CN108004992B - A kind of tide lane altering system and method based on absolute encoder - Google Patents
A kind of tide lane altering system and method based on absolute encoder Download PDFInfo
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- CN108004992B CN108004992B CN201711165775.4A CN201711165775A CN108004992B CN 108004992 B CN108004992 B CN 108004992B CN 201711165775 A CN201711165775 A CN 201711165775A CN 108004992 B CN108004992 B CN 108004992B
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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
- 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
Abstract
The invention discloses a kind of tide lane altering system and method based on absolute encoder, 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, command-control signal of walking is sent in lane change robot all on corresponding tide lane segment by section control base station in real time 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 variations, 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 tide based on absolute encoder
Nighttide 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 absolute encoder is proposed
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 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 lane change based on absolute encoder
System, including remote control center, traffic lights background data server, section control base station and block of wood, same tide
All block of wood on lane constitute block of wood group, data transmission port and the traffic lights backstage of remote control center
The data transmission port of data server carries out real-time Data Transmission by way of optical fiber transmission or wireless data transmission, far
The data transmission port at process control center and the data transmission port of section control base station pass through optical fiber transmission or wireless data
The mode of transmission carries out real-time Data Transmission；Remote control center obtains tide lane from traffic lights background data server
The information of vehicle flowrate in place lane analyses whether the change for needing to carry out tide lane, when needing to carry out the change in tide lane
Remote control center sends out the traffic lights information that tide lane is changed at signal and present period tide turning roadway terminal in real time
It send to section control base station, section control base station is sent walking command-control signal by way of wireless data transmission in real time
On to corresponding tide lane segment on all block of wood, each block of wood executes corresponding move when receiving respective walking order
It is dynamic, and location information is fed back into section control base station in real time；
Block of wood group on every tide lane includes multiple block of wood along the distribution of tide lane side, adjacent block of wood
Between be spaced 2~6 meters；Described block of wood include shell, 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 pass through
LoRa module connects section control base station, and lead-acid accumulator is fixed on chassis, and chassis is fixed on outer casing bottom；On the shell
End is provided with alarm lamp, and the outer surface of shell is provided with solar panel, and solar panel passes through solar charging circuit
Connect lead-acid accumulator, the Beidou module and obstacle avoidance module are arranged at interior of shell, mobile module, angle judgment module and
Locking mechanism is arranged on chassis；
The angle judgment module includes the electronic compass being arranged on chassis and sieve for driving the electronic compass rotation
Disk-drive motor, the compass driving motor are fixed on chassis, the mobile module include the driving wheel being arranged on chassis,
Two driven wheels and the movement driving motor for driving the driving wheel rotation, the locking mechanism connect mobile module, lock machine
Structure is for being locked and being decontroled to driving wheel；Described block of wood when leaving the factory, the direction of electronic compass, the direction of block of wood and driving
The direction of wheel is all identical, is all directed towards direct north；The obstacle avoidance module includes that setting fixes company inside housings and with shell
The optoelectronic switch driving motor and horizontally disposed optoelectronic switch connect, optoelectronic switch driving motor connection optoelectronic switch simultaneously drive photoelectricity
It is rotated within the scope of 90 degree of switch；The front of the shell offers 100 degree of open slot, and the light that optoelectronic switch issues is passed through and opened
Mouth slot simultaneously swings in the range of open slot；Base plate cover is mounted in outer casing bottom, is provided with convex block on chassis, outer casing bottom is set
It is equipped with the groove matched with the convex block on chassis, chassis driving motor, the connection rolling of chassis driving motor are further fixed on shell
Ballscrew is provided with the feed screw nut matched with the ball-screw on chassis, and the feed screw nut is sleeved on the ball
On lead screw, driving chassis moves up and down in the bottom of shell when chassis driving motor drives ball screw turns；The driving wheel
On be also equipped with absolute encoder, the absolute encoder is arranged between driving wheel and chassis, driving wheel court when block of wood dispatches from the factory
To identical as the steering of electronic compass, absolute encoder is in null positions at this time.
