CN112847388B - Construction area dynamic guiding method based on bionic traffic worker robot - Google Patents
Construction area dynamic guiding method based on bionic traffic worker robot Download PDFInfo
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- CN112847388B CN112847388B CN202011628674.8A CN202011628674A CN112847388B CN 112847388 B CN112847388 B CN 112847388B CN 202011628674 A CN202011628674 A CN 202011628674A CN 112847388 B CN112847388 B CN 112847388B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
Abstract
The invention provides a construction area dynamic guiding method based on a bionic transportation robot. Laying a portable geomagnetic sensor on a confluence road surface of a highway construction area according to an electromagnetic induction principle to obtain real-time traffic flow data; associating the urban traffic police diversion traffic gesture with the bionic transportation man action according to the dependence effect; matching typical traffic flow states of a construction confluence area according to real-time traffic flow states, and further triggering different guide actions of a bionic transportation man; and according to the prior art, specific suggestions are provided for the bionic traffic guide. According to the invention, the portable geomagnetic sensor is used for monitoring the traffic flow of the construction section confluence area in real time, and the bionic traffic personnel is triggered to execute different actions, so that dynamic and standard guidance is realized, and the probability of rear-end collision accidents is reduced; the invention can effectively carry out dynamic guidance, reduce the occurrence of accidents and assist the safe and efficient operation of the construction area of the highway.
Description
Technical Field
The utility model relates to a traffic safety technology, in particular to a construction area dynamic guiding method based on a bionic traffic man robot.
Background
In recent years, the quantity of motor vehicles kept in China is continuously increased, and expressways are used as important components of national road networks to successively develop reconstruction and extension projects. Reconstruction and extension operations often need to set a flag hand to swing back and forth in an upstream transition area to warn and guide passing vehicles to pay attention to road construction ahead, but reconstruction and extension construction areas are complex, existing facilities are not good and uniform, accidents are frequent, and losses are serious. The national issued' the construction of the strong country of transportation is just required to improve the intrinsic safety level, improve the maintenance specialization and strengthen the safety protection level of infrastructure. Therefore, the prior art is reasonably utilized, and the improvement of the warning and guiding efficiency of the reconstruction and extension construction area is of great importance.
At present, the measures taken to solve the problems mainly include setting an artificial flag hand and a mechanical flag hand. The artificial flag hand has the following disadvantages: the flag hand is in an extremely unsafe state and cannot continuously work, so that the construction safety is influenced; labor costs are high. The mechanical flag hand has a complex structure and is not easy to move quickly along with construction conditions; the visibility and the safety are low, the vehicle is easy to impact equipment, and great potential safety hazards exist. Meanwhile, no matter the flag is an artificial flag hand or a mechanical flag hand, the flag-shaking action is single and nonstandard, the flag-shaking action cannot be matched with the traffic condition of a construction area, the flag-shaking action goes in and out with the common knowledge of people, even the existing driver sees the flag-shaking parking condition, the operation safety of the construction area is seriously influenced, and the effect is very little. Therefore, a new solution is urgently needed in the construction area for the reconstruction and extension of the highway, and dynamic warning guidance can be realized in the complex environment of the reconstruction and extension construction area so as to reduce accidents and ensure the safe and efficient operation of the construction area.
Through on-site investigation and data analysis, the traffic flow state of the confluence area of the construction highway section shows the following two characteristics, namely, when the inner side lane or the outer side lane is closed, the inner side lane and the outer side lane show larger speed difference, and related researches show that the vehicle speed difference is more than or equal to 20km/h, huge accident potential can be brought; and the vehicles have collision risks at the confluence point. Meanwhile, if the driver can reasonably carry out confluence or slow down and walk, the passing efficiency and the safety are obviously improved. Taking advantage of this phenomenon, consider: if different guiding actions are given to the driver in different states, the efficiency and the safety are improved more obviously.
Disclosure of Invention
In order to solve the technical problem, the invention provides a construction area dynamic guiding method based on a bionic transportation robot.
The bionic transportation robot of the invention comprises: the device comprises a first portable geomagnetic sensor, a second portable geomagnetic sensor, a first detector, a second detector, a first wireless transmission transmitter, a second wireless transmission transmitter, a wireless transmission receiver, a microprocessor, a control panel, a universal stepper, a base, a box body, a left swing arm, a right swing arm, a left swing arm red flag, a right swing arm red flag and a coat;
the first portable geomagnetic sensor is connected with the first detector in a wired mode; the first detector is connected with the first wireless transmission transmitter in a wired mode; the second portable geomagnetic sensor is connected with the second detector in a wired mode; the second detector is connected with the second wireless transmission transmitter in a wired mode; the first wireless transmission transmitter is wirelessly connected with the wireless transmission receiver; the second wireless transmission transmitter is wirelessly connected with the wireless transmission receiver; the wireless transmission receiver is connected with the microprocessor in a wired mode; the microprocessor is connected with the control panel in a wired mode; the control board is connected with the universal stepper in a wired mode;
the first portable geomagnetic sensor and the second portable geomagnetic sensor are respectively arranged on sections at a certain distance in front of a confluence area of the construction road section.
