CN108086206A - Change robot and variation in a kind of tide track by camera avoidance - Google Patents

Abstract

The invention discloses a kind of tide tracks by camera avoidance to change robot and variation, and including A piers, B piers and connection guardrail, the both ends for connecting guardrail are respectively hinged on the central shaft of A piers and the central shaft of B piers；Big dipper module, embedded type control module, alarm lamp, solar panel, lead-acid accumulator, LoRa modules, chassis and shell are both provided on the A piers and B piers；The present invention sets portable hard shoulder using access, flexible, at low cost；Hard shoulder is carried out using dipper system to position in real time, control accuracy is high, safe；It is accurately positioned using dipper system and realizes that multilane changes；It realizes that urban traffic road network changes in real time using big data, is tackled at any time since variation of the factors to road demand, the realizations such as traffic accident, vehicle flowrate variation, bad weather automatically control.

Description

Change robot and variation in a kind of tide track by camera avoidance

Technical field

The present invention relates to tide track technical field, more specifically, more particularly to a kind of tide by camera avoidance Change robot and variation in nighttide track.

Background technology

Automobile brings great convenience for the trip of the mankind, but with the quick increase of automobile quantity, 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 in recent years and energy is used for developing intellectual resource traffic System improves the traffic efficiency of road, alleviates traffic jam issue.

" tidal phenomena " of traffic is the one of the major reasons of urban traffic blocking, the direction magnitude of traffic flow of going down town every morning Greatly, the direction magnitude of traffic flow of going out of the city is small, and at night be then go out of the city direction flow it is big, the direction magnitude of traffic flow of going down town is small.Reply is sooner or later A kind of typical solution of peak traffic flow is to enable tide track, morning peak go down town vehicle it is more when, increase is gone down town direction lane Number, reduction are gone out of the city direction lane number, evening peak go out of the city vehicle it is more when, increase is gone out of the city direction lane number, and reduction is gone down town direction lane Number.Current tide track is timing tide track, changes the traveling in tide track within the defined time of morning and evening peak period Direction, to adjust number of track-lines, use is also that ground double amber lines and stop-light are implemented to control to track direction.Traditional profit Implement the mode of control to track direction with ground double amber lines and stop-light, since numerous vehicles " being at loggerheads ", mark are inadequate Many drawbacks such as clear are gradually set the mode of isolation strip to substitute in lane side.And by manually being set between different tracks Isolation strip has implemented inconvenience since workload is huge, thus meet the tendency of again there are many emerging intelligent tide track and It is raw.

U.S.'s Gold Gate Bridge is one of section for carrying out changeable driveway earliest in the world, and bridge floor is 27 meters wide, removes both sides Pavement, section are two-way six-lane, and morning hours four into four go out, and afternoon, guardrail moved right a track, form reverse situation. Early postoperative management department sets tide track to solve the problems, such as this using artificial setting method.On the lane line among bridge Every one section all there are one eye, work car is slowly travelled among track, and respectively there are one staff on both sides to be sitting in the flat of underbody On platform, the staff on the both sides of work car carries out plug respectively, and track can be changed by walking one time.Many at home Small city also can using it is this it is artificial by the way of the safe heap of Plastic traffic is set, so as to isolate a kind of individual road for tide Vehicle uses.The mode in this artificial setting tide track operates fairly simple, and maintenance cost and cost are relatively low；It is but this Early, the evening peak phase manually sets the mode of tide road to need to expend substantial amounts of artificial and time cost, and efficiency is low, and tide vehicle Road conversion is not easy, while the vehicle run at high speed easily damages construction personnel, and risk factor is higher.

Tide track efficiency is low, time cost is high in order to solve the problems, such as manually to set, traffic control department using traffic lights and The mode of traffic sign delimit the fixed tide time come pressure when alleviating traffic congestion to some fixed tide roads Power.Peak period on and off duty or go out of the city go down town peak period when, by setting corresponding stop-light or direction board, temporarily Tide road is set, alleviates congestion in road, this system control mode has saved time and cost of labor, improved tide track Applicability.But this mode does not have apparent isolation guardrail, due to driver road markings is unfamiliar with or attention not The problems such as concentration, be easy to cause to rush by mistake and go by mistake, certain friendship is likely to result in so as to influence the utilization to tide track, when serious Interpreter's event.

The developed countries such as the U.S. are for a series of problems for manually setting tide track and signal control of intersection, invention A kind of tide lane changing machine had not only overcome and has manually set tidal efficiency low, but also realized being effectively isolated for tide road.This Kind tide lane changing machine is substantially a running locomotive, by setting various mechanical devices in intra-locomotive, with The guardrail in one track is moved to another track up by the operation of locomotive, which greatly enhances lane guardrail conversion speed, Cost of labor is reduced, be further divided into several sections for especially interminable tide track runs completion vehicle simultaneously by more lane change machines Road converts.But since planning limits, original isolation strip or greenbelt cannot be removed, and cause tide lane changing machine cannot It widely uses, and the transcriber purchase cost is higher, it is necessary to 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 track, the research staff in Shenzhen designs a kind of intelligent tide track again, should Intelligent tide track is formally exposed using remote control guardrail and the combining form of lamp control in Shen Nan South Mountain section, intelligence tide It nighttide track can be automatic that tide track is set automatically according to the size of vehicle flowrate.This intelligence tide track innovation bright spot exists In the introduction of remote control guardrail, it is similar to common guardrail, but bottom motors drive four pulleys, as long as plugging in, guardrail can Transverse shifting is carried out to be commanded with remote controler, the isolation switching in tide track was realized in 1 minute.Also there is intelligence barrier simultaneously Hinder identification technology, be able to detect that the barrier run into during guardrail lane change.Compared to traditional traffic dispersion mode, significantly Reduce the risk and live load of traffic police on duty.Traffic police can be according to site traffic situation, and by hand-held remote controller, control is variable Divide to traveling lane mark and adjust driveway travel directions at any time；If there is substantially current feature at crossing, in the feelings of no accident Under condition, traffic police can also shift to an earlier date the time into line program input fixed signal conversion, by its auto-changing；In addition, control centre Label can also be controlled using remote control means in due course by instruments monitor crossing road conditions；If realize 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 track, due to center The presence of isolation guardrail and greenbelt, on the one hand, the eastbound vehicle being lined up after overflowing cannot be introduced into the left-hand rotation of tide track, cause tide Nighttide lane utilization ratio is not high, on the other hand, the right-hand rotation of southing mouth this two due to cannot be introduced into tide track by guardrail obstruction, also drop The low utilization rate in tide track.

