CN108004988B - A kind of tide lane altering system and method based on laser ranging avoidance - Google Patents
A kind of tide lane altering system and method based on laser ranging avoidance Download PDFInfo
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- CN108004988B CN108004988B CN201711164084.2A CN201711164084A CN108004988B CN 108004988 B CN108004988 B CN 108004988B CN 201711164084 A CN201711164084 A CN 201711164084A CN 108004988 B CN108004988 B CN 108004988B
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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
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/60—Upright bodies, e.g. marker posts or bollards; Supports for road signs
- E01F9/658—Upright bodies, e.g. marker posts or bollards; Supports for road signs characterised by means for fixing
- E01F9/669—Upright bodies, e.g. marker posts or bollards; Supports for road signs characterised by means for fixing for fastening to safety barriers or the like
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/095—Traffic lights
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of tide lane altering systems and method based on laser ranging avoidance, including remote control center, traffic lights background data server, robot is changed in section control base station and lane, when needing the change for carrying out tide lane, tide lane change signal is sent to section control base station by remote control center in real time, walking command-control signal is sent in corresponding lane change robot by section control base station by way of wireless data transmission, each lane change robot executes corresponding mobile when receiving respective walking order, and location information is fed back into section control base station in real time.The present invention can realize the automatic change in tide lane according to demand, in conjunction with traffic lights background data server, realize that urban traffic road network changes in real time using big data, it is coped at any time due to variation of the factors to road demand such as traffic accident, vehicle flowrate variation, bad weathers, realizes the automatic control in tide lane.
Description
Technical field
The present invention relates to tide lane technical fields, more specifically, more particularly to a kind of based on laser ranging avoidance
Tide lane altering system and method.
Background technique
Automobile brings great convenience for the trip of the mankind, but quickling increase with automobile quantity, and traffic congestion is asked
It inscribes 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 and energy for developing intellectual resource traffic in recent years
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 lane, 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 lane is timing tide lane, changes the traveling in tide lane 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 traffic light are implemented to control to track direction.Traditional benefit
The mode for implementing control to track direction with ground double amber lines and traffic light, since numerous vehicles " being at loggerheads ", mark are inadequate
Many drawbacks such as clear are gradually substituted by the mode in lane side setting isolation strip.And by being manually arranged between different lanes
Isolation strip has implemented inconvenience since workload is huge, thus meet the tendency of again there are many emerging intelligent tide lane and
It is raw.
U.S.'s Gold Gate Bridge is to carry out one of the section of changeable driveway earliest in the world, and bridge floor is 27 meters wide, removes two sides
Pavement, section are two-way six-lane, and morning hours four into four go out, and afternoon, guardrail moved right a lane, form contrary circumstance.
Tide lane is arranged using artificial setting method to solve this problem in Early postoperative management department.On the lane line among bridge
Every mono- eye of a Duan Douyou, work car is slowly travelled among lane, and both sides respectively have a staff to be sitting in the flat of vehicle bottom
On platform, the staff on the both sides of work car carries out plug respectively, and lane 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, to isolate a kind of individual road for tide
Vehicle uses.The mode in this artificial setting tide lane operates fairly simple, maintenance cost and cost is relatively low；But it is this
The mode that tide road is manually arranged in early, the evening peak phase needs to expend a large amount of artificial and time cost, low efficiency, and tide vehicle
Road transformation is not easy, while the vehicle run at high speed is easy to damage construction personnel, and risk factor is higher.
It is high in order to solve the problems, such as tide lane low efficiency, time cost is manually arranged, traffic control department using traffic lights and
The mode of traffic sign delimit the fixed tide time to the tide road of certain fixations to alleviate pressure when traffic congestion
Power.Peak period on and off duty or go out of the city go down town peak period when, by the way that corresponding traffic light or direction board is arranged, temporarily
Tide road is set, congestion in road is alleviated, this system control mode has saved time and cost of labor, improved tide lane
Applicability.But this mode does not have apparent isolation guardrail, due to driver road markings is unfamiliar with or attention not
The problems such as concentration, be easy to cause accidentally to rush and accidentally go, to influence the utilization to tide lane, certain friendship is likely to result in when serious
Interpreter's event.
The a series of problems of the developed countries such as the U.S. for artificial setting tide lane and signal control of intersection, invention
It is low not only to have overcome artificial setting tidal efficiency, but also has realized being effectively isolated for tide road for a kind of tide lane changing machine.This
Kind tide lane changing machine is substantially a running locomotive, by the way that various mechanical devices are arranged in intra-locomotive, with
The guardrail in one lane is moved to another lane up by the operation of locomotive, which greatly enhances lane guardrail transformation speed,
Cost of labor is reduced, several sections are further divided by more lane change machines for especially interminable tide lane while running completion vehicle
Road transformation.But since planning limits, original isolation strip or greenbelt cannot be removed, and cause tide lane changing machine cannot
It is widely used, and the transcriber purchase cost is higher, needs special isolation strip, while the cost of a tide lane changing machine
At 3,000,000 dollars or more, therefore also strongly limit the development of this technology.
