CN108004991B - A kind of tide lane altering system and method carrying out avoidance using ultrasonic distance measurement - Google Patents
A kind of tide lane altering system and method carrying out avoidance using ultrasonic distance measurement Download PDFInfo
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- CN108004991B CN108004991B CN201711165159.9A CN201711165159A CN108004991B CN 108004991 B CN108004991 B CN 108004991B CN 201711165159 A CN201711165159 A CN 201711165159A CN 108004991 B CN108004991 B CN 108004991B
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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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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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Acoustics & Sound (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of tide lane altering systems and method that avoidance is carried out using ultrasonic distance measurement, including A pier, B pier and connection guardrail, and the both ends for connecting guardrail are respectively hinged on the central axis of A pier and the central axis of B pier；Beidou module, embedded type control module, alarm lamp, solar panel, lead-acid accumulator, LoRa module, chassis and shell are provided on the A pier and B pier；Mobile hard shoulder is arranged using access in the present invention, flexible, at low cost；It carries out hard shoulder using dipper system to position in real time, control precision is high, highly-safe；It is accurately positioned using dipper system and realizes that multilane changes；It realizes that urban traffic road network changes in real time using big data, is coped at any time due to variation of the factors to road demand such as traffic accident, vehicle flowrate variation, bad weathers, realize and automatically control.
Description
Technical field
The present invention relates to tide lane technical fields, more specifically, more particularly to it is a kind of utilize ultrasonic distance measurement carry out
The tide lane altering system and method for avoidance.
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
It to include that the GPS satellite navigation system in the U.S., the GLONASS GLONASS satellite navigation system of Russia and the Beidou in China are defended
Star 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 not knowing for the above-mentioned prior art, proposes and a kind of kept away using ultrasonic distance measurement
The tide lane altering system and method for barrier can carry out automatically the transformation in tide lane, and can be realized automatic obstacle-avoiding, reduce
Production and application cost reduces 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 for carrying out avoidance using ultrasonic distance measurement
Lane altering system, including remote control center, traffic lights background data server, section control base station and lane change
Group, robot, the data transmission port of remote control center and the data transmission port of traffic lights background data server
Real-time Data Transmission is carried out by way of optical fiber transmission or wireless data transmission, remote control center changes tide lane
Signal is sent to section control base station in real time, and walking is ordered control letter by way of wireless data transmission by section control base station
It number is sent in corresponding road section in all lane changes group, robot in real time, each lane change group, robot is receiving
Corresponding movement is executed when respective walking is ordered, and location information is fed back into section control base station in real time；
Lane change group, robot includes multiple groups along the lane that tide track direction is distributed change robot group, adjacent
Lane, which is changed, is spaced 0.5~1 meter between robot group, each lane change robot group includes A pier, B pier and connection guardrail,
The both ends of connection guardrail are respectively hinged on the central axis of A pier and the central axis of B pier；
Beidou module, embedded type control module, alarm lamp, solar panel, lead are provided on the A pier and B pier
Acid accumulator, LoRa module, chassis and shell, embedded type control module connect section control base station, plumbic acid by LoRa module
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 matches of convex block, be further fixed on chassis driving motor on shell, chassis driving motor connects ball-screw, on chassis
It is provided with the feed screw nut matched with the ball-screw, the feed screw nut is sleeved on the ball-screw, and chassis is driven
Driving chassis moves up and down in the bottom of shell when dynamic motor drives ball screw turns；The upper shell is provided with alarm
Lamp, the outer surface of shell are provided with solar panel, and solar panel connects lead acid storage battery by solar charging circuit
Pond, the Beidou module are arranged at interior of shell, and mobile mechanism and locking mechanism are arranged on chassis；
Be also equipped on the chassis of the A pier and B pier three directional wheels, an orientation motor, ultrasonic range finder and
Rangefinder driving motor, three directional wheels include a driving wheel and two driven wheels, and orientation motor connection driving wheel simultaneously drives
The driving wheel rotation, the movement for driving A pier or B pier is moved by driving wheel, and increment type coding is equipped on the driving wheel
Device, what when factory made the zero-bit of incremental encoder, the direction of motion of hard shoulder and driving wheel keeps one towards these three directions
It causes；Rangefinder driving motor is fixed on the shell, and rangefinder driving motor connection ultrasonic range finder simultaneously drives the ultrasonic wave
The rotation of rangefinder, horizontal notch is offered on shell, and connection guardrail passes through horizontal notch connection central axis and ultrasonic distance measurement
Instrument is through horizontal notch towards outside hard shoulder；
Electronic compass and compass driving motor are also equipped on the A pier and B pier, compass driving motor is fixed on chassis
On, compass driving motor, which connects electronic compass and electronic compass is driven to rotate in the horizontal plane, carrys out collimation angle, and electronic compass exists
Go out according to the angle judgement where electronic compass the angle where A pier or B pier after rotation.