Meanwhile it this is essentially still in a manner that hand-held remote controller carries out intelligent tide lane control It manually controls, destabilizing factor is more, is easy to be influenced be subject to manpower factor, and is not easy centralized Control, greatly Ground limits the development in intelligent tide track.

One of an important factor for communication in intelligent tide track is also the development of limitation tide track, such as Shenzhen are this The mode of intelligent tide track intelligence traffic police scene hand-held remote controller controls remote control guardrail, can only carry out closely Control, and can not realize the long-range centralized Control of a wide range of remote control guardrail.

Technology of Internet of things is then the important opportunity for breaking through this problem.With intelligent tide track and the hair of Internet of Things Exhibition, the in the market requirement to wireless technology increasingly increase.Especially low-power consumption, height how are made what is advocated technology of Internet of things The wireless connection of reliability becomes the pursuit of modern internet of things equipment manufacturer, also becomes the mesh of wireless chip supplier Mark.There are many kinds of wireless technologys in Internet of Things application, including LAN and wide area network.The wireless technology of composition LAN has The WiFi of 2.4GHz, bluetooth, Zigbee etc., the wireless technology for forming wide area network mainly have 2G/3G/4G.LoRa is LPWAN communications One kind in technology is a kind of overlength distance Radio Transmission Technology based on spread spectrum.This technology change in the past on Transmission range and the compromise of power consider mode, provide a kind of simple energy to the user and realize the remote, system of low-power consumption.Together When, free frequency range uses Lo Ra in the world, including 433,868,915MHz.LoRa technologies are a kind of extra long distances Small wireless technology has merged digital spread spectrum, Digital Signal Processing and forward error correction coding technology.There can be number using LoRa technologies One wireless data sending network of ten thousand wireless data transmission module compositions, the base station net of similar existing mobile communication, each node The mobile phone user of similar mobile network, in whole network coverage, face-to-face communication between each network node and gateway away from From 5 kilometers or even farther can be reached.LoRa technologies have the characteristics that remote, low-power consumption, multinode, low cost.

If LoRa systems are dissolved into the control in intelligent tide track, it can break away from and be held by traffic police merely Remote controler carrys out the defects of intelligent control tide track, to realize the centralized Control in intelligent tide track, and can greatly Production cost is reduced, reduces the overall power in intelligent tide track, improves the popularity rate in intelligent tide track.

Alignment system plays the role of particularly important, current alignment system master in the use of tide track automatic running The GPS satellite navigation system, the GLONASS GLONASS satellite navigation system of Russia and the Big Dipper in China that include the U.S. are defended Star navigation system.

GPS of America satellite navigation system is that constantly earthward certain frequency of broadcast transmission is simultaneously for the satellite that utilizes in space flight The radio signal of some special location informations is loaded with to realize the alignment system of positioning measurement.The system is by space motion The three parts such as satellite constellation, ground control segment, User Part form.GPS satellite navigation system originates in army of the I958 U.S. One project of side, l964 comes into operation, in the 1970s, land, sea, and air of U.S. joint research and development satellite of new generation Position system GPS, main purpose is to provide real-time, round-the-clock and global navigation Service for three big field of land, sea and air, and is used for Some military purposes such as information gathering, Nuclear detonation monitoring and emergency communication, to l994, Global coverage rate is up to 24 of 98% Own lay of GPS satellite constellation is completed.During GPS satellite navigation system use, GPS with it is round-the-clock, In high precision, geodesic survey, engineering survey, aeroplane photography, Navigation for Means of Transportation are applied successfully to the features such as automation, high benefit With a variety of subjects such as control, crustal movement measurement, engineering project deformation measurement, resources survey, geodynamics, the economy achieved Benefit and social benefit.The operational satellites of GPS satellite navigation system are located at the overhead away from earth's surface 20200km, are evenly distributed on 6 In orbital plane (each orbital plane 4), orbit inclination angle is 55 °.In addition, also 3 active redundancy satellites are in orbit.Satellite Distribution all to can observe the satellite of 4 or more, and the navigation that can be prestored in the satel-lite Anywhere, any time in the whole world Information also can use a period of time, but navigation accuracy can continuously 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 Ross starts to establish the Global Satellite Navigation System of this country alone for 1993, which started operation in 2007, only opened at that time Put the domestic satellite positioning of Russia and navigation Service.By 2009, service range was extended to the whole world.GLONASS satellite Navigation system main services content includes determining land, the coordinate at sea and aerial target and motion velocity information etc..GLONASS Constellation is made of altogether 30 satellites, and 27 stars are evenly distributed on the orbit plane of 3 subcirculars, these three orbit planes two Two are separated by 120 degree, and each orbital plane has 8 satellites, 45 degree is separated by between coplanar interior satellite, orbit altitude 2.36 ten thousand is public In, 15 divide when the cycle of operation 11 is small, 64.8 degree of orbit inclination angle, and precision reaches 10 meters or so at present.

