CN118048859A - Self-alarming and self-adjusting intelligent mobile road cone system for overturning and control method - Google Patents

Self-alarming and self-adjusting intelligent mobile road cone system for overturning and control method Download PDF

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Publication number
CN118048859A
CN118048859A CN202410013590.5A CN202410013590A CN118048859A CN 118048859 A CN118048859 A CN 118048859A CN 202410013590 A CN202410013590 A CN 202410013590A CN 118048859 A CN118048859 A CN 118048859A
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module
road cone
overturning
self
control
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蒋盛川
干宏程
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
    • E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
    • E01F9/60—Upright bodies, e.g. marker posts or bollards; Supports for road signs
    • E01F9/623—Upright bodies, e.g. marker posts or bollards; Supports for road signs characterised by form or by structural features, e.g. for enabling displacement or deflection
    • E01F9/654—Upright bodies, e.g. marker posts or bollards; Supports for road signs characterised by form or by structural features, e.g. for enabling displacement or deflection in the form of three-dimensional bodies, e.g. cones; capable of assuming three-dimensional form, e.g. by inflation or erection to form a geometric body
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
    • E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
    • E01F9/60—Upright bodies, e.g. marker posts or bollards; Supports for road signs
    • E01F9/688—Free-standing bodies
    • E01F9/692—Portable base members therefor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • General Physics & Mathematics (AREA)
  • Geometry (AREA)
  • Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Refuge Islands, Traffic Blockers, Or Guard Fence (AREA)

Abstract

The invention relates to an intelligent mobile road cone system capable of self-alarming and self-adjusting during overturning and a control method, wherein the system comprises the following steps: comprises a control platform and a mobile road cone; the mobile road cone comprises: the device comprises a control module, a overturning detection module, a motion module, a communication module, a road cone main body and a chassis; the communication module is in communication connection with the control platform, the control module and the overturning detection module, the control module is in communication connection with the movement module, and the overturning detection module is in communication connection with the control module and the movement module respectively; the control platform receives the detection information of the overturning detection module and the overturning alarm signal through the communication module, and the control module receives the detection information of the overturning detection module so as to control the movement module. Compared with the prior art, the invention can realize autonomous movement and overturning alarm adjustment, control movement to a designated position, alarm the platform after overturning abnormality occurs in the movement process and after the movement is in place, control the intelligent adjustment of the movement module, and improve the efficiency and safety in the placing and acting process.

Description

Self-alarming and self-adjusting intelligent mobile road cone system for overturning and control method
Technical Field
The invention relates to the technical field of mobile road cones, in particular to an intelligent mobile road cone system capable of self-alarming and self-adjusting when capsizing and a control method.
Background
Road cones are common traffic safety facilities, traditional road cones need to be placed and adjusted manually, and therefore the road cones are low in efficiency and speed and have certain potential safety hazards. Especially in the high-speed traffic scene such as expressway, the traffic accident that causes because of receiving and releasing the road cone often takes place. After the road cone is put in place, overturning and dumping often occur due to human factors and environmental factors. These factors include mainly artificial movement, impact, and damage; severe weather conditions such as strong winds, heavy rain, etc. The road cone is placed and then is overturned abnormally, the regional traffic control is disabled if the road cone is light, the regional traffic jam is controlled, the road cone rolls to the lane with the vehicles if the road cone is heavy, and the traffic accident is caused.
Some road cones capable of overturning and alarming are already known in the prior art. The patent CN104594233A sets an alarm turn light on the top of the road cone main body, and when the vehicle approaches, the alarm is automatically given out by a sensor and an alarm; the road cone base is arranged to be a rubber hemisphere by the patent CN104894992B, so that the tumbler type anti-falling effect is achieved. However, the overturn alarming road cone of the patent CN104594233A only supports the detection of the overturn condition, and does not make adjustment feedback, so that the road cone is recovered to be normally used; patent CN104894992B adopts tumbler type design, can not stably put, and does not possess the removal function. The intelligent road cone in the prior art still has structural problems, and can not simultaneously meet the two functions of overturning adjustment and rapid movement.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an intelligent mobile road cone system with self-alarming and self-adjusting overturning and a control method thereof, which can realize autonomous movement and alarming adjustment, control movement to a designated position, alarm a platform after abnormal overturning occurs in the moving process and after the moving process is in place, control a movement module to intelligently adjust, and improve the efficiency and safety in the placing and acting processes.