A kind of lane variation for the tide lane altering system carrying out avoidance using ultrasonic distance measurement, including walk as follows
It is rapid:
S1: the signal lamp in control tide lane makes the signal lamp of tide lane inlet be converted to red light, and starts first
Change robot in group lane；
S2:A pier and B pier are powered on and initialized respectively, and judge itself with the presence or absence of failure, and breakdown judge includes electric power storage
Whether judgement that whether the whether enough judgements of pond electricity, Beidou module can position, wireless transport module can normally transmit letter
Whether all motors can work normally in breath and hard shoulder；If there are failures for A pier or B pier, to there are the A piers of failure
Or B pier restarted after breakdown judge is carried out to the hard shoulder again if there are still failures for A pier or B pier the A of failure will be present
The fault message of pier or B pier passes to section control base station, and lights the warning light of the hard shoulder, does not move to the hard shoulder
It is dynamic；If failure is not present in A pier and B pier, judge that A pier and B pier can be moved, and enters S3 step；
S3:A pier and B pier obtain target position information respectively, and by the link division Cheng Ruo of current location and target position
Dry part, every part of length are 10cm, obtain the segmentation location information after dividing；A pier and B pier to move movement 10cm every time in turn
Mode it is mobile to target position；
The compass driving motor of S4:A pier starts, and drives one circle of electronic compass rotation on A pier, determines the direction of A pier, root
According in S3 step A pier current location and target position determine the direction of motion of A pier, increment type is housed between A pier and driving wheel
Encoder, rotary driving wheel are allowed to return zero-bit, obtain A pier orientation information and A pier direction of motion information；
S5:A pier is first turned on the alarm lamp of itself and carries out obstacle judgement, and the mode that obstacle judges is ultrasonic distance measurement
Method, before A pier moves every time, ultrasonic range finder on B pier along connection guardrail direction face A pier, to tide vehicle when detection
Road direction rotate B pier on rangefinder driving motor, make the ultrasonic range finder on B pier direction with connect guardrail be in 5 degree, In
Ultrasonic range finder on B pier carries out obstacle judgement after launching sound wave, and the length for connecting guardrail is S, if rangefinder rotation electricity
The distance that ultrasonic range finder measures during machine rotates is consistently greater thanThen judge what ultrasonic range finder issued
Sound wave is not blocked, i.e., has the stroke of one section of 10cm long and accessible on the motion path of A pier, into S6 step；If surveying
Being less than occurred in the distance that ultrasonic range finder measures during distance meter rotary electric machine rotatesThe case where, then judge
The sound wave that ultrasonic range finder issues was blocked, then carried out obstacle judgement to A pier again after the 3s that is delayed；
S6: unclamping the locking device of A pier and B pier, rotates the orientation motor on A pier and drives driving wheel rotation, keeps A pier direct
It is moved towards target position；A pier moves along a straight line under the driving of orientation motor to segmented objects locality, the fortune of A pier
Dynamic distance is 10cm, and control motor makes A pier linear motion 10cm, and in the movement of A pier, B pier keeps free following state, in A
After pier has moved 10cm, A pier determines itself current current location information by Beidou module, and by current location information and step
The first segmentation location information obtained in rapid S3 compares, if the current location information of A pier and first fragment bit confidence
Manner of breathing is overlapped, then A pier, which moves to fragment bit and postpones, closes alarm lamp and lock locking device, if the current location information of A pier with
First segmentation location information is not overlapped, then A pier continues movement up to the current location information and first fragment bit confidence of A pier
Manner of breathing is overlapped；
The compass driving motor of S7:B pier starts, and drives one circle of electronic compass rotation on B pier, determines the direction of B pier, root
According in S3 step B pier current location and target position determine the direction of motion of B pier, increment type is housed between B pier and driving wheel
Encoder, rotary driving wheel are allowed to return zero-bit, obtain B pier orientation information and B pier direction of motion information；
S8: before B pier moves every time, the ultrasonic range finder on A pier is in the direction direct projection to B pier of connection guardrail, inspection
Rangefinder driving motor when survey on tide track direction rotation A pier makes the direction and connection of the ultrasonic range finder on A pier
Guardrail is in 5 degree, and obstacle judgement is carried out after the ultrasonic range finder on A pier launches sound wave, if rangefinder driving motor rotates