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, the driving wheel and two driven wheels are all universal wheels.
Further, the Beidou module is mounted on the top of the shell.
A kind of tide lane variation based on absolute encoder, 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
Information more and the coordinate information of mobile final position is needed to be sent on each block of wood each block of wood；
3) block of wood on whole tide lane is not according to tide lane is moved successively when front direction before changing, specifically
Move mode is as follows:
3.1) block of wood is powered on and initialized, and judges itself with the presence or absence of failure, and breakdown judge includes lead-acid accumulator
Whether judgement that whether the whether enough judgements of electricity, Beidou module can position, LoRa module can normally transmit information and pier
Whether sub internal all motors can work normally；If there are failures for block of wood, after restarting to block of wood there are failure
Breakdown judge is carried out to the block of wood again, if block of wood, there are still failure, the fault message that block of wood of failure will be present passes to road
Section control base station, and the warning light of the block of wood is lighted, which is not moved；If failure is not present in block of wood, pier is judged
Son can be moved, into 3.2 steps；
3.2) the compass driving motor starting of block of wood drives one circle of electronic compass rotation, realizes that the calibration of electronic compass is fixed
Position, obtains the current outbound course of electronic compass；
3.3) Beidou module on block of wood obtains the current location information of current block of wood, obtains in conjunction with from road segment controller
The coordinate information of the mobile final position of needs obtain the direction of motion of block of wood；
3.4) driving wheel used due to the mobile mechanism of block of wood for universal wheel, the initial position of driving wheel be it is unknown,
Rotate driving wheel rotates absolute encoder, and absolute encoder can directly acquire the angle between driving wheel and block of wood；It ties again
The direction of motion of the block of wood obtained in the electronic compass obtained in step 3.2 current outbound course and step 3.3 is closed, rotation is driven
Driving wheel makes its face need to carry out mobile direction；
3.5) block of wood opens the alarm lamp of itself and carries out obstacle judgement, and the mode that obstacle judges is the electric switch that diffuses
Telemetry opens optoelectronic switch, rotates the optoelectronic switch driving motor on block of wood, makes the optoelectronic switch on block of wood in open slot
90 degree of left-right rotation in range, judge whether optoelectronic switch receives photosignal in this process；If optoelectronic switch does not have always
Receive photosignal, then it represents that do not encounter barrier in scanning process, i.e., barrier is not present on the path that block of wood will move
Hinder object, block of wood can carry out the movement step of next step；If optoelectronic switch receives photosignal, then it represents that touched in scanning process
Barrier, i.e., possible barrier on the path that block of wood will move are arrived, then the 3s that needs to be delayed carries out obstacle judgement again；
3.6) determine it is accessible after, block of wood start along in step 3.4 determine the direction of motion moved, until reach
The movement of block of wood is completed in destination；
3.7) when block of wood is moved to final position, locking mechanism is started to work, and driving wheel is locked, realizes the lock of block of wood
It is fixed；
4) after the locking of block of wood driving wheel, chassis driving motor setting in motion, chassis driving motor drives ball-screw to turn
Driving chassis is moved upwards in the bottom of shell when dynamic, i.e., shell moves downward, until the bottom of shell and ground face contact, then close
Chassis driving motor and alarm lamp are closed, the movement of single block of wood is completed；
5) after block of wood on whole section completes movement, 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 block of wood is mobile for segmented in step 3.6, i.e., is divided into entire motion path several
Section, every section of terminal point coordinate are sent on block of wood, and block of wood is successively moved to every section according to step 3.2~step 3.6 process
Terminal point coordinate at, and direction is carried out according to the location information of itself when at every section of terminal point coordinate again and determined, continue to hold
Row step 3.2~step 3.6 process, until block of wood is moved to final position.
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) the tide lane altering system of the invention based on absolute encoder can realize tide lane according to demand
Automatic change realizes that urban traffic road network is real-time using big data in combination with traffic lights background data server
Change is coped at any time due to variation of the factors to road demand such as traffic accident, vehicle flowrate variation, bad weathers, realizes tide
The automatic control in lane.