The aim of the invention can be achieved by the following technical scheme:
the invention provides an intelligent mobile road cone system capable of self-alarming and self-adjusting during overturning, which comprises a management and control platform and a mobile road cone;
the control platform is used for remote monitoring and management of the intelligent road cone;
the mobile road cone comprises: the device comprises a control module, a overturning detection module, a motion module, a communication module, a road cone main body and a chassis;
the control module is used for coordinating functions of the modules, receiving input data, completing calculation and issuing instructions;
the motion module is used for driving the removal of removal way awl, and the motion module includes: four-wheel wheels, a motor and a battery; each wheel in the four-wheel wheels is made of rubber materials with high strength, wear resistance and high compression resistance, and is driven by a direct current brushless motor respectively. The power and the rotating speed of the motor are determined according to the size and the maximum speed of the road cone, so that the motor is guaranteed to have higher obstacle passing capacity and loading capacity under various road conditions;
the overturning detection module is used for measuring and outputting the triaxial acceleration of the intelligent mobile road cone;
the communication module is used for carrying out data transmission among the management and control platform, the control module and the overturning detection module;
the chassis is arranged at the bottom of the road cone main body, the overturning detection module is embedded at the top of the road cone main body so as to increase the overturning angle measurement precision, the control module, the battery of the motion module, the motor and the communication module are packaged in the chassis, and the four-wheel is arranged at the bottom of the chassis;
The communication module is in communication connection with the control platform, the control module and the overturning detection module through communication module interfaces, the control module is in communication connection with the movement module, and the overturning detection module is in communication connection with the control module and the movement module respectively; the control platform receives the detection information of the overturning detection module and the overturning alarm signal through the communication module, and the control module receives the detection information of the overturning detection module so as to control the movement module.
Further, a positioning module is arranged on the moving road cone, and when the moving road cone moves normally, the control module reads the position data of the positioning module, calculates and controls the working time parameters of the motor of the moving module and the rotation angle parameters of the four wheels so as to realize the moving action. Further, the positioning module is a GPS positioning system.
Further, an information release module is arranged on the mobile road cone, and after the mobile road cone reaches a parking place, the control module sends characters and identification information to be displayed to the information release module so as to achieve a traffic guidance target. Further, the information release module is an LED display screen.
Furthermore, the control module is a singlechip, and programs are burnt in advance through the USB port.
Further, the control module is an STM32H7 series singlechip of STMicroelectronics.
Furthermore, the overturning detection module comprises a triaxial high-precision digital acceleration sensor, so that acceleration measurement and parameter output of the mobile road cone in X, Y, Z directions are realized.
Further, the motion module further comprises a steering engine, and when the moving road cone moves normally, the steering engine controls four-wheel wheels to realize steering.
The invention also provides a control method of the intelligent mobile road cone system with self-alarming and self-adjusting overturning, when the overturning occurs, the control module reads the triaxial acceleration data sensed by the overturning detection module, and judges whether the circuit cone is overturned or not by a judging algorithm so as to control the motion module to respond and adjust, and the control method specifically comprises the following steps:
S0: acquiring a preset non-response angle threshold t 0, an inclination angle threshold t 1 and a capsizing angle threshold t 2;
S1: calculating an inclination angle: acquiring accelerations ax, ay and az of the intelligent mobile road cone in three directions of a vehicle body coordinate system x, y and z, and calculating the inclination angle theta of the intelligent mobile road cone relative to the horizontal plane by calculating the ratio of the projection of ay on an x-z plane to the square root of the sum of squares of ax and az;
S2: judging the inclination degree: when the detected inclination angle theta is smaller than or equal to the unresponsive angle threshold t 0, no adjustment operation is performed; when the detected inclination angle is greater than or equal to an inclination angle threshold t 1, adopting a straight line adjustment strategy to control the intelligent moving road cone to move by the same distance L 0 reversely after moving by the distance L 0 along the inclination direction so as to restore the balance state;
S3: detecting the inclination angle again, and judging the inclination degree: if the inclination angle is detected to be not recovered to the unresponsive angle threshold t 0 after the S2, an angle adjustment strategy is adopted to instruct and control the four-wheel wheels to respectively move, so that the road cone main body rotates along a preset angle, the gravity center position of the road cone in the inclination direction is changed, and the effect of preventing toppling is achieved;
S4: when the detected inclination angle theta is larger than or equal to the overturning angle threshold t 2, judging that the adjustment operation is invalid, and uploading alarm information to a management and control platform through a communication module to complete the self-alarm and self-adjustment function of overturning, wherein the road cone is overturned or is about to overturned.
