in real time by way of optical fiber transmission or wireless data transmission
According to transmission；Remote control center obtains the information of vehicle flowrate in tide track place track from traffic lights background data server
Analyse whether to need to carry out the change in tide track, remote control center is by tide car when needing to carry out the change in tide track
The traffic lights information that road changes at signal and present period tide turning roadway terminal is sent to section control base station, section in real time
Control base station is sent walking command-control signal to corresponding tide lane segment by way of wireless data transmission in real time
On all block of wood, each block of wood performs corresponding mobile and in real time that positional information is anti-when receiving respective walking order
Feed section control base station.
Remote control center, road segment controller and track change robot form three-decker formula system from top to bottom.Road
Paragraph controller includes base station control module, LoRa Internet of Things base station and communication module, the LoRa Internet of Things base station and communication mould
Block is connected with base station control module by serial ports, and the road segment controller changes machine by LoRa Internet of Things base station and track
LoRa modules on people realize that LoRa wireless telecommunications connect, and the road segment controller passes through in communication module realization and remote control
On the one hand the communication connection of the heart, the base station control module receive the movement instruction that remote control center is sent and by movement instructions
The control command to each track change robot is generated afterwards, and control command is sent to by base station control module by LoRa modules
In the LoRa modules of corresponding track change robot；On the other hand receive after track change robot performs move and pass through
The new positional information that LoRa modules are sent out, and the positional information is transferred to remote control center by communication module.
The base station control module uses Android system, be additionally provided with road segment controller touch display screen, memory module,
Power module and warning circuit, power module are used to be powered for whole road segment controller, touch display screen, warning circuit and
Memory module is electrically connected with robot control module, and the memory module is dealt into road for storing each track change robot
On paragraph controller and remote control center is dealt into the information on base station, and touch display screen is used to carry out road segment controller live tune
The real-time display of examination, the input of real-time control command and track change robot motion's information, the warning circuit are used on road
The whole system of paragraph controller is alarmed when occurring abnormal.
The communication distance that LoRa is wireless is within 5 kilometers, and the control range of base station is cars all on road within 5 kilometers
Road changes robot, and base station carries out Collaborative Control to these tracks change robot.
Block of wood group on every tide track includes the multiple block of wood being distributed along tide track side, adjacent block of wood
Between be spaced 2~6 meters；Described block of wood includes housing 5, big dipper module 4, embedded type control module, alarm lamp 6, solar cell
Plate 7, lead-acid accumulator 10, LoRa modules, mobile module, obstacle avoidance module, angle judgment module and chassis 9, on hard shoulder housing 5
End cap 2 is provided with, 2 inner hollow of end cap and upper end center position are fixed with head cover 3, and big dipper module 4 is fixed on inside end cap 2
In cavity.
Embedded type control module connects section control base station by LoRa modules, and lead-acid accumulator 10 is fixed on chassis 9,
Chassis 9 is fixed on outer casing bottom；The shell upper end is provided with alarm lamp 6, and the outer surface of shell is provided with solar panel
7, solar panel 7 connects lead-acid accumulator 10 by solar charging circuit, and the big dipper module 4 and obstacle avoidance module are all provided with
Put inside the housing, mobile module, angle judgment module and locking mechanism are arranged on chassis 9.
The big dipper module 4 includes radio frequency unit and is connected with the radio frequency unit and is used to receiving and handling the Big Dipper
The positioning signal that satellite navigation and location system is sent receives processing unit, the output terminal of the signal processing unit and control
Molding block is connected by serial ports.
Sieve that the angle judgment module includes the electronic compass being arranged on chassis 9 and drives the electronic compass to rotate
Disk-drive motor, sieve disk-drive motor are fixed on chassis, and the mobile module includes the driving being arranged on chassis 9
The movement driving motor that wheel, two driven wheels and the driving driving wheel rotate, the locking mechanism connection mobile module are used in combination
In being locked and decontroled to driving wheel；For described block of wood when dispatching from the factory, the direction of electronic compass is identical with the direction of block of wood, is all
Towards direct north；The obstacle avoidance module includes the webcam driver motor for being arranged on the inside of housing 5 and being fixedly connected with housing 5
12 and horizontally disposed camera 13, webcam driver motor 12 connects camera 13 and simultaneously drives camera 13 in the range of 90 degree turn
It is dynamic；The front of the housing 5 offers 100 degree of open slot 15, and camera 13 shoots the image of 15 scope inner stripe of open slot.