The box body is arranged at the top of the base, and the wireless transmission receiver, the microprocessor, the control panel and the universal stepper are arranged in the box body; a left swing arm is installed on the left side of the box body, a right swing arm is installed on the right side of the box body, the front end of the left swing arm is connected with a left swing arm red flag, the front end of the right swing arm is connected with a right swing arm red flag, and the bottom end of the right swing arm is connected with the universal stepper; the outer coat is covered outside the box body.
The left swing arm, the right swing arm and the base are made of angle steel, channel steel, steel pipes and steel plates;
the box body is made of steel materials;
the color of the garment: orange is used as the main body color of the clothing of the bionic traffic personnel, yellow-green luminous strips are used as auxiliary materials, the V-type reflective membrane is selected, and according to the psychology theory of color, the orange color and the yellow-green color are selected to enhance stimulation, so that the warning effect on drivers is achieved, and the night visibility can be improved.
The technical scheme adopted by the invention is as follows: a construction area dynamic guiding method based on a bionic transportation robot is characterized by comprising the following steps:
step 1: the method comprises the following steps that a first portable geomagnetic sensor and a second portable geomagnetic sensor are arranged on a section at a certain distance in front of a confluence area of a construction road section, the first portable geomagnetic sensor is arranged on an inner side lane, a first detector is arranged on the side of the inner side lane, the second portable geomagnetic sensor is arranged on an outer side lane, a second detector is arranged on the side of the outer side lane, a microprocessor wirelessly acquires the vehicle speed of the inner side lane through the first portable geomagnetic sensor and the first detector, and the microprocessor wirelessly acquires the vehicle speed of the outer side lane through the second portable geomagnetic sensor and the second detector;
step 2: selecting lane changing action, deceleration and crawling action and warning action of urban traffic police for traffic dispersion as traffic indication action of the bionic transportation man robot;
and step 3: the microprocessor is used for monitoring and matching the typical traffic state with the real-time traffic flow and triggering the traffic indication action of the bionic transportation robot according to the typical traffic state.
Preferably, the specific calculation of the certain distance in front of the merging area of the construction road section in the step 1 is as follows:
in the formula: s (m) is a certain distance in front of the confluence area of the construction road section;
V85％(km/h) is 85 percent of the running speed of the vehicle on the construction section;
α(s) is a driver perception reflection time;
L0(m) is the safety distance after parking;
i is a longitudinal slope of the road in the confluence area;
step 1, the vehicle speed of the inner lane is as follows: v1,a、V2,a…VK,a；
Step 1, the vehicle speed of the outer lane is as follows: v1,b、V2,b…VK,b；
Wherein, Vt,aThe vehicle speed at the t-th collection moment of the inner lane is t ∈ [1, K [ ]]K is the number of acquisition moments;
wherein, Vt,bThe vehicle speed at the t-th collection moment of the outer lane is t ∈ [1, K [ ]]K is the number of acquisition moments;
step 1, wirelessly acquiring the vehicle speed of an inner lane:
V1,a、V2,a…VK,awirelessly transmitting V to a wireless transceiver via a first wireless transmitter1,a、V2,a…VK,aTransmitting to the microprocessor;
step 1, wirelessly acquiring the vehicle speed of an outer lane:
V1,b、V2,b…VK,bwirelessly transmitting V to a wireless transceiver via a second wireless transmitter1,b、V2,b…VK,bTransmitting to the microprocessor;
preferably, the real-time traffic flow monitoring and matching typical traffic states in the step 3 are as follows:
firstly, respectively carrying out statistical analysis on the vehicle speeds of T, inner and outer lanes:
the speed of the inner lane of the T is as follows in sequence: v1,a、V2,a…VK,a；
The outside lane speed of T is in turn: v1,b、V2,b…VK,b；
Further obtaining the average value mu of the vehicle speed of the inner side lane in the acquisition time TaAverage speed mu of outside lanebStandard deviation of inner lane σaStandard deviation sigma of outer laneb；
t∈[1,K]
Wherein, Vt,aVehicle speed, V, at the t-th collection time of the inner lanet,bThe vehicle speed at the t-th collection moment of the outer lane is t ∈ [1, K [ ]]K is the number of acquisition instants, μaAverage vehicle speed, μ, of the inner lanebIs the average value of the vehicle speed of the outer lane, sigmaaStandard deviation of inner lane, σbIs the standard deviation of the outer lane;
the matching state is as follows: if μa-μb|≥k1Then there is a risk of accident;
the definition conflict index is as follows:
the difference between the time when the two vehicles pass through the conflict point of the current track is as follows:
in the formula: t is tmFor the outside lane, when the vehicle passing time is detected, m ∈ [1, K ]]；tlThe corresponding time of the vehicle with the speed of the inner lane greater than 0 from the time m +1 to the time K, and l belongs to [ m +1, K [)](ii) a L is the length of the transition section of the confluence region, and L is W S2155; w is a lateral offset value; s is the design speed of the confluence area; vm，bDetecting the speed of the passing vehicle for the outer lane at the moment m; vl，aThe speed of the passing vehicle is detected for the inner lane at time l.