Further, in S1, the inclination angle θ is expressed as:
Furthermore, the communication module establishes an exclusive communication protocol and interface based on the mobile network, so that the communication module can communicate with the management and control platform in real time. The communication module selects 4G/5G communication, can meet the communication demands of high speed, low time delay, large capacity and the like, and enables the intelligent road cone to realize rapid and accurate data transmission. And establishing a standard communication protocol and interface so that the intelligent road cone can effectively communicate with the intelligent networking platform. The communication protocol and interface have a high degree of interoperability and compatibility.
Furthermore, the management and control platform can issue instructions and receive road cone state data, and can monitor, remotely control, statistically analyze and overturn alarming in real time; the control platform can check the position, state, electric quantity and sensor data information of the intelligent road cone in real time, so that the safety and effectiveness of the road cone are ensured; the control platform can remotely control the movement, stop, angle adjustment and posture adjustment of the intelligent road cone, and the operation efficiency and accuracy of the road cone are improved; the management and control platform can count the service conditions of the intelligent road cone, including service time, moving track and electricity consumption, and provide data support for management and maintenance; the control platform can receive the overturning alarm information of the intelligent road cone in real time, process and respond in time, and improve the safety and early warning effect of the road cone.
Compared with the prior art, the invention has the following advantages:
(1) The degree of automation is high. The automatic control device is free from manual operation, the moving range is far, the whole process monitoring and feedback are carried out aiming at the overturning abnormality, the safety in the using process is ensured, and the risk of manually setting a control area is reduced.
(2) The tilting state can be automatically adjusted. The intelligent road cone tilting detection device has the tilting detection function, and can be automatically adjusted when the intelligent road cone is detected to be in a tilting state.
(3) The capsizing state can be automatically alarmed. When the intelligent road cone is overturned, the automatic detection state and the alarm can be realized, and the subsequent accidents can be timely processed and prevented.
(4) The state is perceptible. The intelligent road cone management and control system has the advantages that the intelligent road cone management and control system is provided with the communication module and the management and control platform, and data such as state information and position information of the intelligent road cone can be uploaded to the cloud in real time.
Drawings
FIG. 1 is a schematic diagram of a self-alarming, self-adjusting intelligent mobile road cone control system.
FIG. 2 is a front view of an intelligent mobile road cone self-adjusting by self-alarming.
FIG. 3 is a bottom view of an intelligent mobile road cone capsizing self-warning and self-adjusting.
Reference numerals: 1-a capsizing detection module; 2-a road cone main body; 3-a case; 4-four-wheel wheels; 5-communication module interface.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples. Features such as a part model, a material name, a connection structure, a control method, an algorithm and the like which are not explicitly described in the technical scheme are all regarded as common technical features disclosed in the prior art.