Chassis 9 is sleeved on outer casing bottom, and convex block is provided with chassis 9, and outer casing bottom is provided with and the convex block phase on chassis 9
The groove of cooperation, is further fixed on bottom disk-drive motor 16 on shell, and bottom disk-drive motor 16 connects ball-screw 17, on chassis 9
It is provided with and is sleeved on the ball-screw 17 with the matched feed screw nut 18 of the ball-screw 17, the feed screw nut 18
On, bottom disk-drive motor 16 drives ball-screw 17 to drive chassis 9 to move up and down in the bottom of shell when rotating；The driving wheel
On be also equipped with absolute encoder, the absolute encoder is arranged between driving wheel and chassis, driving wheel court when block of wood dispatches from the factory
Identical to the steering with electronic compass, absolute encoder is in null positions at this time.
The remote control center connects traffic lights background data server and friendship is utilized when tide track is changed
The control of ventilating signal lamp background data server the inlet in tide track does not remain red light phase before changing and exit is begun
Green light phase is kept eventually.
The bottom disk-drive motor 16 drives the chassis 9 when the bottom of shell moves up and down of chassis 9 by ball-screw 17
Displacement distance be more than height between outer casing bottom and ground.
The driving wheel and two driven wheels are all universal wheels.
As shown in Figure 1, a kind of tide track variation that avoidance is carried out using camera, is included the following steps：
1) remote control center receives the current tide lane flow amount letter that traffic lights background data server is sent
Traffic lights information at breath and tide track entrance and exit, thus judges whether to need the change for carrying out tide track；If need
The change in tide track is carried out, then will need to carry out the change of tide track and the traffic lights at the entrance and exit of tide track
Information is sent to section control base station in real time；
2) section control base station receives the information that remote control center is sent, and according to tide track entrance and exit at
Traffic lights information situation, will be needed in the case of being red light in the traffic lights of current tide track inlet into runway become
Information more and the coordinate information of mobile final position is needed to be sent on each block of wood each block of wood；
3) block of wood on whole tide track is not according to tide track is moved when front direction successively before changing, specifically
Move mode is as follows：
3.1) block of wood carries out power-up initializing, and judges itself to whether there is failure, and breakdown judge includes lead-acid accumulator
Judgement that whether the whether enough judgements of 10 electricity, big dipper module 4 can position, LoRa modules whether can normally transmit information and
Whether all motors can work normally inside block of wood；If block of wood restarts block of wood there are failure there are failure
Breakdown judge is carried out to the block of wood again afterwards, if block of wood still suffers from failure, the fault message there will be block of wood of failure passes to
Section control base station, and the warning light of the block of wood is lighted, which is not moved；If block of wood, judge that block of wood can be into
Row movement, into 3.2 steps；
3.2) the compass driving electric motor starting of block of wood, drives electronic compass to rotate a circle, realizes that the calibration of electronic compass is determined
Position, obtains the current outbound course of electronic compass；
3.3) big dipper module 4 on block of wood obtains the current location information of current block of wood, is obtained with reference at road segment controller
The coordinate information of the final position of the needs movement obtained draws the direction of motion of block of wood；
3.4) driving wheel used due to the moving mechanism of block of wood for universal wheel, the initial position of driving wheel be it is unknown,
Rotating driving wheel rotates absolute encoder, and absolute encoder can directly acquire the angle between driving wheel and block of wood；；Tie again
The direction of motion of the block of wood obtained in the current outbound course of the electronic compass obtained in step 3.2 and step 3.3 is closed, rotates and drives
Driving wheel makes the direction that its face needs is moved；
3.5) block of wood opens the alarm lamp 6 of itself and carries out obstacle judgement, and the mode that obstacle judges is established by cable to diffuse
13 telemetrys are closed, open camera 13, the webcam driver motor 12 on block of wood is rotated, makes the camera 13 on block of wood in opening
90 degree of left-right rotation in the range of groove 15, judge that camera 13 keeps shooting state, the picture of acquisition utilizes figure in this process
As identification technology obstacle judges；If the picture that camera obtains during shooting can not be found all the time using image recognition technology
Barrier, then it represents that do not encounter barrier in scanning process, i.e., barrier is not present on the path that block of wood will move, block of wood can