During the distance that measures of ultrasonic range finder be consistently greater thanThen judge the sound wave of ultrasonic range finder sending simultaneously
It is not blocked, i.e., has a trip and accessible on the motion path of B pier, into S9 step；If rangefinder rotary electric machine turns
Being less than occurred in the distance that ultrasonic range finder measures in dynamic processThe case where, then judge that ultrasonic range finder is sent out
Sound wave out was blocked, then carried out obstacle judgement to B pier again after the 3s that is delayed；
S9: the orientation motor on rotation B pier drives driving wheel rotation, and B pier is made to be directly toward target position movement；B pier exists
It orients and moves along a straight line under the driving of motor to segmented objects locality, the move distance of B pier is 10cm, and control motor makes
B pier linear motion 10cm, in the movement of B pier, A pier keeps free following state, and after B pier has moved 10cm, B pier passes through north
The module that struggles against determines itself current current location information, and first fragment bit that will be obtained in current location information and step S3
Confidence breath compares, if the current location information of B pier is overlapped with first fragment bit confidence manner of breathing, B pier moves to segmentation
Alarm lamp is closed behind position and locks locking device, if the current location information of B pier is not overlapped with first segmentation location information,
Then B pier continues movement until the current location information of B pier is overlapped with first fragment bit confidence manner of breathing；
S10: section control base station successively sends remaining segmentation location information to A pier and B pier, and repeats above-mentioned S5~S9
Step completes the movement of one group of lane change robot until A pier and B pier reach target position；
After the completion of the movement of S11: the first group of hard shoulder group, remaining hard shoulder group is repeated in above-mentioned S3~S10 step,
Until all hard shoulder groups are moved to the other side in tide lane；
S12: the signal lamp in control tide lane makes its new Way in green light, completes the change in entire tide lane
Change process.
The beneficial effects of the present invention are:
1, the present invention is using the side movable type hard shoulder in tide lane, when needing changing Lane directly will it is mobile after
It is flexible from the transformation that the mode that pier is moved to other side lane realizes tide lane, it is at low cost.
2, the present invention is positioned in real time using dipper system progress hard shoulder, and control precision is high, highly-safe.
3, the present invention is accurately positioned using dipper system realizes that multilane changes, while realizing urban transportation using big data
Road network changes in real time, is coped at any time due to change of the factors to road demand such as traffic accident, vehicle flowrate variation, bad weathers
Change, realizes and automatically control.
4, the present invention reduces the universal wheel drive on B pier in such a way that A hard shoulder drives B hard shoulder to move together
The use of motor reduces whole cost.
5, brake positioning of the invention does not only rely on the braking mechanism inside block of wood, can also be directly by the outer of A pier or B pier
Shell entire lowering is placed on ground, realizes that the shell side of block of wood directly with ground face contact, avoids the wheel of only A pier and B pier
It is slided with hard shoulder caused by ground face contact, positioning has been better achieved, and the positioning method of shell decline can be effective
It prevents from entering sundries inside A pier or B pier, to influence the normal use of hard shoulder.
6, the present invention is real by the lead-acid accumulator that solar panel and internal setting are arranged on the shell of hard shoulder
The charging at any time of existing hard shoulder and without the use under cable status, because of the number of change lane generally only one to two in one day
It is secondary, thus lead-acid accumulator may be implemented completely daily change lane more can, while solar panel can guarantee to be isolated
The continuation of the journey of pier longer time.
7, the present invention can be hard shoulder by the setting of alarm lamp and not only play a warning role when in use, moreover it is possible to every
Fault alarm is carried out from when breaking down inside pier, lane caused by preventing because of hard shoulder failure can not change situation.
Detailed description of the invention
Fig. 1 is that a kind of front view structure for the tide lane altering system that avoidance is carried out using ultrasonic distance measurement of the present invention is illustrated
Figure.
Fig. 2 is the three dimensional structure diagram of A pier or B pier of the present invention.
Fig. 3 is the internal sectional structure schematic diagram of A pier or B pier of the present invention.
Fig. 4 is a kind of flow diagram for the tide lane variation that avoidance is carried out using ultrasonic distance measurement of the present invention.