In order to improve the adaptability in tide lane, the research staff in Shenzhen designs a kind of intelligent tide lane again, should
Intelligent tide lane is formally exposed using remote control guardrail and the combining form of lamp control in Shen Nan South Mountain section, intelligence tide
It nighttide lane can be automatic that tide lane is set automatically according to the size of vehicle flowrate.This intelligence tide lane 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 command with remote controler, the isolation switching in tide lane is realized in 1 minute.Also there is intelligence barrier simultaneously
Hinder identification technology, is able to detect that the barrier encountered during guardrail lane change.Compared to traditional traffic dispersion mode, significantly
Reduce the risk and workload of traffic police on duty.Traffic police can be according to site traffic situation, and by hand-held remote controller, control is variable
Divide to traveling lane mark and adjusts driveway travel directions at any time；If there is obvious current feature at crossing, in the feelings of not emergency event
Under condition, traffic police can also carry out the time of program input fixed signal conversion in advance, by its auto-changing；In addition, control centre
Label can also be controlled using long-range control means in due course by instruments monitor crossing road conditions；If realizing computer connection
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
It comes into operation in succession, application prospect is very extensive.But in the operational process in this intelligent tide lane, 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 lane, lead to tide
Nighttide lane utilization ratio is not high, on the other hand, the right-hand rotation of southing mouth this two due to cannot be introduced into tide lane by guardrail obstruction, also drop
The low utilization rate in tide lane.
Meanwhile it this being essentially still in such a way that hand-held remote controller carries out intelligent tide lane control
It manually controls, unstable factor is more, is easy to be influenced by manpower factor, and be not easy centralized control, greatly
Ground limits the development in intelligent tide lane.
One of an important factor for communication in intelligent tide lane is also the development of limitation tide lane, such as Shenzhen are this
The mode of intelligent tide lane intelligence traffic police scene hand-held remote controller controls remote control guardrail, can only carry out closely
Control, and cannot achieve 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 the hair in intelligent tide lane and Internet of Things
Exhibition, in the market increasingly increases the requirement of wireless technology.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.There are many kinds of wireless technologys in Internet of Things application, including local area network and wide area network.The wireless technology of composition local area network 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 communication
One of technology is a kind of overlength distance Radio Transmission Technology based on spread spectrum.This technology change in the past about
Transmission range and the compromise of power consider mode, provide one kind for user and are simply able to achieve remote, low-power consumption system.Together
When, free frequency range uses Lo Ra in the world, including 433,868,915MHz.LoRa technology is a kind of extra long distance
Small wireless technology has merged digital spread spectrum, Digital Signal Processing and forward error correction coding technology.There can be number using LoRa technology
One wireless data sending network of ten thousand wireless data transmission modules composition, the base station net of similar existing mobile communication, each node
The mobile phone user of similar mobile network, in whole network coverage area, face-to-face communication between each network node and gateway away from
From can achieve 5 kilometers or even farther.LoRa technology has the characteristics that remote, low-power consumption, multinode, low cost.
If LoRa system is dissolved into the control in intelligent tide lane, it can get rid of and be held by traffic police merely
Remote controler carrys out the defect in intelligent control tide lane, to realize the centralized control in intelligent tide lane, and can greatly
Production cost is reduced, the overall power in intelligent tide lane is reduced, improves the popularity rate in intelligent tide lane.
Positioning system plays the role of particularly important, current positioning system master in the use of tide lane automatic running
Will include the U.S. GPS satellite navigation system, Russia GLONASS (GLONASS) satellite navigation system and China Beidou
Satellite navigation system.
GPS of America satellite navigation system is using in the satellite of space flight, constantly certain frequency of broadcast transmission is simultaneously to the ground
The radio signal of certain special location informations is loaded with to realize the positioning system of positioning measurement.The system is by space motion
The three parts such as satellite constellation, ground control segment, User Part composition.GPS satellite navigation system originates in army, the U.S. I958
One project of side, l964 comes into operation, in the 1970s, land, sea, and air, 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 the big field in land, sea and air three, and be used for
Some military purposes such as information gathering, Nuclear detonation monitoring and emergency communication, arrive l994, and 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,
In high precision, the features such as 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 so that the whole world Anywhere, all can observe 4 or more satellites, and the navigation that can be prestored in the satel-lite any time
A period of time also can be used in information, but navigation accuracy can gradually decrease, 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
Start within Ross 1993 the Global Satellite Navigation System for establishing this country alone, which runs in starting in 2007, only opened at that time
Put the domestic satellite positioning of Russia and navigation Service.By 2009, service range was extended to the whole world.GLONASS satellite
Navigation system main services content includes coordinate and motion velocity information of determining land, sea and aerial target 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 points of 11 hours cycles of operation, 64.8 degree of orbit inclination angle, 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
Third 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 and positioning and time service service, and there is distinctive short message to communicate energy
Power.On December 27th, 2012, Beidou satellite navigation system starting region formally services, and has 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 has been significantly larger than GPS satellite navigation system, has been had reached in the case of 80 kilometers/hour now
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 purpose, being based on
Beidou satellite navigation system proposes the lane change guidance method of the controllable hard shoulder mode in non-timed section tide lane, by designing base
In the lane of Beidou satellite navigation system, change robot realizes that lane is changed, in conjunction with existing monitoring and license plate recognition technology energy
It reaches and realizes Full automatic unmanned in change lane, recycle big data system, may finally realize round-the-clock lane oneself
The caused congestion in road of the problems such as moving and adjust, solving the problems, such as by tidal phenomena, traffic accident, weather anomaly.
Summary of the invention
It is an object of the invention to solve above-mentioned the deficiencies in the prior art, a kind of tide based on laser ranging avoidance is proposed
Nighttide lane altering system and method can carry out automatically the transformation in tide lane, and can be realized automatic obstacle-avoiding, reduce production
And use cost, reduce influence of the manpower factor to intelligent tide lane.