To carry out the movement step of next step；If the picture that camera obtains during shooting is found that barrier using image recognition technology
Hinder thing, then it represents that encountered barrier in scanning process, i.e., on the path that block of wood will move may barrier, then need to be delayed
3s carries out obstacle judgement again；
3.6) determine it is accessible after, the direction of motion that block of wood determines in starting along step 3.4 is moved, until reaching
Destination, completes the movement of block of wood；
3.7) when block of wood is moved to final position, locking mechanism is started to work, and driving wheel is locked, realizes the lock of block of wood
It is fixed；
4) after the locking of block of wood driving wheel 1,16 setting in motion of bottom disk-drive motor, bottom disk-drive motor 16 drives ball wire
Driving chassis 9 is moved upwards in the bottom of shell when thick stick 17 rotates, i.e., shell moves downward, until the bottom of shell connects with ground
Touch, turn off bottom disk-drive motor 16 and alarm lamp 6, complete the movement of single block of wood；
5) after block of wood on whole section completes movement, the change in whole tide track is realized.
The remote control center connects traffic lights background data server and friendship is utilized when tide track is changed
The control of ventilating signal lamp background data server the inlet in tide track does not remain red light phase before changing and exit is begun
Green light phase is kept eventually.
The move mode of block of wood moves for segmented in step 3.6, entirely will be divided into some sections by motion path, every section
Terminal point coordinate is sent on block of wood, and block of wood is moved to every section of terminal point coordinate according to the process of step 3.2~step 3.6 successively
Place, and travel direction determines again according to the positional information of itself when at every section of emphasis coordinate, continue to execute step 3.2~
The process of step 3.6, until block of wood is moved to final position.
Absolute angle coding disk 14 is also associated with the motor head of the webcam driver motor 12, is compiled by absolute angle
Code-disc 14 realizes that webcam driver motor 12 moves back and forth in the range of specified angle.
Above-described embodiment is presently preferred embodiments of the present invention, is not the limitation to technical solution of the present invention, as long as
The technical solution that can be realized without creative work on the basis of above-described embodiment, is regarded as falling into patent of the present invention
Rights protection scope in.
Claims (9)
- A kind of 1. tide track altering system that avoidance is carried out using camera, it is characterised in that：Including remote control center, hand over Ventilating signal lamp background data server, section control base station and block of wood, all block of wood on same tide track form one A block of wood group, the data transmission port of remote control center and the data transmission port of traffic lights background data server Real-time Data Transmission, the data transmission port of remote control center are carried out by way of optical fiber transmission or wireless data transmission With the data transmission port of section control base station real time data biography is carried out by way of optical fiber transmission or wireless data transmission It is defeated；Remote control center obtains the information of vehicle flowrate analysis in tide track place track from traffic lights background data server Whether the change in progress tide track is needed, and when needing to carry out the change in tide track, remote control center becomes tide track Traffic lights information at more signal and present period tide turning roadway terminal is sent to section control base station, section control in real time Base station will own by way of wireless data transmission on walking command-control signal transmission in real time to corresponding tide lane segment Block of wood on, each block of wood performs corresponding mobile when receiving respective walking order, and in real time feeds back to positional information Section control base station；Block of wood group on every tide track includes the multiple block of wood being distributed along tide track side, between adjacent block of wood 2~6 meters of interval；Described block of wood includes housing (5), big dipper module (4), embedded type control module, alarm lamp (6), solar-electricity Pond plate (7), lead-acid accumulator (10), LoRa modules, mobile module, obstacle avoidance module, angle judgment module and chassis (9), it is embedded Formula control module connects section control base station by LoRa modules, and lead-acid accumulator (10) is fixed on chassis (9), chassis (9) It is fixed on outer casing bottom；The shell upper end is provided with alarm lamp (6), and the outer surface of shell is provided with solar panel (7), Solar panel (7) connects lead-acid accumulator (10), the big dipper module (4) and obstacle avoidance module by solar charging circuit Enclosure is arranged at, mobile