Beidou satellite navigation system is the global navigation satellite system that China voluntarily develops, and is after GPS of America satellite 3rd Global Satellite Navigation System after navigation system and Russian Glonass satellite navigation system.Beidou satellite navigation system System provides global range, round-the-clock, high-precision satellite navigation positioning and time service service, and communicates energy with distinctive short message Power.On December 27th, 2012, Beidou satellite navigation system starting region formally services, and possesses the covering Asian-Pacific area, is China Space Science and Technology and satellite communication are to industrialization, the milestone of marketing development.Under the cooperation of bottom surface facility, Beidou satellite navigation The Real-Time Positioning of system has been significantly larger than GPS satellite navigation system, has had reached now in the case of 80 kilometers/hour 2 centimetres of precision.

With significantly improving for each field Beidou satellite navigation system popularity of communications and transportation, application environment it is further Perfect, service ability is remarkably reinforced, and the application of Beidou satellite navigation system achieves extremely significant achievement, for this 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 track, by designing base In the track of Beidou satellite navigation system, change robot realizes track change, with reference to existing monitoring and license plate recognition technology energy It reaches and Full automatic unmanned is realized in change lane, recycle big data system, may finally realize round-the-clock track oneself It is dynamic to adjust, it solves the problems, such as by caused congestion in road the problems such as tidal phenomena, traffic accident, weather anomaly.

The content of the invention

It is an object of the invention to solve not knowing for the above-mentioned prior art, it is proposed that a kind of tide by camera avoidance Robot and variation are changed in track, can carry out the conversion in tide track automatically, and can realize automatic obstacle-avoiding, reduce Production and application cost reduces influence of the manpower factor to intelligent tide track.

The present invention is achieved through the following technical solutions above-mentioned purpose：It changes in a kind of tide track by camera avoidance Robot, including A piers, B piers and connection guardrail, the both ends for connecting guardrail are respectively hinged at the central shaft of A piers and the central shaft of B piers On；Angular transducer is mounted between the A piers and B piers and connection guardrail；

Big dipper module, embedded type control module, alarm lamp, solar panel, lead are both provided on the A piers and B piers Acid accumulator, LoRa modules, chassis and shell, embedded type control module connect section control base station, plumbic acid by LoRa modules Accumulator 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 matched groove of convex block, be further fixed on chassis driving motor on shell, chassis driving motor connection ball-screw, on chassis It is provided with and is sleeved on the matched feed screw nut of the ball-screw, the feed screw nut on the ball-screw, chassis is driven Dynamic motor drives chassis to move up and down in the bottom of shell when driving ball screw turns；The shell upper end is provided with alarm Lamp, the outer surface of shell are provided with solar panel, and solar panel connects lead acid storage battery by solar charging circuit Pond, the big dipper module are arranged at enclosure, and moving mechanism and locking mechanism are arranged on chassis；

Three directional wheels, an orientation motor, avoidance camera are also equipped on the chassis of the A piers and B piers and is taken the photograph As head driving motor, three directional wheels include a driving wheel and two driven wheels, and orientation motor connection driving wheel is by driving institute Driving wheel rotation is stated, the movement for driving A piers or B piers is moved by driving wheel, incremental encoder is installed on the driving wheel, It is consistent these three directions of the direction of the zero-bit of incremental encoder, the direction of motion of hard shoulder and driving wheel when dispatching from the factory； Webcam driver motor is fixed on the shell, and webcam driver motor connection avoidance camera simultaneously drives the avoidance camera It rotates, horizontal notch is offered on shell, connection guardrail is through horizontal notch connection central shaft and avoidance camera is through horizontal Notch is towards outside hard shoulder.

A kind of tide track variation by camera avoidance includes the following steps：

S1：The signal lamp in tide track is controlled, the signal lamp of tide track inlet is made to be converted to red light, and starts first Group track change robot；

S2：A piers and B piers carry out power-up initializing 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, big dipper module can position, wireless transport module can normally transfer letter Whether all motors can work normally in breath and hard shoulder；If A piers or B piers are there are failure, to there are the A piers of failure Or B piers restarted after again to the hard shoulder carry out breakdown judge, if A piers or B piers, there are still failure, there will be the A of failure The fault message of pier or B piers passes to section control base station, and lights the warning light of the hard shoulder, which is not moved It is dynamic；If A piers and B piers there is no failure, judge that A piers and B piers can be moved, and enter S3 steps；

S3：A piers and B piers obtain target position information respectively, and by the link division Cheng Ruo of current location and target location Dry part, every part of length is 10cm, obtains the segmented objects location information after division；A piers and B piers to move each movement in turn The mode of 10cm is moved to target location；