If | TDTC | ≧ k2The risk of vehicle collision is lower;
if | TDTC | < k2The risk of vehicle collision is higher;
and 3, triggering the traffic indication action of the bionic transportation robot according to the typical traffic state as follows:
when | mua-μb|≥k1Then there is accident risk, and microprocessor identification issue speed reduction slow-moving motion instruction after for the control panel, and then the universal stepper of order drives right swing arm, the red flag rotation of right swing arm:
the right upper direction rotates by 2 alpha, the right lower direction rotates by alpha, the right upper direction rotates by 2 alpha, and then the right swing arm and the right swing arm are driven to finish the slow-down and slow-walking actions;
when | TDTC | ≧ k2Then, it is lower to have the vehicle collision risk, and microprocessor identification issue after the lane change action instruction for the control panel, and then order universal stepper to drive right swing arm, right swing arm red flag rotation:
the front upper direction rotates by 2 alpha, the left direction rotates by alpha, the right direction rotates by alpha, the rear lower direction rotates by 2 alpha, and then the right swing arm and the right swing arm are driven to finish the track changing action;
when | TDTC | < k2When the vehicle collision risk is high, the microprocessor alternately issues warning actions and slow-down slow-moving actions to the control panel after recognizing the vehicle collision risk, and then commands the universal stepper to drive the right swing arm and the right swing arm to rotate in red;
and (3) warning action: a right-up direction rotation 2 α, a right-up direction rotation α, a right-down direction rotation 2 α;
decelerating and slowly moving: and rotating the right upper swing arm and the right swing arm in the red flag to finish the action by 2 alpha in the right upper direction, alpha in the right lower direction, alpha in the right upper direction, 2 alpha in the right lower direction and alpha in the right upper direction.
Compared with the prior art, the portable geomagnetic sensor is used for monitoring traffic volume and vehicle speed of a construction area in real time, and finally different actions of bionic traffic personnel are triggered, so that dynamic warning and guiding effects are realized, and the probability of rear-end accidents is reduced; according to the inertia dependence psychology, the urban traffic police traffic diversion gesture is combined with the bionic traffic man action, so that the driver can more clearly know the action information; by applying the psychology of color theory, the orange or yellow green which can enhance stimulation is selected as the coat color of the bionic traffic person, so as to achieve the warning effect on the driver and enhance the night visibility. The invention starts from the typical traffic state of the construction area of the highway, can effectively reduce the occurrence of rear-end accidents from the aspects of warning and guiding, and improves the operation efficiency and the safety of the construction area of the highway; compared with an artificial flag hand and a mechanical flag hand, the invention has the advantages of small dependence on human power, high visibility and high safety, and can realize dynamic change; the invention also has the advantages of low cost, low power consumption and long durability, and is a powerful supplement to the traffic safety facilities in the construction area of the expressway in China at present.
The invention has expandability and portability, can be expanded on the basis of the invention, and can also be linked with other detection systems, thereby improving the operation safety level of the existing highway.
Drawings
FIG. 1: the working principle of the bionic traffic man dynamic guiding system in the construction area of the expressway.
FIG. 2: the method of the invention is a process.
FIG. 3: and (5) layout of the portable geomagnetic sensor.
FIG. 4: and (5) structural representation of a bionic traffic guide.
FIG. 5: the bionic guide is based on the action driving principle.
FIG. 6: a trigger mechanism of a bionic transportation vehicle dynamic guiding system in a highway construction confluence area is disclosed.
FIG. 7: and warning the motion track of the action.
FIG. 8: and (5) changing the motion track of the track.
FIG. 9: and (5) decelerating the motion track of the slow motion.