(2) remote control center of the invention only needs to issue the change signal in tide lane, section control base station and block of wood
The change in tide lane can be realized automatically, and high degree of automation is conducive to the tide in entire city without artificial supervision and operation
The centralized management in nighttide lane.
(3) block of wood of the invention will do it automatic fault detection on startup, only can just move in block of wood fault-free, energy
It is enough that the failure problems of block of wood itself is effectively avoided to lead to the influence changed to tide lane.
(4) block of wood of the invention will do it the judgement of self-view and the judgement of driving wheel angle before movement, thus
So that block of wood also smoothly can be voluntarily found the correct direction of motion in the case where direction is indefinite, realizes moving certainly for block of wood
To ill problem is changed in lane caused by poor direction when avoiding because of placement, even if the initial position of block of wood occurs
When offset also can accurate motion to target position.
(5) block of wood of the invention will do it before movement avoidance judgement, if on tide lane there are barrier if without
Movement avoids block of wood during the motion because the influence of barrier can not be successfully work and shadow caused by meeting other people motor vehicle
The problem of ringing other people normally travels avoids block of wood from making to collide with vehicle in movement.
(6) present invention passes through the movement of closed-loop control block of wood, and block of wood obtains the position letter of itself by Beidou module in real time
Breath, recycles the moving method of segmented, keeps movement more accurate, the precision finally positioned is 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 pier
The running fix of son, precision are high.
(8) present invention uses universal wheel as movement mechanism, is judged between driving wheel and block of wood by absolute encoder
Relative angle, and can realize any angle rotation of block of wood driving wheel, and rotational angle quickly changes it is found that facilitating and changing block of wood
Become the direction of motion.
(9) present invention can drive shell to move to chassis direction after reaching final position by chassis driving motor,
Entire block of wood is integrally attached on ground, increases 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 absolute encoder of the present invention.
Fig. 2 is the three dimensional structure diagram of block of wood of the present invention.
Fig. 3 is the cross-sectional view of block of wood of the present invention.
Fig. 4 is the top view of block of wood of the present invention.
In figure, 1- driving wheel, 2- end cap, 3- top cover, 4- Beidou module, 5- shell, 6- alarm lamp, 7- solar battery
Plate, 8- move driving motor, the chassis 9-, 10- lead-acid accumulator, 11- driven wheel, 12- optoelectronic switch driving motor, 13- photoelectricity
Switch, 14- absolute angle coding disk, 15- open slot.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings, for the ease of expression, sketches block of wood for pier in Fig. 1
Road segment controller is sketched as base station, electronic compass is sketched as electronic compass by son:
As shown in figs. 2 to 4, a kind of tide lane altering system based on absolute encoder, including remote control center, friendship
Ventilating signal lamp background data server, section control base station and block of wood, all block of wood on same tide lane constitute one
A block of wood group, the data transmission port of remote control center and the data transmission port of traffic lights background data server
Real-time Data Transmission, the data transmission port of remote control center are carried out by way of optical fiber transmission or wireless data transmission
Real time data biography is carried out by way of optical fiber transmission or wireless data transmission with the data transmission port of section control base station
It is defeated；Remote control center obtains the information of vehicle flowrate analysis in tide lane place lane from traffic lights background data server
The change for whether needing to carry out tide lane, when needing the change for carrying out tide lane, remote control center becomes tide lane
Traffic lights information at more signal and present period tide turning roadway terminal is sent to section control base station, section control in real time
Walking command-control signal is sent on corresponding tide lane segment by base station in real time by way of wireless data transmission to be owned
Block of wood on, each block of wood executes corresponding mobile when receiving respective walking order, and in real time feeds back to location information
Section control base station.
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 LoRa is wireless is within 5 kilometers, and the control range of base station is vehicle all on road within 5 kilometers
Road changes robot, and base station carries out Collaborative Control to these lanes change robot.