S4：The junction setting angle sensor of A piers and connection guardrail, and Big Dipper mould is installed at the top of A piers and B piers Block, the absolute position of A piers and B piers is determined by big dipper module, it is possible thereby to learn absolute position of the connection guardrail compared with ground It puts and absolute angle, the relative angle of connection guardrail and A piers is learnt by angular transducer, then by it with being connected the absolute of guardrail Angle combine draw A piers compared with ground relative angle and A piers compared with ground absolute angle, according to the A in S3 steps Pier current location and target location determine the direction of motion of A piers, equipped with incremental encoder between A piers and driving wheel, rotate master Driving wheel is allowed to return zero-bit, obtains A piers orientation information and A pier direction of motion information；

S5：A piers are first turned on the alarm lamp of itself and carry out obstacle judgement, and the mode that obstacle judges is camera shooting figure As diagnostic method, before A piers every time movement, direction face A pier of the avoidance camera along connection guardrail on B piers, to tide during detection Nighttide track direction rotates the webcam driver motor on B piers, makes the direction of the avoidance camera on B piers with being connected guardrail in 5 degree, Image identification is carried out to the image that the avoidance camera on B piers takes, the picture of acquisition is sentenced using image recognition technology obstacle It is disconnected, if figure judges image appearance without exception after image identifies, it is judged as accessible, i.e., has one on the motion path of A piers The stroke of section 10cm long is simultaneously accessible, into S6 steps；If if avoidance camera during webcam driver motor rotates There are abnormal conditions in the image that avoidance camera is shot during webcam driver motor rotates, then is judged as there is obstacle, then It is delayed after 3s and obstacle judgement is carried out to A piers again；

S6：The locking device of A piers and B piers is unclamped, the orientation motor rotated on A piers drives driving wheel to rotate, and makes A piers direct It is moved towards target location；A piers move along a straight line under the driving of orientation motor to segmented objects locality, the fortune of A piers Dynamic distance is 10cm, and control motor makes A piers linear motion 10cm, and when A piers move, B piers keep free following state, in A After pier has moved 10cm, A piers determine the current current location information of itself by big dipper module, and by current location information with walking The first segmentation location information obtained in rapid S5 is compared, if the current location information of A piers and first fragment bit confidence Manner of breathing overlaps, then A piers, which move to fragment bit and postpone, closes alarm lamp and lock locking device, if the current location information of A piers with First segmentation location information is misaligned, then A piers continue movement until the current location information and first fragment bit confidence of A piers Manner of breathing overlaps；

S7：The junction setting angle sensor of B piers and connection guardrail, and Big Dipper mould is installed at the top of A piers and B piers Block, the absolute position of A piers and B piers is determined by big dipper module, it is possible thereby to learn absolute position of the connection guardrail compared with ground It puts and absolute angle, the relative angle of connection guardrail and B piers is learnt by angular transducer, then by it with being connected the absolute of guardrail Angle combine draw B piers compared with ground relative angle and B piers compared with ground absolute angle, according to the B in S3 steps Pier current location and target location determine the direction of motion of B piers, equipped with incremental encoder between B piers and driving wheel, rotate master Driving wheel is allowed to return zero-bit, obtains B piers orientation information and B pier direction of motion information；

S8：Before B piers every time movement, the direction face B piers of avoidance camera on A piers along connection guardrail, during detection to Tide track direction rotates the webcam driver motor on A piers, makes the direction of the avoidance camera on A piers with being connected guardrail in 5 Degree, carries out the image that the avoidance camera on A piers takes image identification, and the picture of acquisition utilizes image recognition technology obstacle Judge, if figure judges image without exception appearance after image identifies, be judged as accessible, i.e., have on the motion path of B piers The stroke of one section of 10cm long is simultaneously accessible, into S6 steps；Avoidance camera during if webcam driver motor rotates If abnormal conditions occurs in the image that avoidance camera is shot during webcam driver motor rotates, it is judged as there is obstacle, It is then delayed after 3s and obstacle judgement is carried out to B piers again；

S9：The orientation motor rotated on B piers drives driving wheel to rotate, and B piers is made to be directly toward target location movement；B piers exist It orients and moves along a straight line under the driving of motor to segmented objects locality, the move distance of B piers is 10cm, and control motor makes B piers linear motion 10cm, when B piers move, B piers keep free following state, and after B piers have moved 10cm, B piers pass through north Bucket module determines the current current location information of itself, and first fragment bit that will be obtained in current location information and step S5 Confidence breath is compared, if the current location information of B piers is overlapped with first fragment bit confidence manner of breathing, B piers move to segmentation Alarm lamp is closed behind position and locks locking device, if the current location information of B piers and first segmentation location information are misaligned, Then B piers continue movement until the current location information of B piers is overlapped with first fragment bit confidence manner of breathing；

S810：Section control base station sends remaining segmentation location information successively to A piers and B piers, and repeat above-mentioned S5~ S9 steps until A piers and B piers reach target location, complete the movement of one group of track change robot；

S11：After the completion of the movement of first group of hard shoulder group, remaining hard shoulder group is repeated in above-mentioned S3~S10 steps, Until all hard shoulder groups are moved to the opposite side in tide track；

S12：The signal lamp in tide track is controlled, the Way in for making its new is green light, completes the change in entire tide track Change process.

The beneficial effects of the present invention are：

1st, the present invention using tide track one side movable type hard shoulder, it is necessary to during changing Lane directly will it is mobile after The mode that opposite side track is moved to from pier realizes the conversion in tide track, flexible, at low cost.

2nd, the present invention is positioned in real time using dipper system progress hard shoulder, and control accuracy is high, safe.