FIG. 10: and (5) comparing the average vehicle speed under different measures.
FIG. 11: and averagely delaying comparison under different measures.
In the drawings, the reference numbers: 1. a right swing arm red flag; 2. a right swing arm; 3. a universal stepper; 4. red and blue flashing lights; 5. a box body; 6. a garment; 7. a base; 8. a left swing arm; 9. and (5) red flags of the left swing arm.
Detailed Description
In order to facilitate the understanding and implementation of the present invention for those of ordinary skill in the art, the present invention is further described in detail with reference to the accompanying drawings and examples, it is to be understood that the embodiments described herein are merely illustrative and explanatory of the present invention and are not restrictive thereof. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention takes the construction project of the Kaiyang highway in Guangzhou city as an example, as shown in figures 1, 2 and 3, a portable geomagnetic sensor is arranged in a lane in front of a construction confluence area to obtain real-time vehicle speed data and vehicle signals, the real-time vehicle speed data and the vehicle signals are transmitted to a microprocessor through wireless transmission to judge the traffic state so as to trigger the action of a bionic traffic man, and when the vehicle speed difference of an inner lane and an outer lane is more than 20km/h, the slow-moving action is triggered in a simulation manner; starting a lane changing action when a smaller conflict risk exists; and when the collision risk is large, triggering the warning action to slow down and alternate with slow movement. And other components of the bionic transportation staff give suggestions.
Embodiments of the present invention are discussed in conjunction with FIG. 4. The technical scheme adopted by the invention is as follows:
the invention provides a construction area dynamic guiding method based on a bionic transportation robot, which comprises the following steps:
the bionic transportation robot of the invention comprises: the portable geomagnetic sensor comprises a first portable geomagnetic sensor, a second portable geomagnetic sensor, a first detector, a second detector, a first wireless transmission transmitter, a second wireless transmission transmitter, a wireless transmission receiver, a microprocessor, a control panel, a universal stepper, a base, a box body, a left swing arm, a right swing arm, a left swing arm red flag, a right swing arm red flag, a coat and a red-blue flashing light;
the first portable geomagnetic sensor is connected with the first detector in a wired mode; the first detector is connected with the first wireless transmission transmitter in a wired mode; the second portable geomagnetic sensor is connected with the second detector in a wired mode; the second detector is connected with the second wireless transmission transmitter in a wired mode; the first wireless transmission transmitter is wirelessly connected with the wireless transmission receiver; the second wireless transmission transmitter is wirelessly connected with the wireless transmission receiver; the wireless transmission receiver is connected with the microprocessor in a wired mode; the microprocessor is connected with the control panel in a wired mode; the control board is connected with the universal stepper in a wired mode;
the first portable geomagnetic sensor and the second portable geomagnetic sensor are respectively arranged on sections at a certain distance in front of a confluence area of the construction road section;
as shown in fig. 4, the box body is installed on the top of the base, and the wireless transmission receiver, the microprocessor, the control board and the universal stepper are installed inside the box body; a left swing arm is installed on the left side of the box body, a right swing arm is installed on the right side of the box body, the front end of the left swing arm is connected with a left swing arm red flag, the front end of the right swing arm is connected with a right swing arm red flag, and the bottom end of the right swing arm is connected with the universal stepper; the coat is covered outside the box body; a red and blue flashing light is arranged above the box body;
the left swing arm, the right swing arm and the base are made of angle steel, channel steel, steel pipes and steel plates;
the box body is made of steel materials;
the color of the garment: orange is taken as the main body color of the clothes of the bionic traffic personnel, yellow-green luminous strips are used as auxiliary materials, a V-type reflective membrane is selected, and according to the psychology theory of color, the orange color and the yellow-green color are selected to enhance stimulation so as to achieve the warning effect on the driver and improve the night visibility;
the first portable geomagnetic sensor is a constant intelligent traffic geomagnetic sensor;
the second portable geomagnetic sensor is a constant intelligent traffic geomagnetic sensor;
the first detector is a constant intelligent macro-3 vehicle detector;
the second detector is selected to be a constant intelligent macro-3 vehicle detector;
the first wireless transmission transmitter is selected to be an NB-IOT wireless transmission transmitter;
the second wireless transmission transmitter is selected to be an NB-IOT wireless transmission transmitter;
the wireless transmission receiver is selected to be an NB-IOT wireless transmission receiver;
the microprocessor is selected to be MSP430F 436;
the type selection of the control panel is YYTB-3;
the technical scheme adopted by the invention is as follows: a construction area dynamic guiding method based on a bionic transportation robot is characterized by comprising the following steps:
step 1: the method comprises the following steps that a first portable geomagnetic sensor and a second portable geomagnetic sensor are arranged on a section at a certain distance in front of a confluence area of a construction road section, the first portable geomagnetic sensor is arranged on an inner side lane, a first detector is arranged on the side of the inner side lane, the second portable geomagnetic sensor is arranged on an outer side lane, a second detector is arranged on the side of the outer side lane, a microprocessor wirelessly acquires the vehicle speed of the inner side lane through the first portable geomagnetic sensor and the first detector, and the microprocessor wirelessly acquires the vehicle speed of the outer side lane through the second portable geomagnetic sensor and the second detector;
step 2: selecting lane changing action, deceleration and crawling action and warning action of urban traffic police for traffic dispersion as traffic indication action of the bionic transportation man robot;
and step 3: the microprocessor is used for monitoring and matching the real-time traffic flow with a typical traffic state and triggering the traffic indication action of the bionic transportation robot according to the typical traffic state;
preferably, step 1 is to arrange a portable geomagnetic sensor respectively in the inner lane and the outer lane of the Sm section in front of the construction section confluence area, so as to monitor the vehicle speed when the inner lane and the outer lane pass through the geomagnetic sensor, as shown in fig. 3.
