CN208121644U - A kind of lane change device based on angular transducer and absolute encoder - Google Patents

Abstract

The utility model discloses a kind of lane alteration device and method based on angular transducer and absolute encoder, including A pier, B pier and connection guardrail, Beidou module, embedded type control module, alarm lamp, solar panel, lead-acid accumulator, LoRa module, chassis and shell are provided on the A pier and B pier；Mobile hard shoulder is arranged using access in the utility model, flexible, at low cost；It carries out hard shoulder using dipper system to position in real time, control precision is high, highly-safe；It is accurately positioned using dipper system and realizes that multilane changes；It realizes that urban traffic road network changes in real time using big data, is coped at any time due to variation of the factors to road demand such as traffic accident, vehicle flowrate variation, bad weathers, realize and automatically control.

Description

A kind of lane change device based on angular transducer and absolute encoder

Technical field

The utility model relates to tide lane technical fields, more specifically, more particularly to a kind of based on angular transducer With the lane change device of absolute encoder.

Background technique

Automobile brings great convenience for the trip of the mankind, but quickling increase with automobile quantity, and traffic congestion is asked It inscribes increasingly severe.Although government constantly builds highway, city expressway, the growth rate of road is far below automobile number The growth of amount.In order to solve this problem, government puts into more and more funds and energy for developing intellectual resource traffic in recent years System improves the traffic efficiency of road, alleviates traffic jam issue.

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

U.S.'s Gold Gate Bridge is to carry out one of the section of changeable driveway earliest in the world, and bridge floor is 27 meters wide, removes two sides Pavement, section are two-way six-lane, and morning hours four into four go out, and afternoon, guardrail moved right a lane, form contrary circumstance. Tide lane is arranged using artificial setting method to solve this problem in Early postoperative management department.On the lane line among bridge There is an eye every one section, work car slowly travels among lane, and both sides respectively have a staff to be sitting in the flat of vehicle bottom On platform, the staff on the both sides of work car carries out plug respectively, and lane can be changed by walking one time.Many at home Small city also can using it is this it is artificial by the way of the safe heap of Plastic traffic is set, to isolate a kind of individual road for tide Vehicle uses.The mode in this artificial setting tide lane operates fairly simple, maintenance cost and cost is relatively low；But it is this The mode that tide road is manually arranged in early, the evening peak phase needs to expend a large amount of artificial and time cost, low efficiency, and tide vehicle Road transformation is not easy, while the vehicle run at high speed is easy to damage construction personnel, and risk factor is higher.

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

The developed countries such as the U.S. are practical for artificial a series of problems that tide lane and signal control of intersection is arranged A kind of novel tide lane changing machine, had not only overcome that artificial setting tidal efficiency is low, but realize tide road it is effective every From.This tide lane changing machine is substantially a running locomotive, by the way that various mechanical devices are arranged in intra-locomotive, As the guardrail in a lane is moved to another lane up by the operation of locomotive, which greatly enhances the speed of lane guardrail transformation Degree, reduces cost of labor, is further divided into several sections by more lane change machines for especially interminable tide lane while having run At lane changing.But since planning limits, original isolation strip or greenbelt cannot be removed, and lead to tide lane changing machine It cannot be widely used, and the transcriber purchase cost is higher, need special isolation strip, while tide lane changing machine Cost also strongly limits the development of this technology at 3,000,000 dollars or more.

In order to improve the adaptability in tide lane, the research staff in Shenzhen designs a kind of intelligent tide lane again, should Intelligent tide lane is formally exposed using remote control guardrail and the combining form of lamp control in Shen Nan South Mountain section, intelligence tide It nighttide lane can be automatic that tide lane is set automatically according to the size of vehicle flowrate.This intelligence tide lane innovation bright spot exists In the introduction of remote control guardrail, it is similar to common guardrail, but bottom motors drive four pulleys, as long as plugging in, guardrail can Transverse shifting is carried out to command with remote controler, the isolation switching in tide lane is realized in 1 minute.Also there is intelligence barrier simultaneously Hinder identification technology, is able to detect that the barrier encountered during guardrail lane change.Compared to traditional traffic dispersion mode, significantly Reduce the risk and workload of traffic police on duty.Traffic police can be according to site traffic situation, and by hand-held remote controller, control is variable Divide to traveling lane mark and adjusts driveway travel directions at any time；If there is obvious current feature at crossing, in the feelings of not emergency event Under condition, traffic police can also carry out the time of program input fixed signal conversion in advance, by its auto-changing；In addition, control centre Label can also be controlled using long-range control means in due course by instruments monitor crossing road conditions；If realizing computer connection The intersection annunciator of net, moreover it is possible to distinguish simultaneously auto-control by automatic recognition system.Shenzhen, Beijing etc. are regional at present It comes into operation in succession, application prospect is very extensive.But in the operational process in this intelligent tide lane, due to center The presence of isolation guardrail and greenbelt, on the one hand, the eastbound vehicle being lined up after overflowing cannot be introduced into the left-hand rotation of tide lane, lead to tide Nighttide lane utilization ratio is not high, on the other hand, the right-hand rotation of southing mouth this two due to cannot be introduced into tide lane by guardrail obstruction, also drop The low utilization rate in tide lane.