Block of wood group on every tide lane includes multiple block of wood along the distribution of tide lane side, adjacent block of wood
Between be spaced 2~6 meters；Described block of wood includes shell 5, Beidou module 4, embedded type control module, alarm lamp 6, solar battery
Plate 7, lead-acid accumulator 10, LoRa module, mobile module, obstacle avoidance module, angle judgment module and chassis 9, on hard shoulder shell 5
It is provided with end cap 2,2 inner hollow of end cap and upper end center position are fixed with top cover 3, and Beidou module 4 is fixed on inside end cap 2
In cavity.
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 fixed on outer casing bottom；The upper shell is provided with alarm lamp 6, and the outer surface of shell is provided with solar panel
7, solar panel 7 connects lead-acid accumulator 10 by solar charging circuit, and the Beidou module 4 and obstacle avoidance module are all provided with
It sets inside the housing, mobile module, angle judgment module and locking mechanism are 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 sieve for driving the electronic compass rotation
Disk-drive motor, the compass driving motor are fixed on chassis, and the mobile module includes the driving being arranged on chassis 9
The movement driving motor of wheel, two driven wheels and the driving driving wheel rotation, the locking mechanism connect mobile module, locking
Mechanism is for being locked and being decontroled to driving wheel；Described block of wood when leaving the factory, the direction of electronic compass and block of wood towards phase
Together, all it is directed towards direct north；The obstacle avoidance module includes that the photoelectricity being fixedly connected inside shell 5 and with shell 5 is arranged in open
Driving motor 12 and horizontally disposed optoelectronic switch 13 are closed, optoelectronic switch driving motor 12 connects optoelectronic switch 13 and photoelectricity is driven to open
It closes within the scope of 1390 degree and rotates；The front of the shell 5 offers 100 degree of open slot 15, the light that optoelectronic switch 13 issues
It swings across open slot 15 and in the range of open slot 15.
Chassis 9 is sleeved on outer casing bottom, and convex block is provided on chassis 9, and outer casing bottom is provided with and the convex block phase on chassis 9
The groove of cooperation, chassis driving motor is further fixed on shell, and chassis driving motor connects ball-screw, is provided on chassis 9
The feed screw nut matched with the ball-screw, the feed screw nut are sleeved on the ball-screw, chassis driving motor
Driving chassis 9 moves up and down in the bottom of shell when driving ball screw turns；Absolute coding is also equipped on the driving wheel
Device, the absolute encoder are arranged between driving wheel and chassis, the steering of driving wheel direction and electronic compass when block of wood dispatches from the factory
Identical, absolute encoder is in null positions at this time.
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 drives the shifting on the chassis 9 when the bottom of shell moves up and down of chassis 9 by ball-screw
Dynamic distance is greater than the height between outer casing bottom and ground.
The driving wheel and two driven wheels are all universal wheels.