Wherein S is according to the driver visually recognizing the perception time and the construction road section V85％Collectively determined, as follows:
in the formula: (m) arranging the distance between the section of the portable geomagnetic sensor and the confluence point;
V85％(km/h) is 85 percent of the running speed of the vehicle on the construction section;
t(s) is the perception reflection time of the driver, and is generally 1 s;
L0(m) is the safety distance after parking, and is generally 2 m;
i is the longitudinal slope of the road in the confluence area.
Step 1, the vehicle speed of the inner lane is as follows: v1,a、V2,a…VK,a；
Step 1, the vehicle speed of the outer lane is as follows: v1,b、V2,b…VK,b；
Wherein, Vt,aThe vehicle speed at the t-th collection moment of the inner lane is t ∈ [1, K [ ]]K is the number of acquisition moments;
wherein, Vt,bThe vehicle speed at the t-th collection moment of the outer lane is t ∈ [1, K [ ]]K is the number of acquisition moments;
step 1, wirelessly acquiring the vehicle speed of an inner lane:
V1,a、V2,a…VK,awirelessly transmitting V to a wireless transceiver via a first wireless transmitter1,a、V2,a…VK,aTransmitting to the microprocessor;
step 1, wirelessly acquiring the vehicle speed of an outer lane:
V1,b、V2,b…VK,bwirelessly transmitting V to a wireless transceiver via a second wireless transmitter1,b、V2,b…VK,bTransmitting to the microprocessor;
knowing that 85 percent of the running speed of vehicles in a certain construction area of Guangzhou Kaiyang high-speed is 70km/h, the longitudinal slope of a road is 0.2, the adhesion coefficient of wheels and the road surface is 0.3, and the distance between the arrangement section of a geomagnetic sensor and a confluence point is 60.8 m;
the real-time traffic flow monitoring and matching typical traffic states in the step 3 are as follows:
firstly, respectively carrying out statistical analysis on the vehicle speeds of the inner and outer lanes of the T:
the speed of the inner side lane in the T is as follows in sequence: v1,a、V2,a…VK,a；
The speed of the inner lane and the outer lane of the T is as follows in sequence: v1,b、V2,b…VK,b；
Further obtaining the average value mu of the vehicle speed of the inner side lane in the acquisition time TaAverage speed mu of outside lanebStandard deviation of inner lane σaStandard deviation sigma of outer laneb；
t∈[1,K]
Wherein, Vt,aVehicle speed, V, at the t-th collection time of the inner lanet,bThe vehicle speed at the t-th collection moment of the outer lane is t ∈ [1, K [ ]]K is the number of acquisition instants, μaAverage vehicle speed, μ, of the inner lanebIs the average value of the vehicle speed of the outer lane, sigmaaStandard deviation of inner lane, σbIs the standard deviation of the outer lane;
the matching state is as follows: if μa-μb|≥k1If 20km/h, accident risk exists;
the definition conflict index is as follows:
the difference between the time when the two vehicles pass through the conflict point of the current track is as follows:
in the formula: t is tmFor the outside lane, when the vehicle passing time is detected, m ∈ [1, K ]]；tlThe corresponding time of the vehicle with the speed of the inner lane greater than 0 from the time m +1 to the time K, and l belongs to [ m +1, K [)](ii) a L is the length of the transition section of the confluence region, and L is W S2155; w is a lateral offset value; s is the design speed of the confluence area; vm，bDetecting the speed of the passing vehicle for the outer lane at the moment m; vl，aThe speed of the passing vehicle is detected for the inner lane at time l.