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

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

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

If LoRa system is dissolved into the control in intelligent tide lane, it can get rid of and be held by traffic police merely Remote controler carrys out the defect in intelligent control tide lane, to realize the centralized control in intelligent tide lane, and can greatly Production cost is reduced, the overall power in intelligent tide lane is reduced, improves the popularity rate in intelligent tide lane.

Positioning system plays the role of particularly important, current positioning system master in the use of tide lane automatic running It to include that the GPS satellite navigation system in the U.S., the GLONASS GLONASS satellite navigation system of Russia and the Beidou in China are defended Star navigation system.

GPS of America satellite navigation system is using in the satellite of space flight, constantly certain frequency of broadcast transmission is simultaneously to the ground The radio signal of certain special location informations is loaded with to realize the positioning system of positioning measurement.The system is by space motion The three parts such as satellite constellation, ground control segment, User Part composition.GPS satellite navigation system originates in army of the U.S. I958 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 the big field in land, sea and air three, and be used for Some military purposes such as information gathering, Nuclear detonation monitoring and emergency communication, arrive l994, and Global coverage rate is up to 24 of 98% Own lay of GPS satellite constellation is completed.During GPS satellite navigation system use, GPS with it is round-the-clock, In high precision, the features such as automation, high benefit, is applied successfully to geodesic survey, engineering survey, aeroplane photography, Navigation for Means of Transportation With a variety of subjects such as control, crustal movement measurement, engineering project deformation measurement, resources survey, geodynamics, the economy achieved Benefit and social benefit.The operational satellites of GPS satellite navigation system are located at the overhead away from earth's surface 20200km, are evenly distributed on 6 In orbital plane (each orbital plane 4), orbit inclination angle is 55 °.In addition, also 3 active redundancy satellites are in orbit.Satellite Distribution so that the whole world Anywhere, all can observe 4 or more satellites, and the navigation that can be prestored in the satel-lite any time A period of time also can be used in information, but navigation accuracy can gradually decrease, and the precision reached at present is about 10 meters.

GLONASS (GLONASS), is Russian " Global Satellite Navigation System GLOBAL NAVIGATION SATELLITE The abbreviation of SYSTEM ".GLONASS satellite navigation system is developed in Soviet Union's period earliest, after the plan, Russia continued by Russia Start within Ross 1993 the Global Satellite Navigation System for establishing this country alone, which runs in starting in 2007, only opened at that time Put the domestic satellite positioning of Russia and navigation Service.By 2009, service range was extended to the whole world.GLONASS satellite Navigation system main services content includes coordinate and motion velocity information of determining land, sea and aerial target etc..GLONASS Constellation is made of 30 satellites altogether, and 27 stars are evenly distributed on the orbit plane of 3 subcirculars, these three orbit planes two Two are separated by 120 degree, and each orbital plane has 8 satellites, 45 degree is separated by between coplanar interior satellite, orbit altitude 2.36 ten thousand is public In, 15 points of 11 hours cycles of operation, 64.8 degree of orbit inclination angle, precision reaches 10 meters or so at present.

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

With significantly improving for each field Beidou satellite navigation system popularity of communications and transportation, application environment it is further Perfect, service ability is remarkably reinforced, and the application of Beidou satellite navigation system achieves extremely significant achievement, for this purpose, being based on Beidou satellite navigation system proposes the lane change guidance method of the controllable hard shoulder mode in non-timed section tide lane, by designing base In the lane of Beidou satellite navigation system, change robot realizes that lane is changed, in conjunction with existing monitoring and license plate recognition technology energy It reaches and realizes Full automatic unmanned in change lane, recycle big data system, may finally realize round-the-clock lane oneself The caused congestion in road of the problems such as moving and adjust, solving the problems, such as by tidal phenomena, traffic accident, weather anomaly.

Utility model content

Utility model aims to solve not knowing for the above-mentioned prior art, propose it is a kind of based on angular transducer and The lane change device and variation of absolute encoder can carry out automatically the transformation in tide lane, and can be realized automatic Avoidance reduces production and application cost, reduces influence of the manpower factor to intelligent tide lane.