3rd, the present invention is accurately positioned using dipper system realizes that multilane changes, while realizes urban transportation using big data Road network changes in real time, is tackled at any time due to change of the factors to road demand such as traffic accident, vehicle flowrate variation, bad weathers Change, realization automatically controls.

4th, the present invention reduces the universal wheel drive on B piers in a manner that A hard shoulders drive B hard shoulders to move together The use of motor reduces whole cost.

5th, brake positioning of the invention does not only rely on the braking mechanism inside block of wood, can also be directly by the outer of A piers or B piers Shell entire lowering is placed on ground, is realized that the shell side of block of wood is directly contacted with ground, is avoided the only wheel of A piers and B piers Hard shoulder caused by being contacted with ground slides, and positioning has been better achieved, and the positioning method that shell declines can be effective It prevents into sundries inside A piers or B piers, so as to influence the normal use of hard shoulder.

6th, the present invention is real by setting solar panel and the internal lead-acid accumulator set on the shell of hard shoulder Existing hard shoulder charges and at any time without the use under cable status, because the number of change lane normally only one to two in one day It is secondary, thus lead-acid accumulator can realize completely daily change lane more can, while solar panel can ensure to isolate The continuation of the journey of pier longer time.

7th, the present invention by the setting of alarm lamp can be that hard shoulder not only plays a warning role when in use, moreover it is possible to every Fault alarm is carried out from when breaking down inside pier, prevents that track can not change situation caused by hard shoulder failure.

Description of the drawings

Fig. 1 is the structure diagram that robot is changed in a kind of tide track by camera avoidance of the present invention.

Fig. 2 is the three dimensional structure diagram of A piers or B piers of the present invention.

Fig. 3 is the internal sectional structure schematic diagram of A piers or B piers of the present invention.

Fig. 4 is a kind of flow diagram of tide track variation by camera avoidance of the invention.

In figure, 1-A piers, 2-B piers, 3- connections guardrail, 4- central shafts, 5- angular transducers, 6- ball-screws, 7- shells, 8- avoidances camera, 9- webcam drivers motor, 10- big dipper modules, 11- alarm lamps, 12- chassis driving motor, 13- shaft couplings Device, 14- lead-acid accumulators, 15- driven wheels, 16- chassis, 17- incremental encoders, 18- driving wheels, 19- solar panels.

Specific embodiment

The invention will be further described below in conjunction with the accompanying drawings：

As shown in Figures 1 to 3, robot is changed in a kind of tide track by camera avoidance, including A piers 1, B piers 2 and connects Guardrail 3 is connect, the both ends of connection guardrail 3 are respectively hinged on the central shaft of A piers 1 and the central shaft of B piers 2, the A piers 1 and B piers 2 With being connected angular transducer is mounted between guardrail 3.

Big dipper module 10, embedded type control module, alarm lamp 11, solar cell are both provided on the A piers 1 and B piers 2 Plate 19, lead-acid accumulator 14, LoRa modules, chassis 16 and shell 7, embedded type control module connect section by LoRa modules and control Base station processed, lead-acid accumulator 14 are fixed on chassis 16, and chassis 16 is sleeved on 7 bottom of shell, is provided with convex block on chassis 16, outside 7 bottom of shell be provided with the matched groove of convex block on chassis 16, be further fixed on chassis driving motor 12, chassis on shell 7 Driving motor 12 connects ball-screw 6, is provided with and the 6 matched feed screw nut of ball-screw, the silk on chassis 16 Thick stick nut is sleeved on the ball-screw 6, and chassis driving motor 12 drives ball-screw 6 to drive chassis 16 when rotating in shell 7 bottom moves up and down, and the chassis driving motor 12 connects ball-screw 6 by shaft coupling 13；7 upper end of shell is set There is alarm lamp 11, the outer surface of shell 7 is provided with solar panel 19, and solar panel 19 passes through solar charging circuit Lead-acid accumulator 14 is connected, the big dipper module 10 is arranged inside shell 7, and moving mechanism and locking mechanism are arranged at bottom On disk 16.

Three directional wheels, an orientation motor, avoidance camera 8 are also equipped on the chassis 16 of the A piers 1 and B piers 2 With webcam driver motor 9, three directional wheels include a driving wheel 18 and two driven wheels 15, orientation motor connection driving wheel 18 are driven the driving wheel 18 to rotate, and move the movement for driving A piers 1 or B piers 2 by driving wheel 18, on the driving wheel 18 Incremental encoder 17 is installed, the zero-bit of incremental encoder 17, the direction of motion of hard shoulder and driving wheel 18 are made when dispatching from the factory These three directions of direction be consistent；Webcam driver motor 9 is fixed on shell 7, and webcam driver motor 9 connects avoidance Camera 8 and the rotation for driving the avoidance camera 8, horizontal notch is offered on shell 7, and connection guardrail 3 passes through level trough Mouthful connection central shaft and avoidance camera 8 are through horizontal notch towards outside hard shoulder；

As shown in figure 4, a kind of tide track variation by camera avoidance, includes the following steps：

S1：The signal lamp in tide track is controlled, the signal lamp of tide track inlet is made to be converted to red light, and starts first Group track change robot；

S2：A piers 1 and B piers 2 carry out power-up initializing 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, big dipper module 10 can position, wireless transport module can normally pass Pass whether motor all in information and hard shoulder can work normally；If A piers 1 or B piers 2 are there are failure, to there is event The A piers 1 or B piers 2 of barrier carry out breakdown judge to the hard shoulder again after being restarted, if A piers 1 or B piers 2 are incited somebody to action there are still failure There are the A piers 1 of failure or the fault message of B piers 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 A piers 1 and B piers 2 there is no failure, judge that A piers 1 and B piers 2 can be moved, and enter S3 steps；