In figure, 1-A pier, 2-B pier, 3- connection guardrail, 4- compass driving motor, 5- compass mounting rack, 6- electronic compass, 7-
Shell, 8- ultrasonic range finder, 9- rangefinder driving motor, 10- Beidou module, 11- alarm lamp, the chassis 12- driving motor,
13- shaft coupling, 14- lead-acid accumulator, 15- driven wheel, the chassis 16-, 17- incremental encoder, 18- driving wheel, 19- solar energy
Solar panel.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings:
As shown in Figures 1 to 3, a kind of tide lane altering system carrying out avoidance using ultrasonic distance measurement, including remotely control
Group, robot, remote control center are changed in center, traffic lights background data server, section control base station and lane processed
Data transmission port and traffic lights background data server data transmission port by optical fiber transmission or without line number
Real-time Data Transmission is carried out according to the mode of transmission, tide lane change signal is sent to section control by remote control center in real time
Walking command-control signal is sent in corresponding road section by base station, section control base station in real time by way of wireless data transmission
In all lane change groups, robot, each lane change group, robot executes phase when receiving respective walking order
The movement answered, and location information is fed back into section control base station in real time；
Lane change group, robot includes multiple groups along the lane that tide track direction is distributed change robot group, adjacent
Lane, which is changed, is spaced 0.5~1 meter between robot group, each lane change robot group includes A pier 1, B pier 2 and connection shield
The both ends on column 3, connection guardrail 3 are respectively hinged on the central axis of A pier 1 and the central axis of B pier 2.
Beidou module 10, embedded type control module, alarm lamp 11, solar battery are provided on the A pier 1 and B pier 2
Plate 19, lead-acid accumulator 14, LoRa module, chassis 16 and shell 7, embedded type control module connect section control by LoRa module
Base station processed, lead-acid accumulator 14 are fixed on chassis 16, and chassis 16 is sleeved on 7 bottom of shell, are provided with convex block on chassis 16, outside
7 bottom of shell is provided with the groove matched with the convex block on chassis 16, and chassis driving motor 12, chassis are further fixed on shell 7
Driving motor 12 connects ball-screw, is provided with the feed screw nut matched with the ball-screw, the lead screw on chassis 16
Nut is sleeved on the ball-screw, and chassis driving motor 12 drives chassis 16 in shell 7 when driving ball screw turns
Bottom moves up and down, and chassis driving motor 12 connects ball-screw by shaft coupling 13；7 upper end of shell is provided with alarm lamp
11, the outer surface of shell 7 is provided with solar panel 19, and solar panel 19 connects plumbic acid by solar charging circuit
Battery 14, the Beidou module 10 are arranged inside shell 7, and mobile mechanism and locking mechanism are arranged on chassis 16；
Three directional wheels, orientation motor, a ultrasonic distance measurement are also equipped on the chassis 16 of the A pier 1 and B pier 2
Instrument 8 and rangefinder driving motor 9, three directional wheels include a driving wheel 18 and two driven wheels 15, orientation motor connection master
Driving wheel 18 simultaneously drives the driving wheel 18 to rotate, and the movement for driving A pier 1 or B pier 2, the driving wheel are moved by driving wheel 18
Incremental encoder 17 is installed, when factory makes the zero-bit of incremental encoder 17, the direction of motion of hard shoulder and active on 18
Wheel 18 is consistent towards these three directions；Rangefinder driving motor 9 is fixed on shell 7, and rangefinder driving motor 9 connects
Ultrasonic range finder 8 and the rotation for driving the ultrasonic range finder 8, horizontal notch is offered on shell 7, and connection guardrail 3 is worn
Cross horizontal notch connection central axis and ultrasonic range finder 8 through horizontal notch towards outside hard shoulder；
Electronic compass 6 and compass driving motor 4 are also equipped on the A pier 1 and B pier 2, compass driving motor 4 is fixed on
On chassis 16, compass driving motor 4, which connects electronic compass 6 and electronic compass 6 is driven to rotate in the horizontal plane, carrys out collimation angle, electricity
Sub- compass 6 goes out the angle where A pier 1 or B pier 2 after rotation according to the angle judgement where electronic compass 6.Electronic compass 6 is logical
Compass mounting rack 5 is crossed to be mounted on compass driving motor 4.