The present invention is through the following technical solutions to achieve the above objectives: a kind of tide lane based on laser ranging avoidance becomes
Machine is changed in more system, including remote control center, traffic lights background data server, section control base station and lane
People, all lanes change robots on same tide lane constitute a lanes and change groups, robot, long-range to control
The data transmission port at center and the data transmission port of traffic lights background data server pass through optical fiber transmission or nothing
Line number carries out real-time Data Transmission, the data transmission port of remote control center and the number of section control base station according to the mode of transmission
Real-time Data Transmission is carried out by way of optical fiber transmission or wireless data transmission according to transmission port；Remote control center is from friendship
The information of vehicle flowrate in lane analyses whether to need to carry out tide vehicle where ventilating signal lamp background data server obtains tide lane
The change in road, when needing to carry out the change in tide lane, signal and present period are changed in tide lane by remote control center
Traffic lights information at tide turning roadway terminal is sent to section control base station in real time, and section control base station is passed by wireless data
Command-control signal of walking is sent in lane change robot all on corresponding tide lane segment by defeated mode in real time,
Each lane change robot executes corresponding movement when receiving respective walking order, and in real time feeds back to location information
Section control base station；
Lane change group, robot on every tide lane includes along multiple lanes of tide lane side distribution
Robot is changed, is spaced 2~6 meters between adjacent lane change robot；Lane change robot includes hard shoulder shell
Body, Beidou module, embedded type control module, alarm lamp, solar panel, lead-acid accumulator, LoRa module, mobile module,
Obstacle avoidance module, angle judgment module and chassis, embedded type control module connect section control base station by LoRa module, and plumbic acid stores
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 on chassis
The groove that convex block matches, chassis driving motor is further fixed on shell, and chassis driving motor connects ball-screw, sets on chassis
It is equipped with the feed screw nut matched with the ball-screw, the feed screw nut is sleeved on the ball-screw, chassis driving
Driving chassis moves up and down in the bottom of shell when motor drives ball screw turns；The upper shell is provided with alarm lamp,
The outer surface of shell is provided with solar panel, and solar panel connects lead-acid accumulator by solar charging circuit,
The Beidou module and obstacle avoidance module are arranged at interior of shell, and mobile module, angle judgment module and locking mechanism are respectively provided with
On chassis；
The angle judgment module includes the electronic compass being arranged on chassis, and the mobile module includes being arranged on chassis
On the two Athey wheels rotation of two Athey wheels and driving caterpillar drive, the locking mechanism connects mobile module, lock
Mechanism is determined for Athey wheel to be locked and decontroled；Lane change robot when leaving the factory, the direction of electronic compass and
Hard shoulder towards identical, be all directed towards direct north；The obstacle avoidance module include setting hard shoulder enclosure interior and with every
From optoelectronic switch driving motor and horizontally disposed optoelectronic switch that pier shell is fixedly connected, optoelectronic switch driving motor connects photoelectricity
It switchs and drives within the scope of 90 degree of optoelectronic switch and rotate；The front of the hard shoulder shell offers 100 degree of open slot, photoelectricity
The light that switch issues passes through open slot and swings in the range of open slot.
Further, the remote control center connects traffic lights background data server and changes in tide lane
The control of Shi Liyong traffic lights background data server not before changing the inlet in tide lane remain red light phase and
Exit remains green light phase.
Further, the chassis driving motor by ball-screw drive chassis shell bottom move up and down when at the bottom of
The moving distance of disk is greater than the height between outer casing bottom and ground.
Further, two Athey wheels drive each by a track drive motor.
A kind of tide lane variation based on laser ranging avoidance, includes the following steps:
1) remote control center receives the current tide lane flow amount letter that traffic lights background data server is sent
Traffic lights information at breath and tide lane entrance and exit, thus judges whether the change for needing to carry out tide lane；If needing
The change in tide lane is carried out, then will need to carry out the traffic lights at the change of tide lane and tide lane entrance and exit
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 lane entrance and exit at
Traffic lights information situation, will need to carry out lane change in the case where the traffic lights of current tide lane inlet are red lights
It information more and needs the coordinate information of mobile final position to be sent to each lane in each lane change robot to become
In more robot；
3) the lane change robot on whole tide lane is according to tide lane does not carry out successively when front direction before changing
Mobile, specific move mode is as follows:
3.1) change robot in lane is powered on and initialized, and judges itself with the presence or absence of failure, and breakdown judge includes
Whether judgement that whether the whether enough judgements of electric quantity of lead-acid storage battery, Beidou module can position, LoRa module can normally pass
It passs information and lane changes whether all motors of robot interior can work normally；If robot is changed in lane has event
Barrier carries out breakdown judge to the hard shoulder again after then restarting to the hard shoulder there are failure, if lane change robot is still
There are failures, then the fault message that the lane change robot of failure will be present passes to section control base station, and lights the vehicle
Road changes the warning light of robot, does not move to lane change robot；If lane changes robot and failure is not present,
Then judge that lane change robot can be moved, into 3.2 steps；
3.2) caterpillar drive of lane change robot drives Athey wheel to rotate with differential, realizes that machine is changed in lane
The original place of people rotates, one circle of electronic compass rotation being located on chassis in this process, and realizes the calibration positioning of itself, obtains
The current outbound course of electronic compass；
3.3) Beidou module in lane change robot obtains the current location information of current lane change robot, knot
The coordinate information for closing the mobile final position of the needs obtained from road segment controller obtains the movement side of lane change robot
To；
3.4) since lane change robot uses track structure, the angle between hard shoulder and the driving wheel of crawler belt is
It is known, machine is changed in conjunction with the lane obtained in the current outbound course of the electronic compass obtained in step 3.2 and step 3.3
The direction of motion of people, direct differential rotate Athey wheel, make lane change robot original place rotation, until lane change robot
Towards the direction of motion of direct face lane change robot；
3.5) change robot in lane opens the alarm lamp of itself and carries out obstacle judgement, and the mode that obstacle judges is unrestrained anti-
Optoelectronic switch telemetry is penetrated, optoelectronic switch is opened, the optoelectronic switch driving motor in the change robot of rotation lane becomes lane
Optoelectronic switch in more robot 90 degree of left-right rotation in the range of open slot, judge whether optoelectronic switch connects in this process
Receive photosignal；If optoelectronic switch is not received by photosignal always, then it represents that do not encounter barrier in scanning process, i.e.,
There is no barrier on the path that lane change robot will move, lane change robot can carry out the movement of next step
Step；If optoelectronic switch receives photosignal, then it represents that encountered barrier in scanning process, i.e. lane change robot is
By barrier possible on the path of movement, then the 3s that needs to be delayed carries out obstacle judgement again；
3.6) determine it is accessible after, lane change robot start along in step 3.4 determine the direction of motion transported
It is dynamic, until arriving at the destination, complete the movement of lane change robot；
3.7) when change robot in lane is moved to final position, locking mechanism is started to work, and Athey wheel is locked, and is realized
The locking of lane change robot；
4) after lane change robot Athey wheel locking, chassis driving motor setting in motion, chassis driving motor is driven
Chassis is driven to move upwards in the bottom of shell when ball screw turns, until the bottom of shell and ground face contact, turn off bottom
Disk-drive motor and alarm lamp complete the movement of single lane change robot；
5) after the lane change machine on whole section completes movement per capita, the change in whole tide lane is realized.