S3：A piers 1 and B piers 2 obtain target position information respectively, and by the link division of current location and target location into Several pieces, every part of length is 10cm, obtains the segmented objects location information after division；A piers 1 and B piers 2 are each to move in turn The mode for moving 10cm is moved to target location；

S4：The junction setting angle sensor of A piers 1 and connection guardrail 3, and the top of A piers 1 and B piers 2 is equipped with north Struggle against module 10, and the absolute position of A piers 1 and B piers 2 is determined by big dipper module 10, it is possible thereby to learn connection guardrail 3 compared with ground The absolute position in face and absolute angle learn the relative angle of connection guardrail 3 and A piers 1 by angular transducer, then by it with connecting Connect guardrail 3 absolute angle combine draw A piers 1 compared with ground relative angle and A piers 1 compared with ground absolute angle, 1 current location of A piers and target location in S3 steps determine the direction of motion of A piers 1, equipped with increasing between A piers 1 and driving wheel Amount formula encoder 17, rotary driving wheel 18 are allowed to return zero-bit, obtain 1 orientation information of A piers and 1 direction of motion information of A piers；

S5：A piers 1 are first turned on the alarm lamp 11 of itself and carry out obstacle judgement, and the mode that obstacle judges is clapped as camera Image discriminating method is taken the photograph, before A piers 1 every time movement, direction face A pier 1 of the avoidance camera 8 along connection guardrail 3 on B piers 2, inspection The webcam driver motor 9 on B piers 2 is rotated to tide track direction during survey, makes direction and the company of avoidance camera 8 on B piers 2 Guardrail 3 is connect in 5 degree, image identification is carried out to the image that the avoidance camera 8 on B piers 2 takes, the picture of acquisition utilizes image Identification technology obstacle judges, if figure judges image without exception appearance after image identifies, is judged as accessible, i.e. A piers 1 There is the stroke of one section of 10cm long and accessible on motion path, into S6 steps；If the process that webcam driver motor 9 rotates If there are abnormal conditions in the image that avoidance camera 8 is shot during middle 8 webcam driver motor 9 of avoidance camera rotates, Then it is judged as there is obstacle, then obstacle judgement is carried out to A piers 1 again after the 3s that is delayed；

S6：The locking device of A piers 1 and B piers 2 is unclamped, the orientation motor on A piers 1 is rotated and driving wheel 18 is driven to rotate, make A Pier 1 is directly toward target location movement；A piers 1 move along a straight line under the driving of orientation motor to segmented objects locality, The move distance of A piers 1 be 10cm, control motor make A piers 1 move along a straight line 10cm, when A piers 1 move, B piers 2 keep freely with With state, after A piers 1 have moved 10cm, A piers 1 determine the current current location information of itself by big dipper module 10, and ought Front position information is compared with obtained in step S5 first segmentation location information, if the current location information of A piers 1 and the One fragment bit confidence manner of breathing overlaps, then A piers 1 move to fragment bit and postpone closing alarm lamp 11 and lock locking device, if A piers 1 current location information and first segmentation location information are misaligned, then A piers 1 continue movement until the present bit confidence of A piers 1 Breath is overlapped with first fragment bit confidence manner of breathing；

S7：The junction setting angle sensor 5 of B piers 2 and connection guardrail, and the top of A piers 1 and B piers 2 is equipped with north Struggle against module 18, and the absolute position of A piers 1 and B piers 2 is determined by big dipper module 18, it is possible thereby to learn connection guardrail 3 compared with ground The absolute position in face and absolute angle learn the relative angle of connection guardrail and B piers 2 by angular transducer, then by it with connecting The absolute angle combination for connecing guardrail draws B piers 2 compared with the relative angle and B piers 2 on ground compared with the absolute angle on ground, root The direction of motion of B piers 2 is determined according to 2 current location of B piers in S3 steps and target location, increment is housed between B piers 2 and driving wheel Formula encoder 17, rotary driving wheel 18 are allowed to return zero-bit, obtain 2 orientation information of B piers and 2 direction of motion information of B piers；

S8：Before B piers 2 every time movement, direction face B pier 2 of the avoidance camera 8 along connection guardrail 3 on A piers 1, detection When webcam driver motor 9 on A piers 1 is rotated to tide track direction, make the direction of avoidance camera 8 on A piers 1 with being connected Guardrail 3 is in 5 degree, and image identification is carried out to the image that the avoidance camera 8 on A piers 1 takes, and the picture of acquisition is known using image Other technology barrier judges, if figure judges image appearance without exception after image identifies, is judged as accessible, the i.e. fortune of B piers 2 There is the stroke of one section of 10cm long and accessible on dynamic path, into S6 steps；During if webcam driver motor 9 rotates If there are abnormal conditions in the image that avoidance camera 8 is shot during 8 webcam driver motor 9 of avoidance camera rotates, It is judged as there is obstacle, then obstacle judgement is carried out to B piers 2 again after the 3s that is delayed；