As shown in figure 4, a kind of lane variation for the tide lane altering system that avoidance is carried out using ultrasonic distance measurement,
Include the following steps:
S1: the signal lamp in control tide lane makes the signal lamp of tide lane inlet be converted to red light, and starts first
Change robot in group lane；
S2:A pier 1 and B pier 2 are powered on and initialized respectively, and judge itself with the presence or absence of failure, and breakdown judge includes storing
Whether judgement that whether the whether enough judgements of battery capacity, Beidou module 10 can position, wireless transport module can normally pass
Pass whether motor all in information and hard shoulder can work normally；If there are failures for A pier 1 or B pier 2, in the presence of event
The A pier 1 or B pier 2 of barrier carry out breakdown judge to the hard shoulder again after being restarted, will if there are still failures for A pier 1 or B pier 2
There are the fault messages of the A pier 1 of failure or B pier 2 to pass to section control base station, and lights the warning light of the hard shoulder, not right
The hard shoulder is moved；If failure is not present in A pier 1 and B pier 2, judge that A pier 1 and B pier 2 can be moved, and enter
S3 step；
S3:A pier 1 and B pier 2 obtain target position information respectively, and by the link division of current location and target position at
Several pieces, every part of length are 10cm, obtain the segmentation location information after dividing；A pier 1 and B pier 2 to move each movement in turn
The mode of 10cm is mobile to target position；
The compass driving motor 4 of S4:A pier 1 starts, and drives one circle of the rotation of electronic compass 6 on A pier 1, determines the court of A pier 1
To, according in S3 step 1 current location of A pier and target position determine the direction of motion of A pier 1, between A pier 1 and driving wheel 18
Equipped with incremental encoder 17, rotary driving wheel 18 is allowed to return zero-bit, obtains 1 orientation information of A pier and 1 direction of motion of A pier letter
Breath；
S5:A pier 1 is first turned on the alarm lamp 11 of itself and carries out obstacle judgement, and the mode that obstacle judges is ultrasound
Away from method, before A pier 1 every time movement, ultrasonic range finder 8 on B pier 2 along connection guardrail 3 direction face A pier 1, when detection to
Tide track direction rotate B pier 2 on rangefinder driving motor 9, make the ultrasonic range finder 8 on B pier 2 direction with connect protect
Column 3 is in 5 degree, and obstacle judgement is carried out after the ultrasonic range finder 8 on B pier 2 launches sound wave, and the length of connection guardrail 3 is S,
If the distance that ultrasonic range finder 8 measures during rangefinder rotary electric machine rotates is consistently greater thanThen judgement is super
The sound wave that sound-ranging equipment 8 issues is not blocked, i.e., has the stroke of one section of 10cm long and accessible on the motion path of A pier 1,
Into in S6 step；If being less than occurred in the distance that ultrasonic range finder 8 measures during rangefinder rotary electric machine rotatesThe case where, then the sound wave for judging that ultrasonic range finder 8 issues was blocked, then was carried out again to A pier 1 after the 3s that is delayed
Obstacle judgement；
S6: unclamping the locking device of A pier 1 and B pier 2, and the orientation motor rotated on A pier 1 drives driving wheel 18 to rotate, and makes A
Pier 1 is directly toward target position movement；A pier 1 moves along a straight line under the driving of orientation motor to segmented objects locality,
The move distance of A pier 1 be 10cm, control motor make A pier 1 move along a straight line 10cm, A pier 1 move when, B pier 2 keep freely with
With state, after A pier 1 has moved 10cm, A pier 1 determines itself current current location information by Beidou module 10, and will work as
The first segmentation location information obtained in front position information and step S3 compares, if the current location information of A pier 1 and
One fragment bit confidence manner of breathing is overlapped, then A pier 1 moves to fragment bit and postpones closing alarm lamp 11 and lock locking device, if A pier
1 current location information is not overlapped with first segmentation location information, then A pier 1 continues movement up to the present bit confidence of A pier 1
Breath is overlapped with first fragment bit confidence manner of breathing；
The compass driving motor 4 of S7:B pier 2 starts, and drives one circle of the rotation of electronic compass 6 on B pier 2, determines the court of B pier 2
To, according in S3 step 2 current location of B pier and target position determine the direction of motion of B pier 2, between B pier 2 and driving wheel 18
Equipped with incremental encoder 17, rotary driving wheel 18 is allowed to return zero-bit, obtains 2 orientation information of B pier and 2 direction of motion of B pier letter
Breath；
S8: before B pier 2 every time movement, ultrasonic range finder 8 on A pier 1 along connection guardrail 3 direction direct projection to B pier 2
On, the rangefinder driving motor 9 when detection on tide track direction rotation A pier 1 makes the ultrasonic range finder 8 on A pier 1
Direction is in 5 degree with guardrail 3 is connect, and obstacle judgement is carried out after the ultrasonic range finder 8 on A pier 1 launches sound wave, if rangefinder
The distance that ultrasonic range finder 8 measures during driving motor 9 rotates is consistently greater thanThen judge ultrasonic distance measurement
The sound wave that instrument 8 issues is not blocked, i.e., has a trip and accessible on the motion path of B pier 2, into S9 step；If
Being less than occurred in the distance that ultrasonic range finder 8 measures during rangefinder rotary electric machine rotatesThe case where, then
The sound wave for judging that ultrasonic range finder 8 issues was blocked, then carried out obstacle judgement to B pier 2 again after the 3s that is delayed；