Example 1
The embodiment provides an intelligent mobile road cone system capable of self-alarming and self-adjusting during overturning, which comprises a management and control platform and a mobile road cone;
the control platform is used for remote monitoring and management of the intelligent road cone;
the mobile road cone comprises: the device comprises a control module, a overturning detection module 1, a motion module, a communication module, a road cone main body 2 and a case 3;
the control module is used for coordinating functions of the modules, receiving input data, completing calculation and issuing instructions;
The motion module is used for driving the removal of removal way awl, and the motion module includes: four-wheel wheels 4, motors and batteries; each wheel in the four-wheel wheels 4 is made of rubber materials with high strength, wear resistance and high compression resistance, and is driven by a direct current brushless motor. The power and the rotating speed of the motor are determined according to the size and the maximum speed of the road cone, so that the motor is guaranteed to have higher obstacle passing capacity and loading capacity under various road conditions; specifically, a 6000 milliampere-hour lithium battery is adopted as a battery in the motion module, so that the weight is lighter, the energy density is better, and the motion duration is longer;
the overturning detection module 1 is used for measuring and outputting the triaxial acceleration of the intelligent mobile road cone;
the communication module is used for carrying out data transmission among the control platform, the control module and the overturning detection module 1;
the chassis 3 is arranged at the bottom of the road cone main body 2, the overturning detection module 1 is embedded at the top of the road cone main body 2 so as to increase the overturning angle measurement precision, the control module, the battery of the motion module, the motor and the communication module are packaged in the chassis 3, and the four-wheel 4 is arranged at the bottom of the chassis 3;
The communication module is in communication connection with the control platform, the control module and the overturning detection module 1 through the communication module interface 5, the control module is in communication connection with the movement module, and the overturning detection module 1 is in communication connection with the control module and the movement module respectively; the control platform receives the detection information of the overturning detection module 1 and the overturning alarm signal through the communication module, and the control module receives the detection information of the overturning detection module 1 so as to control the movement module.
In a specific embodiment, a positioning module is arranged on the moving road cone, and when the moving road cone moves normally, the control module reads the position data of the positioning module, calculates and controls the working time parameter of the motor of the moving module and the rotation angle parameter of the four-wheel 4 so as to realize the movement. Specifically, the positioning module is a GPS positioning system.
In a specific embodiment, an information release module is arranged on the mobile road cone, and after the mobile road cone reaches a parking place, the control module sends characters and identification information to be displayed to the information release module so as to achieve a traffic guidance target. Specifically, the information release module is an LED display screen.
In a specific embodiment, the overturning detection module 1 comprises a triaxial high-precision digital acceleration sensor, so that the acceleration measurement and parameter output of the mobile road cone in the X, Y, Z directions are realized.
In the specific embodiment, the motion module further comprises a steering engine, and when the moving road cone moves normally, the steering engine controls the four-wheel wheels 4 to realize steering.
The embodiment also provides a control method of the intelligent mobile road cone system with self-alarming and self-adjusting overturning, when the overturning occurs, a control module reads triaxial acceleration data sensed by the overturning detection module 1, and the control module judges whether the road cone is overturned or not through a judging algorithm so as to control a motion module to respond and adjust, and the control method specifically comprises the following steps:
S0: acquiring a preset non-response angle threshold t 0, an inclination angle threshold t 1 and a capsizing angle threshold t 2;
S1: calculating an inclination angle: acquiring accelerations ax, ay and az of the intelligent mobile road cone in three directions of a vehicle body coordinate system x, y and z, and calculating the inclination angle theta of the intelligent mobile road cone relative to the horizontal plane by calculating the ratio of the projection of ay on an x-z plane to the square root of the sum of squares of ax and az;
S2: judging the inclination degree: when the detected inclination angle theta is smaller than or equal to the unresponsive angle threshold t 0, no adjustment operation is performed; when the detected inclination angle is greater than or equal to an inclination angle threshold t 1, adopting a straight line adjustment strategy to control the intelligent moving road cone to move by the same distance L 0 reversely after moving by the distance L 0 along the inclination direction so as to restore the balance state;
S3: detecting the inclination angle again, and judging the inclination degree: if the inclination angle is detected to be not recovered to the unresponsive angle threshold t 0 after the S2 is passed, an angle adjustment strategy is adopted to instruct and control the four-wheel wheels 4 to respectively move, so that the road cone main body 2 rotates along a preset angle, the gravity center position of the road cone in the inclination direction is changed, and the effect of preventing toppling is achieved;
S4: when the detected inclination angle theta is larger than or equal to the overturning angle threshold t 2, judging that the adjustment operation is invalid, and uploading alarm information to a management and control platform through a communication module to complete the self-alarm and self-adjustment function of overturning, wherein the road cone is overturned or is about to overturned.