S9：Rotating the orientation motor on B piers 2 drives driving wheel 18 to rotate, and B piers 2 is made to be directly toward target location 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 piers 2 is 10cm, is controlled Motor makes the linear motion 10cm of B piers 2, and when B piers 2 move, B piers 2 keep free following state, and 10cm has been moved in B piers 2 Afterwards, B piers 2 determine the current current location information of itself by big dipper module 10, and by current location information with being obtained in step S5 The first segmentation location information obtained is compared, if the current location information of B piers 2 and first fragment bit confidence manner of breathing weight It closes, then B piers 2, which move to fragment bit and postpone, closes alarm lamp 11 and lock locking device, if the current location information of B piers 2 and the One segmentation location information is misaligned, then B piers 2 continue movement until the current location information and first fragment bit confidence of B piers 2 Manner of breathing overlaps；

S10：Section control base station sends remaining segmentation location information successively to A piers 1 and B piers 2, and repeat above-mentioned S5~ S9 steps until A piers 1 and B piers 2 reach target location, complete the movement of one group of track change robot；

S11：After the completion of the movement of first group of hard shoulder group, remaining hard shoulder group is repeated in above-mentioned S3~S10 steps, Until all hard shoulder groups are moved to the opposite side in tide track；

S12：The signal lamp in tide track is controlled, the Way in for making its new is green light, completes the change in entire tide track Change process.

Above-described embodiment is presently preferred embodiments of the present invention, is not the limitation to technical solution of the present invention, as long as Without the technical solution that creative work can be realized on the basis of above-described embodiment, it is regarded as falling into patent of the present invention Rights protection scope in.

Claims (2)

1. robot is changed in a kind of tide track by camera avoidance, it is characterised in that：Including A piers (1), B piers (2) and connect Guardrail (3) is connect, the both ends of connection guardrail (3) are respectively hinged on the central shaft of A piers (1) and the central shaft of B piers (2)；The A piers (1) and B piers (2) are mounted on angular transducer (5) with being connected between guardrail (3)；

Big dipper module (10), embedded type control module, alarm lamp (11), solar energy are both provided on the A piers (1) and B piers (2) Solar panel (19), lead-acid accumulator (14), LoRa modules, chassis (16) and shell (7), embedded type control module pass through LoRa moulds 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 and the matched groove of convex block on chassis (16), shell (7) On be further fixed on chassis driving motor (12), chassis driving motor (12) connection ball-screw (6), be provided on chassis (16) with The matched feed screw nut of the ball-screw (6), the feed screw nut are sleeved on the ball-screw (6), chassis driving Motor (12) drives ball-screw (6) when rotating chassis (16) to be driven to move up and down in the bottom of shell (7)；The shell (7) Upper end is provided with alarm lamp (11), and the outer surface of shell (7) is provided with solar panel (19), and solar panel (19) is logical Solar charging circuit connection lead-acid accumulator (14) is crossed, the big dipper module (10) is arranged at shell (7) inside, moving machine Structure and locking mechanism are arranged on chassis (16)；

Three directional wheels, an orientation motor, avoidance camera shooting are also equipped on the chassis (16) of the A piers (1) and B piers (2) Head (8) and webcam driver motor (9), three directional wheels include a driving wheel (18) and two driven wheels (15), orientation electricity Machine connection driving wheel (18) is driven the driving wheel (18) to rotate, and is moved by driving wheel (18) and is driven A piers (1) or B piers (2) Movement, incremental encoder (17) is installed on the driving wheel (18), make when dispatching from the factory incremental encoder (17) zero-bit, These three directions of the direction of the direction of motion and driving wheel (18) of hard shoulder are consistent；Webcam driver motor (9) is fixed on On shell (7), webcam driver motor (9) connection avoidance camera (8) simultaneously drives the rotation of the avoidance camera (8), outside Horizontal notch is offered on shell (7), connection guardrail (3) penetrates water through horizontal notch connection central shaft and avoidance camera (8) Mouth rise as high as the banks towards outside hard shoulder.

2. a kind of tide track variation by camera avoidance, it is characterised in that：Include the following steps：

S1：The signal lamp in tide track is controlled, the signal lamp of tide track inlet is made to be converted to red light, and starts first group of vehicle Change robot in road；

S2：A piers (1) and B piers (2) carry out power-up initializing 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, big dipper module (10) can position, wireless transport module can be normal Transfer whether motor all in information and hard shoulder can work normally；If A piers (1) or B piers (2) are there are failure, right There are failure A piers (1) or B piers (2) restarted after again to the hard shoulder carry out breakdown judge, if A piers (1) or B piers (2) are still There are failures, then there will be the A piers (1) of failure or the fault message of B piers (2) to pass to section control base station, and light this every Warning light from pier does not move the hard shoulder；If A piers (1) and B piers (2) there is no failure, judge A piers (1) and B piers (2) can be moved, and enter S3 steps；

S3：A piers (1) and B piers (2) obtain target position information respectively, and by the link division of current location and target location into Several pieces, every part of length is 10cm, obtains the segmented objects location information after division；A piers (1) and B piers (2) to move in turn The mode of movement 10cm is moved to target location every time；

S4：The junction setting angle sensor of A piers (1) and connection guardrail (3), and the top of A piers (1) and B piers (2) is installed There is big dipper module (10), the absolute position of A piers (1) and B piers (2) is determined by big dipper module (10), it is possible thereby to learn connection Connection guardrail (3) and A piers (1) are learnt in absolute position and absolute angle of the guardrail (3) compared with ground by angular transducer Relative angle, then it with the absolute angle of connection guardrail (3) is combined and draws A piers (1) compared with the relative angle on ground and A piers (1) compared with the absolute angle on ground, A piers (1) current location and target location in S3 steps determine the fortune of A piers (1) Dynamic direction, A piers (1) are allowed to return zero-bit between driving wheel equipped with incremental encoder (17), rotary driving wheel (18), obtain A piers (1) orientation information and A piers (1) direction of motion information；