As shown in Figure 1, a kind of tide lane variation based on absolute encoder, 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
Information more and the coordinate information of mobile final position is needed to be sent on each block of wood each block of wood；
3) block of wood on whole tide lane is not according to tide lane is moved successively when front direction before changing, specifically
Move mode is as follows:
3.1) block of wood is powered on and initialized, and judges itself with the presence or absence of failure, and breakdown judge includes lead-acid accumulator
Judgement that whether the whether enough judgements of 10 electricity, Beidou module 4 can position, LoRa module whether can normally transmit information and
Whether all motors can work normally inside block of wood；If there are failures for block of wood, block of wood there are failure is restarted
Breakdown judge is carried out to the block of wood again afterwards, if block of wood, there are still failure, the fault message that block of wood of failure will be present passes to
Section control base station, and the warning light of the block of wood is lighted, which is not moved；If failure is not present in block of wood, judge
Block of wood can be moved, into 3.2 steps；
3.2) the compass driving motor starting of block of wood drives one circle of electronic compass rotation, realizes that the calibration of electronic compass is fixed
Position, obtains the current outbound course of electronic compass；
3.3) Beidou module 4 on block of wood obtains the current location information of current block of wood, obtains in conjunction with from road segment controller
The coordinate information of the mobile final position of the needs obtained obtains the direction of motion of block of wood；
3.4) driving wheel used due to the mobile mechanism of block of wood for universal wheel, the initial position of driving wheel be it is unknown,
Rotate driving wheel rotates absolute encoder, and absolute encoder can directly acquire the angle between driving wheel and block of wood；；It ties again
The direction of motion of the block of wood obtained in the electronic compass obtained in step 3.2 current outbound course and step 3.3 is closed, rotation is driven
Driving wheel makes its face need to carry out mobile direction；
3.5) block of wood opens the alarm lamp 6 of itself and carries out obstacle judgement, and the mode that obstacle judges is established by cable to diffuse
13 telemetrys are closed, optoelectronic switch 13 is opened, the optoelectronic switch driving motor 12 on block of wood is rotated, makes the optoelectronic switch 13 on block of wood
90 degree of left-right rotation, judges whether optoelectronic switch 13 receives photosignal in this process in the range of open slot 15；If
Optoelectronic switch 13 is not received by photosignal always, then it represents that does not encounter barrier in scanning process, i.e. block of wood will move
Path on barrier is not present, block of wood can carry out the movement step of next step；If optoelectronic switch 13 receives photosignal,
It then indicates to have encountered barrier in scanning process, i.e., possible barrier on the path that block of wood will move then needs to be delayed 3s again
Secondary progress obstacle judgement；
3.6) determine it is accessible after, block of wood start along in step 3.4 determine the direction of motion moved, until reach
The movement of block of wood is completed in destination；
3.7) when block of wood is moved to final position, locking mechanism is started to work, and driving wheel is locked, realizes the lock of block of wood
It is fixed；
4) after the locking of block of wood driving wheel 1, chassis driving motor setting in motion, chassis driving motor drives ball-screw to turn
Driving chassis 9 is moved upwards in the bottom of shell when dynamic, i.e., shell moves downward, until the bottom of shell and ground face contact, then
Chassis driving motor and alarm lamp 6 are closed, the movement of single block of wood is completed；
5) after block of wood on whole section completes movement, 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 block of wood is mobile for segmented in step 3.6, i.e., entire motion path is divided into several segments, every section
Terminal point coordinate is sent on block of wood, and block of wood is successively moved to every section of terminal point coordinate according to step 3.2~step 3.6 process
Place, and direction is carried out according to the location information of itself when at every section of terminal point coordinate again and determined, continue to execute step 3.2~
The process of step 3.6, until block of wood is moved to final position.
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 absolute encoder, it is characterised in that: believe including remote control center, traffic
Signal lamp background data server, section control base station and block of wood, all block of wood on same tide lane constitute a piers
The data transmission port of subgroup, the data transmission port and traffic lights background data server of remote control center passes through