In a specific embodiment, in S1, the inclination angle θ is expressed as:
In a specific embodiment, the communication module establishes a dedicated communication protocol and interface based on the mobile network, so as to ensure that the communication module can communicate with the management and control platform in real time. The communication module selects 4G/5G communication, can meet the communication demands of high speed, low time delay, large capacity and the like, and enables the intelligent road cone to realize rapid and accurate data transmission. And establishing a standard communication protocol and interface so that the intelligent road cone can effectively communicate with the intelligent networking platform. The communication protocol and interface have a high degree of interoperability and compatibility.
In the specific embodiment, the control platform can issue instructions and receive road cone state data, and can monitor, remotely control, statistically analyze and overturn alarming in real time; the control platform can check the position, state, electric quantity and sensor data information of the intelligent road cone in real time, so that the safety and effectiveness of the road cone are ensured; the control platform can remotely control the movement, stop, angle adjustment and posture adjustment of the intelligent road cone, and the operation efficiency and accuracy of the road cone are improved; the management and control platform can count the service conditions of the intelligent road cone, including service time, moving track and electricity consumption, and provide data support for management and maintenance; the control platform can receive the overturning alarm information of the intelligent road cone in real time, process and respond in time, and improve the safety and early warning effect of the road cone.
In a specific embodiment, the control module is a singlechip, and programs are burnt in advance through the USB port. Specifically, the control module adopts STM32H7 series single-chip microcomputer of STMicroelectronics, adopts ARM Cortex-M7 kernel, has operation frequency as high as 400MHz, has high performance, low power consumption and rich peripheral interfaces, and is suitable for application requiring high-speed calculation and data processing.
When the intelligent road cone works, the control platform is remotely connected with the control module through the communication module to control the intelligent road cone to move to a designated position. When the road cone is in a moving state and a static state, the overturning detection module 1 continuously detects the state of the road cone, the threshold value of the unresponsive angle is set to be 10 degrees, the threshold value of the inclined angle is set to be 30 degrees, and the threshold value of the overturning angle is set to be 60 degrees. The overturning alarm workflow is as follows:
s1: when the detected inclination angle is smaller than or equal to 10 degrees, no adjustment operation is performed; when the detected inclination angle is greater than or equal to 30 degrees, the control system carries out corresponding adjustment operation on the intelligent road cone through the motor, so that the intelligent road cone is restored to a horizontal state.
S2: the straight line adjustment strategy is tried, namely the motion module moves a certain distance in the inclined direction and then moves reversely by the same distance so as to restore the balance state.
S3: if the inclination angle is detected after the step S2 and the unresponsive angle threshold value is not recovered, an angle adjustment strategy is tried, and the four-wheel wheels 4 are controlled to move respectively, so that the road cone main body 2 rotates along a certain angle, the gravity center position of the road cone in the inclination direction is changed, and the effect of preventing toppling is achieved.
S4: when the inclination angle is detected to be more than or equal to 60 degrees, the adjustment operation is judged to be invalid, the road cone is overturned or is about to overtake, and the alarming information is uploaded to the management and control platform through the communication module, so that the automatic alarming and self-adjusting function of the overturned is completed.
Specifically, an angle adjustment strategy principle based on angle adjustment is as follows:
assuming that the centroid of the intelligent road cone is at the origin (0, 0) of the coordinate system, the inclination angle is theta, and the inclination direction is the positive direction of the x axis, the rotation speeds of the four motors need to be controlled, so that the intelligent road cone rotates along a certain angle, and the gravity center position of the inclination direction is changed.
Specifically, when the intelligent road cone is inclined forward, the rear wheel motor needs to be rotated forward; when the intelligent road cone is inclined backwards, the front wheel motor needs to be rotated forwards; when the intelligent road cone tilts leftwards, the motor of the left wheel needs to rotate forwards, and the motor of the right wheel rotates backwards; when the intelligent road cone is inclined rightwards, the motor of the right wheel needs to be rotated forwards, and the motor of the left wheel is rotated backwards.