If the TDTC is more than or equal to 2.5s, the vehicle collision risk is lower;
if the absolute TDTC is less than 2.5s, the vehicle collision risk is higher;
when | mua-μb|≥k120km/h then has accident risk, and microprocessor identification issue speed reduction crawl action instruction after for the control panel, and then order universal stepper to drive right swing arm, right swing arm red flag rotatory:
the right upper direction rotates by 2 alpha, the right lower direction rotates by alpha, the right upper direction rotates by 2 alpha, and then the right swing arm and the right swing arm are driven to finish the slow-down and slow-walking actions;
when | TDTC | ≧ k22.5s, then there is the vehicle collision risk lower, and microprocessor identification post issue trade way action command and give the control panel, and then instruct universal step-by-step machine to drive right swing arm, the red flag rotation of right swing arm:
the front upper direction rotates by 2 alpha, the left direction rotates by alpha, the right direction rotates by alpha, the rear lower direction rotates by 2 alpha, and then the right swing arm and the right swing arm are driven to finish the track changing action;
when | TDTC | < k2When the collision risk of the vehicle is high, the microprocessor alternately issues warning actions and slow-down slow-moving action instructions to the control panel after recognizing the collision risk of the vehicle for 2.5s, and then commands the universal stepper to drive the right swing arm and the right swing arm to rotate in red;
and (3) warning action: a right-up direction rotation 2 α, a right-up direction rotation α, a right-down direction rotation 2 α; α is 45O;
decelerating and slowly moving: and rotating the right upper swing arm and the right swing arm in the red flag to finish the action by 2 alpha in the right upper direction, alpha in the right lower direction, alpha in the right upper direction, 2 alpha in the right lower direction and alpha in the right upper direction.
The bionic transportation member action realization track in the step 3 is shown in figures 7, 8 and 9:
taking the position of the universal stepper as an origin, and taking the direction facing the vehicle as a Y axis; the direction pointing to the cross section is an X axis; the vertical direction is Z axis, the swing arm is regarded as a rigid body, the rigid body is simplified into a line in a coordinate system, and the original state is vertical to the body side, namely in the negative direction of the Z axis.
Electromagnetic induction ware and detector data collection carry out the analysis through wireless transmission to microprocessor, when the interior outside lane T is greater than 20km/h for 3min interior average vehicle speed difference, triggers slow walking action, and microprocessor sends the slow walking action command of slowing down and then orders universal stepper, drive right swing arm for the control panel, promptly: firstly, the swing arm rotates 90 degrees anticlockwise around the Y axis on the ZOX surface, then rotates 45 degrees clockwise, then rotates 45 degrees anticlockwise and repeats twice, finally rotates 90 degrees clockwise to reset, the cycle is a period, and the operation is repeated until other actions are instructed. Namely, FIG. 10 (r) -g;
when the collision risk is lower, the microprocessor sends a lane change action instruction to the universal stepper, namely: firstly, the swing arm rotates 90 degrees anticlockwise around the X axis on the ZOY surface, secondly rotates 45 degrees anticlockwise on the XOY surface, then rotates 45 degrees clockwise, repeats twice, then rotates 90 degrees clockwise around the X axis on the ZOY surface for resetting, the resetting is a period, and the operation is repeated until other actions are executed by instructions. Namely, the first step, the second step, the third step, the fourth step;
when the collision risk is great, microprocessor sends warning and slow down and walk the action instruction to universal stepper, promptly: firstly, the swing arm rotates 90 degrees around the Y axis anticlockwise on the ZOX surface, then continues rotating 45 degrees anticlockwise, then rotates 45 degrees clockwise, repeats twice, and then rotates clockwise to the Z axis negative direction to reset, namely, the first two, the third two and the fourth two. And then, performing deceleration crawling action, namely, firstly rotating the swing arm on the ZOX surface by 90 degrees anticlockwise around the Y axis, then rotating the swing arm by 45 degrees clockwise, then rotating the swing arm by 45 degrees anticlockwise for twice, finally rotating the swing arm by 90 degrees clockwise for resetting, wherein the cycle is one cycle, and the operation is repeated until other actions are instructed.