module, angle judgment module and locking mechanism are arranged on chassis (9)；The compass that the angle judgment module includes the electronic compass being arranged on chassis (9) and drives the electronic compass to rotate Motor is driven, sieve disk-drive motor is fixed on chassis, and the mobile module includes the driving being arranged on chassis (9) The movement driving motor that wheel, two driven wheels and the driving driving wheel rotate, the locking mechanism connection mobile module are used in combination In being locked and decontroled to driving wheel；For described block of wood when dispatching from the factory, the direction of electronic compass is identical with the direction of block of wood, is all Towards direct north；The obstacle avoidance module includes being arranged on the webcam driver that housing (5) is internal and is fixedly connected with housing (5) Motor (12) and horizontally disposed camera (13), webcam driver motor (12) connection camera (13) simultaneously drive camera (13) Rotated in the range of 90 degree；The front of the housing (5) offers 100 degree of open slot (15), camera (13) shooting open slot (15) image of scope inner stripe；Chassis (9) is sleeved on outer casing bottom, and chassis is provided with convex block on (9), and outer casing bottom is provided with With the matched groove of convex block on chassis (9), bottom disk-drive motor (16), bottom disk-drive motor (16) are further fixed on shell Ball-screw (17) is connected, is provided with chassis (9) and the ball-screw (17) matched feed screw nut (18), the silk Thick stick nut (18) is sleeved on the ball-screw (17), and bottom disk-drive motor (16) drives when driving ball-screw (17) to rotate Chassis (9) moves up and down in the bottom of shell；Absolute encoder is also equipped with the driving wheel, the absolute encoder is set Between driving wheel and chassis, driving wheel direction is identical with the steering of electronic compass when block of wood dispatches from the factory, at this time at absolute encoder In null positions.
- 2. the tide track altering system according to claim 1 that avoidance is carried out using camera, it is characterised in that：It is described Remote control center connects traffic lights background data server and traffic lights backstage is utilized when tide track is changed Data server control the inlet in tide track does not remain red light phase before changing and exit remains green light shape State.
- 3. the tide track altering system according to claim 1 that avoidance is carried out using camera, it is characterised in that：It is described Bottom disk-drive motor (16) by ball-screw (17) drive chassis (9) shell bottom move up and down when chassis (9) shifting Dynamic distance is more than the height between outer casing bottom and ground.
- 4. the tide track altering system according to claim 1 that avoidance is carried out using camera, it is characterised in that：It is described Driving wheel and two driven wheels are all universal wheels.
- 5. the tide track altering system according to claim 1 that avoidance is carried out using camera, it is characterised in that：It is described Big dipper module is installed on the top of the shell.
- A kind of 6. tide track variation that avoidance is carried out using camera, it is characterised in that：Include the following steps：1) remote control center receive the current tide lane flow amount information sent of traffic lights background data server and Traffic lights information at the entrance and exit of tide track, thus judges whether to need the change for carrying out tide track；If desired into The change in row tide track, then will need to carry out the change of tide track and the information of the traffic lights at the entrance and exit of tide track It is sent to section control base station in real time；2) section control base station receives the information that remote control center is sent, and according to red at the entrance and exit of tide track The situation of green light information, will need to change into runway in the case of being red light in the traffic lights of current tide track inlet Information and the coordinate information of mobile final position is needed to be sent on each block of wood each block of wood；3) block of wood on whole tide track is specific mobile according to tide track is not moved when front direction successively before changing Mode is as follows：3.1) block of wood carries out power-up initializing, and judges itself to whether there is failure, and breakdown judge includes lead-acid accumulator (10) Judgement that whether the whether enough judgements of electricity, big dipper module (4) can position, LoRa modules whether can normally transmit information and Whether all motors can work normally inside block of wood；If block of wood restarts block of wood there are failure there are failure Breakdown judge is carried out to the block of wood again afterwards, if block of wood still suffers from failure, the fault message there will be block of wood of failure passes to Section control base station, and the warning light of the block of wood is lighted, which is not moved；If block of wood, judge that block of wood can be into Row movement, into 3.2 steps；3.2) the