Let the rotational speeds of four motors be V1, V2, V3, V4, respectively, there is the following linear relationship between the rotational speeds of the motors and the linear speeds of the wheels:
V1＝K*Vt+Kw*ω
V2＝K*Vt-Kw*ω
V1＝K*Vt+Kw*ω
V1＝K*Vt-Kw*ω
Wherein K is a proportionality coefficient between the rotating speed of the motor and the linear speed of the wheel, vt is the linear speed of the whole intelligent road cone, kw is a proportionality coefficient between the rotating speed of the motor and the angular speed of the wheel, and omega is the rotating angular speed of the intelligent road cone.
In order to realize the angle adjustment of the intelligent road cone, the whole linear speed and the whole rotation angular speed of the intelligent road cone are controlled to meet the following relation:
Vt＝V0*cos(θ)
ω＝V0*sin(θ)/L
wherein V0 is the linear velocity of the intelligent road cone, and L is the wheelbase of the intelligent road cone.
Thus, the relationship between the rotational speeds and the inclination angles θ of the four motors can be obtained as follows:
V1＝K*V0*cos(θ)+Kw*V0*sin(θ)/L
V2＝K*V0*cos(θ)-Kw*V0*sin(θ)/L
V3＝K*V0*cos(θ)+Kw*V0*sin(θ)/L
V4＝K*V0*cos(θ)-Kw*V0*sin(θ)/L
therefore, the rotating speeds of the four motors are adjusted according to the size and the direction of the inclination angle theta, the intelligent moving road cone rotates along a certain angle, the gravity center position of the inclination direction of the intelligent moving road cone is changed, the inclination angle is reduced, and the intelligent moving road cone is prevented from toppling over.
In a specific embodiment, the overturning detection module 1 comprises a triaxial high-precision digital acceleration sensor, and measurement of acceleration and parameter output of the intelligent mobile road cone in three directions X, Y, Z are completed. Specifically, the overturning detection module 1 may employ an LIS3LV02 DL-type triaxial MEMS acceleration sensor of STMicroelectronics company, which detects inclination accuracy: operating voltage ± 0.2 °: 2.4V-3.6V, working temperature: the precision is high at-40 ℃ to +85 ℃, and the intelligent road cone working environment is satisfied.
The above functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. The aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The components not described in detail in this embodiment are all existing components that can be purchased in public channels.
The previous description of the embodiments is provided to facilitate a person of ordinary skill in the art in order to make and use the present invention. It will be apparent to those skilled in the art that various modifications can be readily made to these embodiments and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above-described embodiments, and those skilled in the art, based on the present disclosure, should make improvements and modifications without departing from the scope of the present invention.

Claims (10)

1. The intelligent mobile road cone system capable of self-alarming and self-adjusting during overturning is characterized by comprising a management and control platform and a mobile road cone;
The control platform is used for remote monitoring and management of the intelligent road cone;
the moving road cone comprises: the device comprises a control module, a overturning detection module (1), a motion module, a communication module, a road cone main body (2) and a chassis (3);
the control module is used for coordinating functions of the modules, receiving input data, completing calculation and issuing instructions;
the motion module is used for driving the moving road cone to move, and the motion module comprises: four-wheel wheels (4), a motor and a battery;
The overturning detection module (1) is used for measuring and outputting the triaxial acceleration of the intelligent mobile road cone;
The communication module is used for carrying out data transmission among the management and control platform, the control module and the overturning detection module (1);
The chassis (3) is arranged at the bottom of the road cone main body (2), the overturning detection module (1) is embedded at the top of the road cone main body (2) to increase overturning angle measurement precision, the control module, the battery and the motor of the motion module and the communication module are packaged in the chassis (3), and the four-wheel (4) is arranged at the bottom of the chassis (3);
The communication module is in communication connection with the control platform, the control module and the overturning detection module (1) through communication module interfaces, the control module is in communication connection with the movement module, and the overturning detection module (1) is in communication connection with the control module and the movement module respectively; the control platform receives the detection information of the overturning detection module (1) and the overturning alarm signal through the communication module, and the control module receives the detection information of the overturning detection module (1) so as to control the movement module.