S9: the orientation motor on rotation B pier 2 drives driving wheel 18 to rotate, and B pier 2 is made to be directly toward target position movement；B
Pier 2 moves along a straight line under the driving of orientation motor to segmented objects locality, and the move distance of B pier 2 is 10cm, control
Motor makes the linear motion 10cm of B pier 2, and when B pier 2 moves, A pier 1 keeps free following state, has moved 10cm in B pier 2
Afterwards, B pier 2 determines itself current current location information by Beidou module 10, and will obtain in current location information and step S3
The first segmentation location information obtained compares, if the current location information of B pier 2 and first fragment bit confidence manner of breathing weight
It closes, then B pier 2, which moves to fragment bit and postpones, closes alarm lamp 11 and lock locking device, if the current location information of B pier 2 and the
One segmentation location information is not overlapped, then B pier 2 continues movement up to the current location information and first fragment bit confidence of B pier 2
Manner of breathing is overlapped；
S10: section control base station successively sends remaining segmentation location information to A pier 1 and B pier 2, and repeat above-mentioned S5~
S9 step completes the movement of one group of lane change robot until A pier 1 and B pier 2 reach target position；
After the completion of the movement of S11: the first group of hard shoulder group, remaining hard shoulder group is repeated in above-mentioned S3~S10 step,
Until all hard shoulder groups are moved to the other side in tide lane；
S12: the signal lamp in control tide lane makes its new Way in green light, completes the change in entire tide lane
Change process.
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 (2)
1. a kind of tide lane altering system for carrying out avoidance using ultrasonic distance measurement, it is characterised in that: in remotely controlling
Group, robot, the number of remote control center are changed in the heart, traffic lights background data server, section control base station and lane
It is transmitted according to the data transmission port of transmission port and traffic lights background data server by optical fiber or wireless data passes
Defeated mode carries out real-time Data Transmission, and tide lane change signal is sent to section control base by remote control center in real time
It stands, walking command-control signal is sent to institute in corresponding road section by way of wireless data transmission by section control base station in real time
In some lane changes group, robot, each lane change group, robot executes corresponding when receiving respective walking order
Movement, and location information is fed back into section control base station in real time；
Lane change group, robot includes multiple groups along the lane that tide track direction is distributed change robot group, adjacent lane
It changes and is spaced 0.5~1 meter between robot group, each lane change robot group includes A pier (1), B pier (2) and connection shield
The both ends on column (3), connection guardrail (3) are respectively hinged on the central axis of A pier (1) and the central axis of B pier (2)；
Beidou module (10), embedded type control module, alarm lamp (11), solar energy are provided on the A pier (1) and B pier (2)
Solar panel (19), lead-acid accumulator (14), LoRa module, chassis (16) and shell (7), embedded type control module pass through LoRa mould
Block connects section control base station, and lead-acid accumulator (14) is fixed on chassis (16), and chassis (16) are sleeved on shell (7) bottom,
Convex block is provided on chassis (16), shell (7) bottom is provided with the groove matched with the convex block on chassis (16), shell (7)
On be further fixed on chassis driving motor (12), chassis driving motor (12) connects ball-screw, is provided on chassis (16) and institute
The feed screw nut that ball-screw matches is stated, the feed screw nut is sleeved on the ball-screw, chassis driving motor (12)
Driving chassis (16) moves up and down in the bottom of shell (7) when driving ball screw turns；Shell (7) upper end is provided with report
Warning lamp (11), the outer surface of shell (7) are provided with solar panel (19), and solar panel (19) passes through solar recharging
Circuit connection lead-acid accumulator (14), the Beidou module (10) are arranged at shell (7) inside, mobile mechanism and locking mechanism
It is arranged on chassis (16)；
Three directional wheels, orientation motor, a ultrasound are also equipped on the chassis (16) of the A pier (1) and B pier (2)
Distance meter (8) and rangefinder driving motor (9), three directional wheels include a driving wheel (18) and two driven wheels (15), orientation
Motor connection driving wheel (18) simultaneously drives the driving wheel (18) to rotate, and is moved by driving wheel (18) and drives A pier (1) or B pier
(2) movement is equipped with incremental encoder (17) on the driving wheel (18), and when factory makes the zero of incremental encoder (17)
Position, the direction of motion of hard shoulder and driving wheel (18) are consistent towards these three directions；Rangefinder driving motor (9) is fixed
On shell (7), rangefinder driving motor (9) connection ultrasonic range finder (8) simultaneously drives turning for the ultrasonic range finder (8)
It is dynamic, horizontal notch is offered on shell (7), connection guardrail (3) passes through horizontal notch connection central axis and ultrasonic range finder (8)
Through horizontal notch towards outside hard shoulder；
Electronic compass (6) and compass driving motor (4), compass driving motor (4) are also equipped on the A pier (1) and B pier (2)
It is fixed on chassis (16), compass driving motor (4) connection electronic compass (6) simultaneously drives electronic compass (6) to revolve in the horizontal plane
Collimation angle is transferred, electronic compass (6) goes out A pier (1) or B pier (2) according to the angle judgement where electronic compass (6) after rotation
The angle at place.