Further, the remote control center connects traffic lights background data server and changes in tide lane
The control of Shi Liyong traffic lights background data server not before changing the inlet in tide lane remain red light phase and
Exit remains green light phase.
Further, the move mode of lane change robot is mobile for segmented in step 3.6, i.e., will entirely move road
Diameter is divided into several segments, and every section of terminal point coordinate is sent in the change robot of lane, and robot is changed according to step 3.2 in lane
The process of~step 3.6 is successively moved at every section of terminal point coordinate, and according to the position of itself when at every section of terminal point coordinate
Confidence breath carries out direction again and determines, continues to execute step 3.2~step 3.6 process, until lane change robot is mobile
To final position.
Further, two Athey wheels drive each by a track drive motor, pass through two track drive motors
The differential rotation of two Athey wheels is not realized in rotation at the same speed, and then realize the rotation and steering of lane change robot.
Further, it is also connected with absolute angle coding disk on the motor head of the optoelectronic switch driving motor, by exhausted
Optoelectronic switch driving motor moves back and forth in the range of specified angle to be realized to angle coding disk.
The beneficial effects of the present invention are:
(1) of the invention to realize tide according to demand using the tide lane altering system of compass angle measurement laser ranging
The automatic change in lane realizes urban traffic road net using big data in combination with traffic lights background data server
Network changes in real time, is coped at any time due to variation of the factors to road demand such as traffic accident, vehicle flowrate variation, bad weathers, real
The automatic control in existing tide lane.
(2) remote control center of the invention only needs to issue the change signal in tide lane, section control base station and lane
Change robot can realize the change in tide lane automatically, and high degree of automation is conducive to whole without artificial supervision and operation
The centralized management in the tide lane in a city.
(3) change robot in lane of the invention will do it automatic fault detection on startup, only change machine in lane
It can just be moved when people's fault-free, the failure problems of lane change robot itself can effectively be avoided to cause to become tide lane
Influence more.
(4) lane change of the invention robot will do it the judgement and Athey wheel angle of self-view before movement
Judgement, so that lane change robot is made also smoothly voluntarily to find the correct direction of motion in the case where direction is indefinite,
It is ill to avoid lane change caused by poor direction when because placing for the automatic reverse for realizing lane change robot
Problem, when the initial position of lane change robot shifts can accurate motion to target position.
(5) change robot in lane of the invention will do it avoidance judgement before movement, if there are obstacles on tide lane
Object then without movement, avoids lane change robot during the motion because the influence of barrier can not be successfully work and touch
The problem of impacting other people normally travels to other people motor vehicle avoids block of wood from making to collide with vehicle in movement.
(6) present invention changes the movement of robot by closed-loop control lane, and lane change robot passes through Beidou module
The location information for obtaining itself in real time recycles the moving method of segmented, keeps movement more accurate, what is finally positioned is accurate
It spends also very high.
(7) for the present invention by Beidou module as locating module, the precision of positioning is up to Centimeter Level, can accurately realize vehicle
Road changes the running fix of robot, and precision is high.
(8) present invention uses crawler belt as movement mechanism, and not only movement is stablized, but also can realize lane change robot
Pivot stud facilitates the direction for changing lane change robot.
(9) present invention can drive hard shoulder shell to chassis direction after reaching final position by chassis driving motor
Movement, entire block of wood are integrally attached on ground, increase the stability of block of wood itself.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of the tide lane variation based on laser ranging avoidance of the present invention.
Fig. 2 is the three dimensional structure diagram of lane change of the present invention robot.
Fig. 3 is the cross-sectional view of lane change of the present invention robot.
Fig. 4 is the top view of lane change of the present invention robot.