It should be understood that the above description of the preferred embodiments is given for clarity and not for any purpose of limitation, and that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
In order to verify the function of the bionic traffic member, VISSIM simulation verification is carried out, and the average vehicle speed and the average delay result are as follows after the verification that the control of a simulation leader exists:
fig. 10 shows that when the traffic flow is smooth and general, the system has an obvious speed control effect on the traffic flow, the speed of an overspeed vehicle can be effectively reduced, and the average speed is reduced by 13%, so that the overall speed is closer to the safe speed of a road section of a reconstruction and extension construction area. When the traffic flow is in a crowded state, the traffic flow can orderly leave the road section of the reconstruction and expansion construction area under the control of the system confluence measures, so that the average speed is higher than that under the conventional measures, the average speed is increased by 21 percent, and the traffic efficiency of the traffic flow is obviously improved.
Fig. 11 shows that the average delay time of the two measures is not very different when the traffic flow is in a clear or normal traffic state. However, when the traffic volume is larger, the average delay of the traffic flow under the conventional measure is obviously increased, and the average delay of the traffic flow under the system control is obviously improved compared with the average delay of the traffic flow under the conventional measure, wherein when the traffic volume is 1200veh/h, the average delay is reduced by more than 25%, which proves that the traffic efficiency is obviously improved under the dredging action of the system.
Analysis on simulation experiment results shows that the bionic traffic director system has remarkable effects on controlling the speed of the vehicle, guiding the vehicle to merge and evacuating the jammed vehicle.
It should be understood that the above description of the preferred embodiments is given for clarity and not for any purpose of limitation, and that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (1)
1. A construction area dynamic guiding method based on a bionic transportation robot is characterized in that:
the biomimetic transportation robot includes: the device comprises a first portable geomagnetic sensor, a second portable geomagnetic sensor, a first detector, a second detector, a first wireless transmission transmitter, a second wireless transmission transmitter, a wireless transmission receiver, a microprocessor, a control panel, a universal stepper, a base, a box body, a left swing arm, a right swing arm, a left swing arm red flag, a right swing arm red flag and a coat;
the first portable geomagnetic sensor is connected with the first detector in a wired mode; the first detector is connected with the first wireless transmission transmitter in a wired mode; the second portable geomagnetic sensor is connected with the second detector in a wired mode; the second detector is connected with the second wireless transmission transmitter in a wired mode; the first wireless transmission transmitter is wirelessly connected with the wireless transmission receiver; the second wireless transmission transmitter is wirelessly connected with the wireless transmission receiver; the wireless transmission receiver is connected with the microprocessor in a wired mode; the microprocessor is connected with the control panel in a wired mode; the control board is connected with the universal stepper in a wired mode;
the first portable geomagnetic sensor and the second portable geomagnetic sensor are respectively arranged on sections at a certain distance in front of a confluence area of the construction road section;
the box body is arranged at the top of the base, and the wireless transmission receiver, the microprocessor, the control panel and the universal stepper are arranged in the box body; a left swing arm is installed on the left side of the box body, a right swing arm is installed on the right side of the box body, the front end of the left swing arm is connected with a left swing arm red flag, the front end of the right swing arm is connected with a right swing arm red flag, and the bottom end of the right swing arm is connected with the universal stepper; the coat is covered outside the box body;
the left swing arm, the right swing arm and the base are made of angle steel, channel steel, steel pipes and steel plates;
the box body is made of steel materials;
the color of the garment: orange is taken as the main body color of the clothes of the bionic traffic personnel, yellow-green luminous strips are used as auxiliary materials, a V-type reflective membrane is selected, and according to the psychology theory of color, the orange color and the yellow-green color are selected to enhance stimulation so as to achieve the warning effect on the driver and improve the night vision cognition;
the construction area dynamic guiding method comprises the following steps:
step 1: the method comprises the following steps that a first portable geomagnetic sensor and a second portable geomagnetic sensor are arranged on a section at a certain distance in front of a confluence area of a construction road section, the first portable geomagnetic sensor is arranged on an inner side lane, a first detector is arranged on the side of the inner side lane, the second portable geomagnetic sensor is arranged on an outer side lane, a second detector is arranged on the side of the outer side lane, a microprocessor wirelessly acquires the vehicle speed of the inner side lane through the first portable geomagnetic sensor and the first detector, and the microprocessor wirelessly acquires the vehicle speed of the outer side lane through the second portable geomagnetic sensor and the second detector;