2. a kind of lane using the tide lane altering system as described in claim 1 for carrying out avoidance using ultrasonic distance measurement
Variation, characterized by the following steps:
S1: the signal lamp in control tide lane makes the signal lamp of tide lane inlet be converted to red light, and starts first group of vehicle
Change robot in road；
S2:A pier (1) and B pier (2) are powered on and initialized respectively, and judge itself with the presence or absence of failure, and breakdown judge includes storing
Whether judgement that whether the whether enough judgements of battery capacity, Beidou module (10) can position, wireless transport module can be normal
Whether all motors can work normally in transmitting information and hard shoulder；If there are failures for A pier (1) or B pier (2), right
Breakdown judge is carried out to the hard shoulder again after being restarted there are the A pier (1) of failure or B pier (2), if A pier (1) or B pier (2) are still
There are failures, then the fault message of A pier (1) or B pier (2) that failure will be present passes to section control base station, and light this every
Warning light from pier does not move the hard shoulder；If A pier (1) and B pier (2) be not present failure, judge A pier (1) and
B pier (2) can be moved, and enter S3 step；
S3:A pier (1) and B pier (2) obtain target position information respectively, and by the link division of current location and target position at
Several pieces, every part of length are 10cm, obtain the segmentation location information after dividing；A pier (1) and B pier (2) to move every time in turn
The mode for moving 10cm is mobile to target position；
The compass driving motor (4) of S4:A pier (1) starts, and drives one circle of electronic compass (6) rotation on A pier (1), determines A pier
(1) direction, according in S3 step A pier (1) current location and target position determine the direction of motion of A pier (1), A pier (1) and
Incremental encoder (17) are housed between driving wheel (18), rotary driving wheel (18) is allowed to return zero-bit, obtains A pier (1) direction
Information and A pier (1) direction of motion information；
S5:A pier (1) is first turned on the alarm lamp (11) of itself and carries out obstacle judgement, and the mode that obstacle judges is ultrasound
Away from method, before A pier (1) every time movement, the ultrasonic range finder (8) on B pier (2) is along the direction face A pier for connecting guardrail (3)
(1), the rangefinder driving motor (9) when detection in tide track direction rotation B pier (2), makes the ultrasound on B pier (2)
The direction of distance meter (8) is in 5 degree with guardrail (3) are connect, and is hindered after the ultrasonic range finder (8) on B pier (2) launches sound wave
Hinder judgement, the length of connection guardrail (3) is S, if ultrasonic range finder (8) measures during rangefinder rotary electric machine rotates
Distance is consistently greater thanThe sound wave for then judging that ultrasonic range finder (8) issue is not blocked, i.e. the movement of A pier (1)
There is the stroke of one section of 10cm long and accessible on path, into S6 step；If rangefinder rotary electric machine surpasses during rotating
Being less than occurred in the distance that sound-ranging equipment (8) measuresThe case where, then judge the sound that ultrasonic range finder (8) issue
Wave was blocked, then carried out obstacle judgement to A pier (1) again after the 3s that is delayed；
S6: unclamping the locking device of A pier (1) and B pier (2), and the orientation motor in rotation A pier (1) drives driving wheel (18) rotation,
A pier (1) is set to be directly toward target position movement；A pier (1) carries out under the driving of orientation motor to segmented objects locality straight
Line movement, the move distance of A pier (1) are 10cm, and control motor makes A pier (1) linear motion 10cm, when A pier (1) moves, B pier
(2) keep free following state, after A pier (1) move 10cm, A pier (1) by Beidou module (10) determine currently itself
Current location information, and the first segmentation location information obtained in current location information and step S3 is compared, if A
The current location information of pier (1) is overlapped with first fragment bit confidence manner of breathing, then A pier (1) moves to fragment bit and postpones closing report
Warning lamp (11) simultaneously locks locking device, if the current location information of A pier (1) is not overlapped with first segmentation location information, A pier