The mode of optical fiber transmission or wireless data transmission carries out real-time Data Transmission, the data transmission port of remote control center and road
The data transmission port of section control base station carries out real-time Data Transmission by way of optical fiber transmission or wireless data transmission；Far
Process control center is analysed whether from the information of vehicle flowrate that traffic lights background data server obtains tide lane place lane
The change for needing to carry out tide lane, when needing to carry out the change in tide lane, tide lane is changed and is believed by remote control center
Number and present period tide turning roadway terminal at traffic lights information be sent to section control base station, section control base station in real time
Walking command-control signal is sent to pier all on corresponding tide lane segment in real time by way of wireless data transmission
On son, each block of wood executes corresponding movement when receiving respective walking order, and location information is fed back to section in real time
Control base station；
Block of wood group on every tide lane includes multiple block of wood along the distribution of tide lane side, between adjacent block of wood
2~6 meters of interval；Described block of wood includes shell (5), Beidou module (4), embedded type control module, alarm lamp (6), solar-electricity
Pond plate (7), lead-acid accumulator (10), LoRa module, mobile module, obstacle avoidance module, angle judgment module and chassis (9), insertion
Formula control module connects section control base station by LoRa module, and lead-acid accumulator (10) is fixed on chassis (9), chassis (9)
It is fixed on outer casing bottom；The upper shell is provided with alarm lamp (6), and the outer surface of shell is provided with solar panel (7),
Solar panel (7) connects lead-acid accumulator (10) by solar charging circuit, the Beidou module (4) and obstacle avoidance module
It is arranged at interior of shell, mobile module, angle judgment module and locking mechanism are arranged on chassis (9)；
The angle judgment module includes the electronic compass being arranged on chassis (9) and the compass for driving the electronic compass rotation
Driving motor, the compass driving motor are fixed on chassis, and the mobile module includes the driving being arranged on chassis (9)
The movement driving motor of wheel, two driven wheels and the driving driving wheel rotation, the locking mechanism connect mobile module, locking
Mechanism is for being locked and being decontroled to driving wheel；Described block of wood when leaving the factory, the direction of electronic compass and block of wood towards phase
Together, all it is directed towards direct north；The obstacle avoidance module includes setting in the light that shell (5) is internal and is fixedly connected with shell (5)
Electric switch driving motor (12) and horizontally disposed optoelectronic switch (13), optoelectronic switch driving motor (12) connect optoelectronic switch (13)
And it drives within the scope of (13) 90 degree of optoelectronic switch and rotates；The front of the shell (5) offers 100 degree of open slot (15), light
The light that electric switch (13) issues passes through open slot (15) and swings in the range of open slot (15)；Chassis (9) suit
Convex block is provided on outer casing bottom, chassis (9), outer casing bottom is provided with the groove matched with the convex block on chassis (9), outside
Chassis driving motor is further fixed on shell, chassis driving motor connects ball-screw, is provided with and the ball wire on chassis (9)
The feed screw nut that thick stick matches, the feed screw nut are sleeved on the ball-screw, and chassis driving motor drives ball-screw
Chassis (9) are driven to move up and down in the bottom of shell when rotation；Absolute encoder is also equipped on the driving wheel, it is described absolute
Encoder is arranged between driving wheel and chassis, and driving wheel direction is identical as the steering of electronic compass when block of wood dispatches from the factory, at this time absolutely
Null positions are in encoder.
2. the tide lane altering system according to claim 1 based on absolute encoder, it is characterised in that: described long-range
Control centre connects traffic lights background data server and utilizes traffic lights back-end data when tide lane is changed
Server control the inlet in tide lane does not remain red light phase before changing and exit remains green light phase.
3. the tide lane altering system according to claim 1 based on absolute encoder, it is characterised in that: the chassis
Driving motor drives chassis (9) moving distance of chassis (9) when the bottom of shell moves up and down to be greater than outside by ball-screw
Height between shell bottom and ground.
4. the tide lane altering system according to claim 1 based on absolute encoder, it is characterised in that: the driving
Wheel and two driven wheels are all universal wheels.
5. the tide lane altering system according to claim 1 based on absolute encoder, it is characterised in that: the Beidou
Module is mounted on the top of the shell.