2. The intelligent mobile road cone system with self-alarming and self-adjusting overturning function according to claim 1, wherein a positioning module is arranged on the mobile road cone, and when the mobile road cone moves normally, the control module reads the position data of the positioning module, calculates and controls the motor working time parameter of the motion module and the rotation angle parameter of the four-wheel (4) so as to realize the movement action.
3. The intelligent mobile road cone system with self-alarming and self-adjusting overturning function according to claim 1, wherein an information release module is arranged on the mobile road cone, and after the mobile road cone reaches a parking place, the control module sends characters and identification information to be displayed to the information release module so as to achieve a traffic guidance target.
4. The self-alarming intelligent mobile road cone system of claim 1, wherein the control module is a single-chip microcomputer.
5. The self-alarming self-adjusting intelligent mobile road cone system of claim 1, wherein the control module is an STM32H7 series single-chip microcomputer of STMicroelectronics.
6. The self-alarming self-adjusting intelligent mobile road cone system according to claim 1, wherein the overturning detection module (1) comprises a three-axis high-precision digital acceleration sensor, and measurement and parameter output of acceleration of the mobile road cone in X, Y, Z directions are achieved.
7. An intelligent mobile road cone system with self-alarming and self-adjusting overturning function according to claim 1, wherein the motion module further comprises a steering engine, and the steering engine controls the four-wheel wheels (4) to realize steering when the mobile road cone moves normally.
8. A control method of an intelligent mobile road cone system with self-alarming and self-adjusting overturning according to any one of claims 1-7, characterized in that when overturning occurs, the control module reads triaxial acceleration data perceived by the overturning detection module (1), and the control module judges whether the broken cone is overturned or not through a judging algorithm so as to control the motion module to respond and adjust, and the control method specifically comprises the following steps:
S0: acquiring a preset non-response angle threshold t 0, an inclination angle threshold t 1 and a capsizing angle threshold t 2;
S1: calculating an inclination angle: acquiring accelerations ax, ay and az of the intelligent mobile road cone in three directions of a vehicle body coordinate system x, y and z, and calculating the inclination angle theta of the intelligent mobile road cone relative to the horizontal plane by calculating the ratio of the projection of ay on an x-z plane to the square root of the sum of squares of ax and az;
S2: judging the inclination degree: when the detected inclination angle theta is smaller than or equal to the unresponsive angle threshold t 0, no adjustment operation is performed; when the detected inclination angle is greater than or equal to an inclination angle threshold t 1, adopting a straight line adjustment strategy to control the intelligent moving road cone to move by the same distance L 0 reversely after moving by the distance L 0 along the inclination direction so as to restore the balance state;
S3: detecting the inclination angle again, and judging the inclination degree: if the inclination angle is detected to be not recovered to the unresponsive angle threshold t 0 after the S2 is passed, an angle adjustment strategy is adopted to control the four-wheel wheels (4) to respectively move, so that the road cone main body (2) rotates along a preset angle, the gravity center position of the road cone in the inclination direction is changed, and the effect of preventing toppling is achieved;
S4: when the detected inclination angle theta is larger than or equal to the overturning angle threshold t 2, judging that the adjustment operation is invalid, and the road cone is overturned or is about to overturned, uploading alarm information to the control platform through the communication module, so as to complete the self-alarm and self-adjustment function of the overturned.
9. The control method of an intelligent mobile road cone system with self-alarming and self-adjusting overturning as set forth in claim 8, wherein in S1, the inclination angle θ is expressed as:
10. The control method of the intelligent mobile road cone system with self-alarming and self-adjusting overturning function according to claim 8, wherein the communication module establishes a proprietary communication protocol and interface based on a mobile network, so that the communication module can communicate with a management and control platform in real time.
CN202410013590.5A 2024-01-04 2024-01-04 Self-alarming and self-adjusting intelligent mobile road cone system for overturning and control method Pending CN118048859A (en)

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