(1) continue movement until the current location information of A pier (1) is overlapped with first fragment bit confidence manner of breathing；
The compass driving motor (4) of S7:B pier (2) starts, and drives one circle of electronic compass (6) rotation on B pier (2), determines B pier
(2) direction, according in S3 step B pier (2) current location and target position determine the direction of motion of B pier (2), B pier (2) and
Incremental encoder (17) are housed between driving wheel (18), rotary driving wheel (18) is allowed to return zero-bit, obtains B pier (2) direction
Information and B pier (2) direction of motion information；
S8: before B pier (2) every time movement, ultrasonic range finder (8) on A pier (1) along connection guardrail (3) direction direct projection to B
On pier (2), rangefinder driving motor (9) when detection in tide track direction rotation A pier (1) makes the ultrasound on A pier (1)
The direction of wave rangefinder (8) is in 5 degree with guardrail (3) are connect, and it is laggard that the ultrasonic range finder (8) on A pier (1) launches sound wave
Row obstacle judgement, if the distance that ultrasonic range finder (8) measures during rangefinder driving motor (9) rotates is consistently greater thanThe sound wave for then judging that ultrasonic range finder (8) issue is not blocked, i.e., has one section on the motion path of B pier (2)
Stroke is simultaneously accessible, into S9 step；If rangefinder rotary electric machine rotate during ultrasonic range finder (8) measure away from
Existing mistake is separated out to be less thanThe case where, then the sound wave for judging that ultrasonic range finder (8) issue was blocked, then was delayed after 3s
Obstacle judgement is carried out to B pier (2) again；
S9: the orientation motor in rotation B pier (2) drives driving wheel (18) rotation, and B pier (2) is made to be directly toward target position movement；
B pier (2) moves along a straight line under the driving of orientation motor to segmented objects locality, and the move distance of B pier (2) is
10cm, control motor make B pier (2) linear motion 10cm, and when B pier (2) move, A pier (1) keeps free following state, in B
After pier (2) has moved 10cm, B pier (2) determines itself current current location information by Beidou module (10), and by present bit
Confidence breath is compared with the first segmentation location information obtained in step S3, if the current location information and first of B pier (2)
A fragment bit confidence manner of breathing is overlapped, then B pier (2) moves to fragment bit and postpones closing alarm lamp (11) and lock locking device, if B
The current location information of pier (2) is not overlapped with first segmentation location information, then B pier (2) continues movement until B pier (2) work as
Front position information is overlapped with first fragment bit confidence manner of breathing；
S10: section control base station successively sends remaining segmentation location information to A pier (1) and B pier (2), and repeat above-mentioned S5~
S9 step completes the movement of one group of lane change robot until A pier (1) and B pier (2) reach target position；
After the completion of the movement of S11: the first group of hard shoulder group, remaining hard shoulder group is repeated in above-mentioned S3~S10 step, until
All hard shoulder groups are moved to the other side in tide lane；
S12: the signal lamp in control tide lane makes its new Way in green light, completes the transformed of entire tide lane
Journey.
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| CN201711165159.9A CN108004991B (en) | 2017-11-21 | 2017-11-21 | A kind of tide lane altering system and method carrying out avoidance using ultrasonic distance measurement |
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| CN201711165159.9A CN108004991B (en) | 2017-11-21 | 2017-11-21 | A kind of tide lane altering system and method carrying out avoidance using ultrasonic distance measurement |
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|---|---|---|---|---|
| CN201633887U (en) * | 2010-02-11 | 2010-11-17 | 白建东 | Wireless remote control angling boat with electronic compass |
| 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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2017
- 2017-11-21 CN CN201711165159.9A patent/CN108004991B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201633887U (en) * | 2010-02-11 | 2010-11-17 | 白建东 | Wireless remote control angling boat with electronic compass |
| 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 |