In figure, 1- Athey wheel, 2- end cap, 3- top cover, 4- Beidou module, 5- hard shoulder shell, 6- alarm lamp, 7- solar energy
Solar panel, the first track drive of 8- motor, the chassis 9-, 10- lead-acid accumulator, the second track drive of 11- motor, 12- photoelectricity are opened
Close driving motor, 13- optoelectronic switch, 14- absolute angle coding disk, 15- open slot, the chassis 16- driving motor, 17- roller bearing silk
Thick stick, 18- feed screw nut.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings, and for the ease of expression, robot is changed in lane in Fig. 1
Summary is block of wood, and road segment controller is sketched as base station, electronic compass is sketched as electronic compass:
As shown in figs. 2 to 4, a kind of tide lane altering system based on laser ranging avoidance, including remote control center,
Robot is changed in traffic lights background data server, section control base station and lane, all on same tide lane
Lane change robot constitute lane and change group, robot, the data transmission port of remote control center and traffic are believed
The data transmission port of signal lamp background data server is counted in real time by way of optical fiber transmission or wireless data transmission
According to transmission, the data transmission port of the data transmission port of remote control center and section control base station by optical fiber transmission or
The mode of wireless data transmission carries out real-time Data Transmission；Remote control center is obtained from traffic lights background data server
The information of vehicle flowrate in lane analyses whether the change for needing to carry out tide lane where tide lane, is needing to carry out tide lane
Change when remote control center the traffic lights at signal and present period tide turning roadway terminal changed into tide lane believe
Breath is sent to section control base station in real time, and section control base station will be walked command-control signal by way of wireless data transmission
It is sent in lane change robot all on corresponding tide lane segment in real time, each lane change robot is receiving respectively
From walking order when execute corresponding mobile, and location information is fed back into section control base station in real time.
Remote control center, road segment controller and lane change robot constitute 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, LoRa Internet of Things base station and communication mould
Block is connect with base station control module by serial ports, and the road segment controller changes machine by LoRa Internet of Things base station and lane
LoRa module on people realizes LoRa wireless telecommunications connection, and the road segment controller passes through in communication module realization and long-range control
On the one hand the communication connection of the heart, the base station control module receive the movement instruction that remote control center issues and by movement instructions
The control command to each lane change robot is generated afterwards, and base station control module is sent control command to by LoRa module
In the LoRa module of corresponding lane change robot；On the other hand it receives after lane change robot executes move and passes through
The new location information that LoRa module is sent out, and the location information is transferred to remote control center by communication module.
The base station control module uses Android system, be additionally provided in road segment controller touch display screen, memory module,
Power module and warning circuit, power module are used to be powered for entire 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 lane 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
Examination, the real-time display of the input of real-time control order and lane 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 the LoRa is wireless is within 5 kilometers, and the control range of base station is to own on road within 5 kilometers
Lane change robot, base station to these lanes change robot carry out Collaborative Control.
Lane change group, robot on every tide lane includes along multiple lanes of tide lane side distribution
Robot is changed, is spaced 2~6 meters between adjacent lane change robot；Lane change robot includes hard shoulder shell
Body 5, Beidou module 4, embedded type control module, alarm lamp 6, solar panel 7, lead-acid accumulator 10, LoRa module, movement
Module, obstacle avoidance module, angle judgment module and chassis 9 are provided with end cap 2,2 upper end center position of end cap on hard shoulder shell 5
It is fixed with top cover 3, Beidou module 4 is fixed on the middle part of top cover 3.
Embedded type control module connects section control base station by LoRa module, and lead-acid accumulator 10 is fixed on chassis 9,
Chassis 9 is sleeved on outer casing bottom, is provided with convex block on chassis 9, outer casing bottom be provided with matched with the convex block on chassis 9 it is recessed
Slot is further fixed on chassis driving motor 16 on shell, and chassis driving motor 16 connects ball-screw 17, be provided on chassis 9 with
The feed screw nut 18 that the ball-screw 17 matches, the feed screw nut 18 are sleeved on the ball-screw 17, and chassis is driven
Driving chassis 9 moves up and down in the bottom of shell when dynamic motor 16 drives ball-screw 17 to rotate；The upper shell is provided with
Alarm lamp 6, the outer surface of shell are provided with solar panel 7, and solar panel 7 connects lead by solar charging circuit
Acid accumulator 10, the Beidou module 4 and obstacle avoidance module are arranged at interior of shell, mobile module, angle judgment module and lock
Determine mechanism to be arranged on chassis 9.
The Beidou module 4 includes radio frequency unit and connect with the radio frequency unit and be used to receive and handle Beidou
The positioning signal that satellite navigation and location system is sent receives processing unit, the output end of the signal processing unit and control
Molding block is connected by serial ports.
The angle judgment module includes the electronic compass being arranged on chassis 9, and the mobile module includes being arranged the bottom of at
The caterpillar drive of two Athey wheels 1 and driving two Athey wheels 1 rotation on disk 9, the locking mechanism connect mobile mould
Block, locking mechanism is for being locked and being decontroled to Athey wheel 1；Robot is changed when leaving the factory in the lane, electronic compass
Be directed toward and hard shoulder towards identical, be all directed towards direct north；The obstacle avoidance module includes being arranged inside hard shoulder shell 5
And the optoelectronic switch driving motor 12 and horizontally disposed optoelectronic switch 13 being fixedly connected with hard shoulder shell 5, optoelectronic switch driving
Motor 12 connects optoelectronic switch 13 and drives within the scope of 1390 degree of optoelectronic switch and rotates；The front of the hard shoulder shell 5 opens up
There is 100 degree of open slot 15, the light that optoelectronic switch 13 issues passes through open slot 15 and left and right pendulum in the range of open slot 15
It is dynamic.
The remote control center connects traffic lights background data server and utilizes friendship when tide lane is changed
The control of ventilating signal lamp background data server the inlet in tide lane does not remain red light phase before changing and exit is begun
Green light phase is kept eventually.