6. a kind of tide lane variation based on absolute encoder, 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
Information and the coordinate information of mobile final position is needed to be sent on each block of wood each block of wood；
3) block of wood on whole tide lane is specific mobile according to tide lane is not moved successively when front direction before changing
Mode is as follows:
3.1) block of wood is powered on and initialized, and judges itself with the presence or absence of failure, and breakdown judge includes lead-acid accumulator (10)
Judgement that whether the whether enough judgements of electricity, Beidou module (4) can position, LoRa module whether can normally transmit information and
Whether all motors can work normally inside block of wood；If there are failures for block of wood, block of wood there are failure is restarted
Breakdown judge is carried out to the block of wood again afterwards, if block of wood, there are still failure, the fault message that block of wood of failure will be present passes to
Section control base station, and the warning light of the block of wood is lighted, which is not moved；If failure is not present in block of wood, judge
Block of wood can be moved, into 3.2 steps；
3.2) the compass driving motor starting of block of wood drives one circle of electronic compass rotation, realizes the calibration positioning of electronic compass, obtains
The outbound course current to electronic compass；
3.3) Beidou module on block of wood (4) obtains the current location information of current block of wood, obtains in conjunction with from road segment controller
The coordinate information of the mobile final position of needs obtain the direction of motion of block of wood；
3.4) for the driving wheel used due to the mobile mechanism of block of wood for universal wheel, the initial position of driving wheel is unknown, rotation
Driving wheel rotates absolute encoder, and absolute encoder can directly acquire the angle between driving wheel and block of wood；In conjunction with step
The direction of motion of the block of wood obtained in the current outbound course of the electronic compass obtained in rapid 3.2 and step 3.3, rotate driving wheel
Its face is set to need to carry out mobile direction；
3.5) block of wood opens the alarm lamp (6) of itself and carries out obstacle judgement, and the mode that obstacle judges is the electric switch that diffuses
(13) telemetry is opened optoelectronic switch (13), is rotated the optoelectronic switch driving motor (12) on block of wood, is opened the photoelectricity on block of wood
(13) are closed 90 degree of left-right rotation in the range of open slot (15), judge whether optoelectronic switch (13) receives light in this process
Electric signal；If optoelectronic switch (13) is not received by photosignal always, then it represents that do not encounter barrier, i.e. pier in scanning process
Barrier is not present on the path that son will move, block of wood can carry out the movement step of next step；If optoelectronic switch (13) connects
Receive photosignal, then it represents that encountered barrier in scanning process, i.e., on the path that will move of block of wood may barrier, then
The 3s that needs to be delayed carries out obstacle judgement again；
3.6) determine it is accessible after, block of wood start along in step 3.4 determine the direction of motion moved, until reach purpose
The movement of block of wood is completed on ground；
3.7) when block of wood is moved to final position, locking mechanism is started to work, and driving wheel is locked, realizes the locking of block of wood；
4) after block of wood driving wheel (1) locking, chassis driving motor setting in motion, chassis driving motor drives ball screw turns
When driving chassis (9) moved upwards in the bottom of shell, i.e., shell moves downward, until shell bottom and ground face contact, then
Chassis driving motor and alarm lamp (6) are closed, the movement of single block of wood is completed；
5) after block of wood on whole section completes movement, the change in whole tide lane is realized.
7. a kind of tide lane variation based on absolute encoder according to claim 6, it is characterised in that: described
Remote control center connects traffic lights background data server and utilizes traffic lights backstage when tide lane is changed
Data server control the inlet in tide lane does not remain red light phase before changing and exit remains green light shape
State.
8. a kind of tide lane variation based on absolute encoder according to claim 6, it is characterised in that: step
The move mode of block of wood is mobile for segmented in 3.6, i.e., entire motion path is divided into several segments, every section of terminal point coordinate is sent out
It is sent on block of wood, block of wood is successively moved at every section of terminal point coordinate according to step 3.2~step 3.6 process, and at every section
Terminal point coordinate at when according to the location information of itself carry out again direction determine, continue to execute step 3.2~step 3.6 mistake
Journey, until block of wood is moved to final position.
9. a kind of tide lane variation based on absolute encoder according to claim 6, it is characterised in that: described
It is also connected with absolute angle coding disk (14) on the motor head of optoelectronic switch driving motor (12), passes 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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| CN111005333A (en) * | 2019-12-22 | 2020-04-14 | 青岛联合智造科技有限公司 | Intelligent solar tide protective fence |
| CN114991045A (en) * | 2022-06-30 | 2022-09-02 | 广东益宙交通实业有限公司 | Tidal lane robot and moving method thereof |
| CN115478504A (en) * | 2022-09-20 | 2022-12-16 | 通号信息产业有限公司 | Moving iron horse system and method for using same |
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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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Patent Citations (3)
| 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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