compass driving electric motor starting of block of wood, drives electronic compass to rotate a circle, realizes the calibration positioning of electronic compass, obtains The outbound course current to electronic compass；3.3) big dipper module on block of wood (4) obtains the current location information of current block of wood, is obtained with reference at road segment controller The coordinate information of the mobile final position of needs draw the direction of motion of block of wood；3.4) for the driving wheel used due to the moving mechanism of block of wood for universal wheel, the initial position of driving wheel is unknown, is rotated Driving wheel rotates absolute encoder, and absolute encoder can directly acquire the angle between driving wheel and block of wood；In conjunction with step The direction of motion of the block of wood obtained in the current outbound course of the electronic compass that is obtained in rapid 3.2 and step 3.3, rotates driving wheel The direction for being moved its face needs；3.5) block of wood opens the alarm lamp (6) of itself and carries out obstacle judgement, and the mode that obstacle judges is the electric switch that diffuses (13) telemetry, opens camera (13), rotates the webcam driver motor (12) on block of wood, makes the camera (13) on block of wood 90 degree of the left-right rotation in the range of open slot (15), judges that camera (13) keeps shooting state in this process, acquisition Picture is judged using image recognition technology obstacle；If the picture that camera obtains during shooting is begun using image recognition technology Barrier can not be found eventually, then it represents that do not encounter barrier in scanning process, i.e., barrier is not present on the path that block of wood will move Hinder thing, block of wood can carry out the movement step of next step；If the picture that camera obtains during shooting utilizes image recognition Scientific discovery barrier, then it represents that barrier has been encountered in scanning process, i.e., may obstacle on block of wood will move path Thing, then need delay 3s to carry out obstacle judgement again；3.6) determine it is accessible after, the direction of motion that block of wood determines in starting along step 3.4 is moved, until reaching purpose Ground, completes the movement of block of wood；3.7) when block of wood is moved to final position, locking mechanism is started to work, and driving wheel is locked, realizes the locking of block of wood；4) after block of wood driving wheel (1) locking, bottom disk-drive motor (16) setting in motion, bottom disk-drive motor (16) drives ball Leading screw (17) rotate when driving chassis (9) moved upwards in the bottom of shell, i.e., shell moves downward, until shell bottom and Ground contacts, and turns off bottom disk-drive motor (16) and alarm lamp (6), completes the movement of single block of wood；5) after block of wood on whole section completes movement, the change in whole tide track is realized.
- A kind of 7. tide track variation that avoidance is carried out using camera according to claim 6, it is characterised in that： The remote control center connects traffic lights background data server and utilizes traffic lights when tide track is changed Background data server control the inlet in tide track does not remain red light phase before changing and exit remains green Lamp state.
- A kind of 8. tide track variation that avoidance is carried out using camera according to claim 6, it is characterised in that： The move mode of block of wood moves for segmented in step 3.6, entirely will be divided into some sections by motion path, every section of terminal point coordinate It is sent on block of wood, block of wood is moved at every section of terminal point coordinate successively according to the process of step 3.2~step 3.6, and According to the positional information of itself, travel direction determines again when at every section of emphasis coordinate, continues to execute step 3.2~step 3.6 Process, until block of wood is moved to final position.
- A kind of 9. tide track variation that avoidance is carried out using camera according to claim 6, it is characterised in that： Absolute angle coding disk (14) is also associated with the motor head of the webcam driver motor (12), passes through absolute angle coding disk (14) realize that webcam driver motor (12) moves back and forth in the range of specified angle.
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| CN201711165169.2A CN108004955B (en) | 2017-11-21 | 2017-11-21 | A kind of tide lane altering system and method carrying out avoidance using camera |
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| CN110444030A (en) * | 2019-07-30 | 2019-11-12 | 河南科技大学 | A kind of tide lane Intelligent deflection system based on cloud computing control |
| CN111241900A (en) * | 2019-04-12 | 2020-06-05 | 泰州阿法光电科技有限公司 | Traffic environment field maintenance method |
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| CN106498874A (en) * | 2016-11-03 | 2017-03-15 | 南京林业大学 | A kind of isolated column, track adjustment system and method |
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| CN108004955B (en) | 2019-11-19 |
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