The chassis driving motor 16 drives the chassis 9 when the bottom of shell moves up and down of chassis 9 by ball-screw 17
Moving distance be greater than height between outer casing bottom and ground.
Two Athey wheels 1 drive each by a track drive motor.Two track drive motors are respectively the first shoe
Band driving motor 8 and the second track drive motor 12, the first track drive motor 8 and the second track drive motor 12 be not with synchronized
Degree rotates or can be realized when rotating to different directions the rotation of lane change robot.
As shown in Figure 1, a kind of tide lane variation based on laser ranging avoidance, includes the following steps:
1) remote control center receives the current tide lane flow amount letter that traffic lights background data server is sent
Traffic lights information at breath and tide lane entrance and exit, thus judges whether the change for needing to carry out tide lane；If needing
The change in tide lane is carried out, then will need to carry out the traffic lights at the change of tide lane and tide lane entrance and exit
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 lane entrance and exit at
Traffic lights information situation, will need to carry out lane change in the case where the traffic lights of current tide lane inlet are red lights
It information more and needs the coordinate information of mobile final position to be sent to each lane in each lane change robot to become
In more robot；
3) the lane change robot on whole tide lane is according to tide lane does not carry out successively when front direction before changing
Mobile, specific move mode is as follows:
3.1) change robot in lane is powered on and initialized, and judges itself with the presence or absence of failure, and breakdown judge includes
Whether judgement that whether the whether enough judgements of 10 electricity of lead-acid accumulator, Beidou module 4 can position, LoRa module can be normal
Transmitting information and lane change whether all motors of robot interior can work normally；If robot is changed in lane has event
Barrier carries out breakdown judge to the hard shoulder again after then restarting to the hard shoulder there are failure, if lane change robot is still
There are failures, then the fault message that the lane change robot of failure will be present passes to section control base station, and lights the vehicle
Road changes the warning light of robot, does not move to lane change robot；If lane changes robot and failure is not present,
Then judge that lane change robot can be moved, into 3.2 steps；
3.2) caterpillar drive of lane change robot drives Athey wheel 1 to rotate with differential, realizes that machine is changed in lane
The original place of device people rotates, one circle of electronic compass rotation being located on chassis 9 in this process, and realizes the calibration positioning of itself,
Obtain the current outbound course of electronic compass；
3.3) Beidou module 4 in lane change robot obtains the current location information of current lane change robot,
The movement of lane change robot is obtained in conjunction with the coordinate information of the mobile final position of the needs obtained from road segment controller
Direction；
3.4) since lane change robot uses track structure, the angle between hard shoulder and the driving wheel of crawler belt is
It is known, machine is changed in conjunction with the lane obtained in the current outbound course of the electronic compass obtained in step 3.2 and step 3.3
The direction of motion of people, direct differential rotate Athey wheel 1, make lane change robot original place rotation, until robot is changed in lane
Towards direct face lane change robot the direction of motion；
3.5) change robot in lane opens the alarm lamp 6 of itself and carries out obstacle judgement, and the mode that obstacle judges is unrestrained
13 telemetry of reflection photoelectric switch opens optoelectronic switch 13, and the optoelectronic switch driving motor 12 in robot is changed in rotation lane,
Make the optoelectronic switch 13 in the change robot of lane 90 degree of left-right rotation in the range of open slot 15, judges light in this process
Whether electric switch 13 receives photosignal；If optoelectronic switch 13 is not received by photosignal always, then it represents that scanning process
In do not encounter barrier, i.e., there is no barriers on the path that change robot in lane will move, and robot is changed in lane can
To carry out the movement step of next step；If optoelectronic switch 13 receives photosignal, then it represents that encountered obstacle in scanning process
Possible barrier on the path that object, i.e. lane change robot will move, the then 3s that needs to be delayed carry out obstacle judgement again；
3.6) determine it is accessible after, lane change robot start along in step 3.4 determine the direction of motion transported
It is dynamic, until arriving at the destination, complete the movement of lane change robot；
3.7) when change robot in lane is moved to final position, locking mechanism is started to work, and Athey wheel 1 is locked, real
The locking of existing lane change robot；
4) after in lane, change robot Athey wheel 1 is locked, 16 setting in motion of chassis driving motor, chassis driving motor 16
Driving chassis 9 is moved upwards in the bottom of shell when ball-screw 17 being driven to rotate, until the bottom of shell and ground face contact, then
Chassis driving motor 16 and alarm lamp 6 are closed, the movement of single lane change robot is completed；
5) after the lane change machine on whole section completes movement per capita, the change in whole tide lane is realized.
The remote control center connects traffic lights background data server and utilizes friendship when tide lane is changed
The control of ventilating signal lamp background data server the inlet in tide lane does not remain red light phase before changing and exit is begun
Green light phase is kept eventually.
The move mode of lane change robot is mobile for segmented in step 3.6, if being divided into entire motion path
Dry section, every section of terminal point coordinate are sent in the change robot of lane, and robot is changed according to step 3.2~step in lane
3.6 process is successively moved at every section of terminal point coordinate, and according to the location information of itself when at every section of terminal point coordinate
Direction is carried out again to determine, continues to execute step 3.2~step 3.6 process, until lane change robot is moved to finally
Position.
Two Athey wheels 1 drive each by a track drive motor, pass through the not synchronized of two track drive motors
The differential rotation of two Athey wheels 1 is realized in rotation, and then realizes the rotation and steering of lane change robot.
It is also connected with absolute angle coding disk 14 on the motor head of the optoelectronic switch driving motor 12, passes through absolute angle
Coding disk 14 realizes that optoelectronic switch driving motor 12 moves back and forth in the range of specified angle.