step 2: selecting lane changing action, deceleration and crawling action and warning action of urban traffic police for traffic dispersion as traffic indication action of the bionic transportation man robot;
and step 3: the microprocessor is used for monitoring and matching the real-time traffic flow with a typical traffic state and triggering the traffic indication action of the bionic transportation robot according to the typical traffic state;
step 1, specifically calculating a certain distance in front of the confluence area of the construction road section as follows:
in the formula:
v represents a vehicle running speed;
s (m) is a certain distance in front of the confluence area of the construction road section;
V85％(km/h) is 85 percent of the running speed of the vehicle on the construction section;
α(s) is a driver perception reflection time;
L0(m) is the safety distance after parking;
i is a longitudinal slope of the road in the confluence area;
step 1, the vehicle speed of the inner lane is as follows: v1,a、V2,a…VK,a；
Step 1, the vehicle speed of the outer lane is as follows: v1,b、V2,b…VK,b；
Wherein, Vt,aThe vehicle speed at the t-th collection moment of the inner lane is t ∈ [1, K [ ]]K is the number of acquisition moments;
wherein, Vt,bThe vehicle speed at the t-th collection moment of the outer lane is t ∈ [1, K [ ]]K is the number of acquisition moments;
step 1, wirelessly acquiring the vehicle speed of an inner lane:
V1,a、V2,a…VK,awirelessly transmitting V to a wireless transceiver via a first wireless transmitter1,a、V2,a…VK,aTransmitting to the microprocessor;
step 1, wirelessly acquiring the vehicle speed of an outer lane:
V1,b、V2,b…VK,bwirelessly transmitting V to a wireless transceiver via a second wireless transmitter1,b、V2,b…VK,bTransmitting to the microprocessor;
the real-time traffic flow monitoring and matching typical traffic states in the step 3 are as follows:
firstly, respectively carrying out statistical analysis on the vehicle speeds of T, inner and outer lanes:
the speed of the inner lane of the T is as follows in sequence: v1,a、V2,a…VK,a；
The outside lane speed of T is in turn: v1,b、V2,b…VK,b；
Further obtaining the average value mu of the vehicle speed of the inner side lane in the acquisition time TaAverage speed mu of outside lanebStandard deviation of inner lane σaStandard deviation sigma of outer laneb；
t∈[1,K]
Wherein, Vt,aVehicle speed, V, at the t-th collection time of the inner lanet,bThe vehicle speed at the t-th collection moment of the outer lane is t ∈ [1, K [ ]]K is the number of acquisition instants, μaAverage vehicle speed, μ, of the inner lanebIs the average value of the vehicle speed of the outer lane, sigmaaStandard deviation of inner lane, σbIs the standard deviation of the outer lane;
the matching state is as follows: if μa-μb|≥k1Then there is a risk of accident;
the definition conflict index is as follows:
the difference between the time when the two vehicles pass through the conflict point of the current track is as follows:
in the formula: t is tmFor the outside lane, when the vehicle passing time is detected, m ∈ [1, K ]]；tlThe corresponding time of the vehicle with the speed of the inner lane greater than 0 from the time m +1 to the time K, and l belongs to [ m +1, K [)](ii) a L is the length of the transition section of the confluence region, and L is W S2155; w is a lateral offset value; s is the design speed of the confluence area; vm，bDetecting the speed of the passing vehicle for the outer lane at the moment m; vl，aDetecting the speed of the passing vehicle for the inner lane at the moment l;
if | TDTC | ≧ k2The risk of vehicle collision is lower;
if | TDTC | < k2The risk of vehicle collision is higher;
and 3, triggering the traffic indication action of the bionic transportation robot according to the typical traffic state as follows:
when | mua-μb|≥k1Then there is accident risk, and microprocessor identification issue speed reduction slow-moving motion instruction after for the control panel, and then the universal stepper of order drives right swing arm, the red flag rotation of right swing arm:
the right upper direction rotates by 2 alpha, the right lower direction rotates by alpha, the right upper direction rotates by 2 alpha, and then the right swing arm and the right swing arm are driven to finish the slow-down and slow-walking actions;
when | TDTC | ≧ k2Then, it is lower to have the vehicle collision risk, and microprocessor identification issue after the lane change action instruction for the control panel, and then order universal stepper to drive right swing arm, right swing arm red flag rotation:
the front upper direction rotates by 2 alpha, the left direction rotates by alpha, the right direction rotates by alpha, the rear lower direction rotates by 2 alpha, and then the right swing arm and the right swing arm are driven to finish the track changing action;
when | TDTC | < k2If the risk of vehicle collision is higher, the microprocessor identifies the vehicle collision and then alternatesIssuing a warning action and a deceleration slow-moving action command to the control panel so as to command the universal stepper to drive the right swing arm and the right swing arm to rotate in a red flag mode;
and (3) warning action: a right-up direction rotation 2 α, a right-up direction rotation α, a right-down direction rotation 2 α;
decelerating and slowly moving: and rotating the right upper swing arm and the right swing arm in the red flag to finish the action by 2 alpha in the right upper direction, alpha in the right lower direction, alpha in the right upper direction, 2 alpha in the right lower direction and alpha in the right upper direction.
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