S5：A piers (1) are first turned on the alarm lamp (11) of itself and carry out obstacle judgement, and the mode that obstacle judges is clapped as camera Image discriminating method is taken the photograph, before A piers (1) every time movement, the direction of avoidance camera (8) the edge connection guardrail (3) on B piers (2) is just To A piers (1), when detection, rotates the webcam driver motor (9) on B piers (2) to tide track direction, makes the avoidance on B piers (2) For the direction of camera (8) with being connected guardrail (3) in 5 degree, the image taken to the avoidance camera (8) on B piers (2) carries out figure As identification, the picture of acquisition is judged using image recognition technology obstacle, if figure judges that image without exception goes out after image identifies It is existing, then it is judged as accessible, i.e., has the stroke of one section of 10cm long and accessible on the motion path of A piers (1), into S6 steps In；Avoidance camera (8) during if webcam driver motor (9) rotates is if the process that webcam driver motor (9) rotates There are abnormal conditions in the image of middle avoidance camera (8) shooting, then is judged as there is obstacle, then after the 3s that is delayed again to A piers (1) into Row obstacle judges；

S6：The locking device of A piers (1) and B piers (2) is unclamped, the orientation motor rotated on A piers (1) drives driving wheel (18) to rotate, A piers (1) is made to be directly toward target location movement；A piers (1) carry out straight under the driving of orientation motor to segmented objects locality Line moves, and the move distance of A piers (1) is 10cm, and control motor makes A piers (1) linear motion 10cm, when A piers (1) move, B piers (2) keep free following state, after A piers (1) move 10cm, A piers (1) by big dipper module (10) determine currently itself Current location information, and current location information and obtained in step S5 first segmentation location information are compared, if A The current location information of pier (1) is overlapped with first fragment bit confidence manner of breathing, then A piers (1) move to fragment bit and postpone closing report Warning lamp (11) simultaneously locks locking device, if the current location information of A piers (1) and first segmentation location information are misaligned, A piers (1) movement is continued until the current location information of A piers (1) is overlapped with first fragment bit confidence manner of breathing；

S7：B piers (2) and the junction setting angle sensor (5) for connecting guardrail, and the top of A piers (1) and B piers (2) is installed There is big dipper module (18), the absolute position of A piers (1) and B piers (2) is determined by big dipper module (18), it is possible thereby to learn connection Absolute position and absolute angle of the guardrail (3) compared with ground learn the phase of connection guardrail and B piers (2) by angular transducer To angle, then it with the absolute angle of connection guardrail is combined and draws B piers (2) compared with the relative angle on ground and B piers (2) phase For the absolute angle on ground, B piers (2) current location and target location in S3 steps determine the movement side of B piers (2) To equipped with incremental encoder (17) between driving wheel, rotary driving wheel (18) is allowed to return zero-bit B piers (2), obtains B piers (2) orientation information and B piers (2) direction of motion information；

S8：Before B piers (2) every time movement, direction face B pier of the avoidance camera (8) along connection guardrail (3) on A piers (1) (2), the webcam driver motor (9) on A piers (1) is rotated to tide track direction during detection, images the avoidance on A piers (1) The direction of head (8) carries out image knowledge with being connected guardrail (3) in 5 degree, to the image that the avoidance camera (8) on A piers (1) takes Not, the picture of acquisition is judged using image recognition technology obstacle, if figure judges that image without exception occurs after image identifies, It is judged as accessible, i.e., has the stroke of one section of 10cm long and accessible on the motion path of B piers (2), into S6 steps；If it takes the photograph Avoidance camera (8) during being rotated as head driving motor (9) is if avoidance is taken the photograph during webcam driver motor (9) rotates There are abnormal conditions in the image that picture head (8) is shot, then is judged as there is obstacle, then carrying out obstacle to B piers (2) again after the 3s that is delayed sentences It is disconnected；

S9：The orientation motor rotated on B piers (2) drives driving wheel (18) to rotate, and B piers (2) is made to be directly toward target location movement； B piers (2) move along a straight line under the driving of orientation motor to segmented objects locality, and the move distance of B piers (2) is 10cm, control motor make B piers (2) linear motion 10cm, and when B piers (2) move, B piers (2) keep free following state, in B After pier (2) has moved 10cm, B piers (2) determine the current current location information of itself by big dipper module (10), and by present bit Confidence is ceased to be compared with the first segmentation location information obtained in step S5, if the current location information and first of B piers (2) A fragment bit confidence manner of breathing overlaps, then B piers (2) move to fragment bit and postpone closing alarm lamp (11) and lock locking device, if B The current location information of pier (2) and first segmentation location information are misaligned, then B piers (2) continue movement until B piers (2) are worked as Front position information is overlapped with first fragment bit confidence manner of breathing；

S10：Section control base station sends remaining segmentation location information successively to A piers (1) and B piers (2), and repeat above-mentioned S5~ S9 steps until A piers (1) and B piers (2) reach target location, complete the movement of one group of track change robot；

S11：After the completion of the movement of first group of hard shoulder group, remaining hard shoulder group is repeated in above-mentioned S3~S10 steps, until All hard shoulder groups are moved to the opposite side in tide track；

S12：The signal lamp in tide track is controlled, the Way in for making its new is green light, completes the transformed of entire tide track Journey.