Above-described embodiment is presently preferred embodiments of the present invention, is not a limitation on the technical scheme of the present invention, as long as
Without the technical solution that creative work can be realized on the basis of the above embodiments, it is regarded as falling into the invention patent
Rights protection scope in.
Claims (9)
1. a kind of tide lane altering system based on laser ranging avoidance, it is characterised in that: including remote control center, traffic
Robot, all vehicles on same tide lane are changed in signal lamp background data server, section control base station and lane
It changes robot and constitutes a lane change group, robot, the data transmission port and traffic lights of remote control center in road
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 and the data transmission port of section control base station are by optical fiber transmission or wirelessly
The mode of data transmission carries out real-time Data Transmission；Remote control center obtains tide from traffic lights background data server
The information of vehicle flowrate in lane analyses whether the change for needing to carry out tide lane where lane, in the change for needing to carry out tide lane
The traffic lights information reality at signal and present period tide turning roadway terminal is changed in tide lane by remote control center when more
When be sent 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
Be sent on corresponding tide lane segment in all lane changes robot, each lane change robot receive it is respective
Corresponding movement is executed when walking order, and location information is fed back into section control base station in real time；
Lane change group, robot on every tide lane includes changing along multiple lanes of tide lane side distribution
Robot, adjacent lane, which is changed, is spaced 2~6 meters between robot；Lane change robot includes hard shoulder shell
(5), Beidou module (4), embedded type control module, alarm lamp (6), solar panel (7), lead-acid accumulator (10), LoRa
Module, mobile module, obstacle avoidance module, angle judgment module and chassis (9), embedded type control module pass through LoRa module link road
Section control base station, lead-acid accumulator (10) are fixed on chassis (9), and chassis (9) are sleeved on outer casing bottom, and chassis is arranged on (9)
There is convex block, outer casing bottom is provided with the groove matched with the convex block on chassis (9), is further fixed on chassis driving motor on shell
(16), chassis driving motor (16) connection ball-screw (17), is provided on chassis (9) and matches with the ball-screw (17)
Feed screw nut (18), the feed screw nut (18) is sleeved on the ball-screw (17), and chassis driving motor (16) drives
Driving chassis (9) moves up and down in the bottom of shell when ball-screw (17) rotates；The upper shell is provided with alarm lamp
(6), the outer surface of shell is provided with solar panel (7), and solar panel (7) connects lead by solar charging circuit
Acid accumulator (10), the Beidou module (4) and obstacle avoidance module are arranged at interior of shell, mobile module, angle judgment module
It is arranged on chassis (9) with locking mechanism；
The angle judgment module includes the electronic compass being arranged on chassis (9), and the mobile module includes being arranged on chassis
(9) caterpillar drive of two Athey wheels (1) and driving two Athey wheels (1) rotation on, the locking mechanism connection move
Dynamic model block, locking mechanism is for being locked and being decontroled to Athey wheel (1)；Robot is changed when leaving the factory in the lane, electronics
The direction of compass and hard shoulder towards identical, be all directed towards direct north；The obstacle avoidance module includes being arranged in hard shoulder shell
Body (5) inside and the optoelectronic switch driving motor (12) being fixedly connected with hard shoulder shell (5) and horizontally disposed optoelectronic switch
(13), optoelectronic switch driving motor (12) connects optoelectronic switch (13) and drives within the scope of (13) 90 degree of optoelectronic switch and rotates；Institute
The front for stating hard shoulder shell (5) offers 100 degree of open slot (15), and the light that optoelectronic switch (13) issues passes through open slot
(15) and in the range of open slot (15) it swings.
2. a kind of tide lane altering system based on laser ranging avoidance according to claim 1, it is characterised in that: institute
State remote control center connection traffic lights background data server and when tide lane is changed using after traffic lights
Platform data server control the inlet in tide lane does not remain red light phase before changing and exit remains green light
State.
3. a kind of tide lane altering system based on laser ranging avoidance according to claim 1, it is characterised in that: institute
It states chassis driving motor (16) and drives chassis (9) when the bottom of shell moves up and down chassis (9) by ball-screw (17)
Moving distance is greater than the height between outer casing bottom and ground.
4. a kind of tide lane altering system based on laser ranging avoidance according to claim 1, it is characterised in that: two
Athey wheel (1) drives each by a track drive motor.
5. a kind of tide lane variation based on laser ranging avoidance, characterized by 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 lane, thus judges whether the change for needing to carry out tide lane；If desired into
The change in row tide lane then will need to carry out the information of the traffic lights at the change of tide lane and tide lane entrance and exit
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 lane
The situation of green light information will need to carry out lane change in the case where the traffic lights of current tide lane inlet are red lights
It information and needs the coordinate information of mobile final position to be sent to each lane in each lane change robot to change machine
On device people；
3) the lane change robot on whole tide lane is according to tide lane is moved successively when front direction before changing,
Specific move mode is as follows:
3.1) change robot in lane is powered on and initialized, and judges itself with the presence or absence of failure, and breakdown judge includes plumbic acid
Whether judgement that whether the whether enough judgements of battery (10) electricity, Beidou module (4) can position, LoRa module can be normal
Transmitting information and lane change whether all motors of robot interior can work normally；If robot is changed in lane has event
Barrier carries out breakdown judge to the hard shoulder again after then restarting to the hard shoulder there are failure, if lane change robot is still
There are failures, then the fault message that the lane change robot of failure will be present passes to section control base station, and lights the vehicle
Road changes the warning light of robot, does not move to lane change robot；If lane changes robot and failure is not present,
Then judge that lane change robot can be moved, into 3.2 steps；
3.2) caterpillar drive of lane change robot drives Athey wheel (1) to rotate with differential, realizes that machine is changed in lane
The original place of people rotates, one circle of electronic compass rotation being located on chassis (9) in this process, and realizes the calibration positioning of itself,
Obtain the current outbound course of electronic compass；
3.3) Beidou module (4) in lane change robot obtains the current location information of current lane change robot, knot
The coordinate information for closing the mobile final position of the needs obtained from road segment controller obtains the movement side of lane change robot
To；
3.4) since lane change robot uses track structure, the angle between hard shoulder and the driving wheel of crawler belt is known
, in conjunction with the lane change robot obtained in the current outbound course of the electronic compass obtained in step 3.2 and step 3.3
The direction of motion, direct differential rotate Athey wheel (1), make lane change robot original place rotation, until lane change robot
Towards the direction of motion of direct face lane change robot；
3.5) change robot in lane opens the alarm lamp (6) of itself and carries out obstacle judgement, and the mode that obstacle judges is unrestrained anti-
Optoelectronic switch (13) telemetry is penetrated, is opened optoelectronic switch (13), the optoelectronic switch driving motor in the change robot of rotation lane
(12), make the optoelectronic switch (13) in the change robot of lane 90 degree of left-right rotation in the range of open slot (15), in the mistake
Judge whether optoelectronic switch (13) receives photosignal in journey；If optoelectronic switch (13) is not received by photosignal always,
It then indicates not encounter barrier in scanning process, i.e., there is no barrier, vehicles on the path that change robot in lane will move
Road change robot can carry out the movement step of next step；If optoelectronic switch (13) receives photosignal, then it represents that scanning
Barrier has been encountered in the process, i.e., possible barrier on the path that change robot in lane will move then needs to be delayed 3s again
Secondary progress obstacle judgement；
3.6) determine it is accessible after, lane change robot start along in step 3.4 determine the direction of motion moved, directly
To arriving at the destination, the movement of lane change robot is completed；
3.7) when change robot in lane is moved to final position, locking mechanism is started to work, and Athey wheel (1) is locked, and is realized
The locking of lane change robot；
4) after lane change robot Athey wheel (1) locking, chassis driving motor (16) setting in motion, chassis driving motor
(16) driving chassis (9) is moved upwards in the bottom of shell when driving ball-screw (17) rotation, until the bottom of shell and ground
Face contact turns off chassis driving motor (16) and alarm lamp (6), completes the movement of single lane change robot；
5) after the lane change machine on whole section completes movement per capita, the change in whole tide lane is realized.
6. a kind of tide lane variation based on laser ranging avoidance according to claim 5, it is characterised in that: institute
State remote control center connection traffic lights background data server and when tide lane is changed using after traffic lights
Platform data server control the inlet in tide lane does not remain red light phase before changing and exit remains green light
State.
7. a kind of tide lane variation based on laser ranging avoidance according to claim 5, it is characterised in that: step
The move mode of lane change robot is mobile for segmented in rapid 3.6, i.e., entire motion path is divided into several segments, every section
Terminal point coordinate be sent to lane change robot on, lane change robot according to step 3.2~step 3.6 process successively
It is moved at every section of terminal point coordinate, and it is true according to the location information of itself to carry out direction again when at every section of terminal point coordinate
It is fixed, step 3.2~step 3.6 process is continued to execute, until lane change robot is moved to final position.
8. a kind of tide lane variation based on laser ranging avoidance according to claim 5, it is characterised in that: two
Athey wheel (1) drives each by a track drive motor, pass through two track drive motors rotation is not realized at the same speed
The differential rotation of two Athey wheels (1), and then realize the rotation and steering of lane change robot.
9. a kind of tide lane variation based on laser ranging avoidance according to claim 5, it is characterised in that: institute
It states and is also connected with absolute angle coding disk (14) on the motor head of optoelectronic switch driving motor (12), pass through absolute angle coding disk
(14) realize that optoelectronic switch driving motor (12) move back and forth in the range of specified angle.
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| CN110374031A (en) * | 2019-07-19 | 2019-10-25 | 河南工程学院 | The converting means and method in highway bridge tide lane |
| CN113110483B (en) * | 2021-04-30 | 2022-12-20 | 南通天承光电科技有限公司 | Control method of carrying robot for tidal lane isolation guardrail |
| CN115125890A (en) * | 2022-07-20 | 2022-09-30 | 徐州西尼科自动化控制技术有限公司 | Protection device based on wisdom is changeable way width for traffic |
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| CN204644919U (en) * | 2015-05-25 | 2015-09-16 | 齐东保 | A kind of multifunctional mobile is elevated roadblock of keeping off a car |
| CN105230225A (en) * | 2015-11-10 | 2016-01-13 | 闫夙 | Intelligentized precision automatic hay mower and control device thereof |
| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204644919U (en) * | 2015-05-25 | 2015-09-16 | 齐东保 | A kind of multifunctional mobile is elevated roadblock of keeping off a car |
| CN105230225A (en) * | 2015-11-10 | 2016-01-13 | 闫夙 | Intelligentized precision automatic hay mower and control device thereof |
| 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 |
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Effective date of registration: 20201221 Address after: 233000 Room 1402, Ziyang Building, Pearl Plaza, Huaishang District, Bengbu City, Anhui Province Patentee after: Anhui Hanbang Technology Consulting Co., Ltd Address before: 310012 149 Xihu District teachers' road, Hangzhou, Zhejiang Patentee before: ZHEJIANG GONGSHANG University |