The utility model is achieved through the following technical solutions above-mentioned purpose：One kind being based on angular transducer and absolute coding The lane change device of device, including A pier, B pier and connection guardrail, the both ends for connecting guardrail are respectively hinged at the central axis and B of A pier On the central axis of pier；Angular transducer is mounted between the A pier and B pier and connection guardrail；

Beidou module, embedded type control module, alarm lamp, solar panel, lead are provided on the A pier and B pier Acid accumulator, LoRa module, chassis and shell, embedded type control module connect section control base station, plumbic acid by LoRa module Battery is fixed on chassis, and base plate cover is mounted in outer casing bottom, is provided with convex block on chassis, outer casing bottom be provided with on chassis The groove that matches of convex block, be further fixed on chassis driving motor on shell, chassis driving motor connects ball-screw, on chassis It is provided with the feed screw nut matched with the ball-screw, the feed screw nut is sleeved on the ball-screw, and chassis is driven Driving chassis moves up and down in the bottom of shell when dynamic motor drives ball screw turns；The upper shell is provided with alarm Lamp, the outer surface of shell are provided with solar panel, and solar panel connects lead acid storage battery by solar charging circuit Pond, the Beidou module are arranged at interior of shell, and mobile mechanism and locking mechanism are arranged on chassis；

Three directional wheels, an orientation motor, laser range finder and survey are also equipped on the chassis of the A pier and B pier Distance meter driving motor, three directional wheels include a driving wheel and two followers, and orientation motor connection driving wheel is by driving institute Driving wheel rotation is stated, the movement for driving A pier or B pier is moved by driving wheel, absolute encoder is installed on the driving wheel, out Make being consistent towards these three directions for the zero-bit of absolute encoder, the direction of motion of hard shoulder and driving wheel when factory；Ranging Instrument driving motor is fixed on the shell, and rangefinder driving motor connection laser range finder simultaneously drives turning for the laser range finder It is dynamic, horizontal notch is offered on shell, connection guardrail passes through horizontal notch connection central axis and laser range finder penetrates level trough Mouth is irradiated to outside hard shoulder.

A kind of lane variation based on angular transducer and absolute encoder, includes the following steps：

S1：The signal lamp for controlling tide lane makes the signal lamp of tide lane inlet be converted to red light, and starts first Change robot in group lane；

S2：A pier and B pier are powered on and initialized respectively, and judge itself with the presence or absence of failure, and breakdown judge includes electric power storage Whether judgement that whether the whether enough judgements of pond electricity, Beidou module can position, wireless transport module can normally transmit letter Whether all motors can work normally in breath and hard shoulder；If there are failures for A pier or B pier, to there are the A piers of failure Or B pier restarted after breakdown judge is carried out to the hard shoulder again if there are still failures for A pier or B pier the A of failure will be present The fault message of pier or B pier passes to section control base station, and lights the warning light of the hard shoulder, does not move to the hard shoulder It is dynamic；If failure is not present in A pier and B pier, judge that A pier and B pier can be moved, and enters S3 step；

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

S4：The junction setting angle sensor of A pier and connection guardrail, and Beidou mould is installed at the top of A pier and B pier Block, the absolute position of A pier and B pier is determined by Beidou module, it is possible thereby to learn absolute position of the connection guardrail relative to ground Set and absolute angle, learn the relative angle of connection guardrail and A pier by angular transducer, then by its with connect the absolute of guardrail Angle combines the absolute angle relative to ground of relative angle and A pier for obtaining A pier relative to ground, according to the A in S3 step Pier current location and target position determine the direction of motion of A pier, and absolute encoder is housed between A pier and driving wheel, can be direct The angle between A pier and driving wheel is obtained, by orienting motor rotary driving wheel, moves it towards target position；

S5：A pier is first turned on the alarm lamp of itself and carries out obstacle judgement, and the mode that obstacle judges is laser ranging method, Before A pier moves every time, laser range finder on B pier is in the direction direct projection to A pier of connection guardrail, to tide lane when detection Direction rotate B pier on rangefinder driving motor, make the laser range finder on B pier direction with connect guardrail be in 5 degree, in B pier On laser range finder launch and carry out obstacle judgement after light, the length for connecting guardrail is S, if rangefinder rotary electric machine rotates During the distance that measures of laser range finder be consistently greater thanThen judge laser range finder issue light not by It blocks, i.e., has the stroke of one section of 10cm long and accessible on the motion path of A pier, into S6 step；If rangefinder rotation electricity Being less than occurred in the distance that laser range finder measures during machine rotatesThe case where, then judge that laser range finder is sent out Light out was blocked, then carried out obstacle judgement to A pier again after the 3s that is delayed；

S6：The locking device of A pier and B pier is unclamped, the orientation motor on A pier is rotated and drives driving wheel rotation, keep A pier direct It is moved towards target position；A pier moves along a straight line under the driving of orientation motor to segmented objects locality, the fortune of A pier Dynamic distance is 10cm, and control motor makes A pier linear motion 10cm, and in the movement of A pier, B pier keeps free following state, in A After pier has moved 10cm, A pier determines itself current current location information by Beidou module, and by current location information and step The first segmentation location information obtained in rapid S5 compares, if the current location information of A pier and first fragment bit confidence Manner of breathing is overlapped, then A pier, which moves to fragment bit and postpones, closes alarm lamp and lock locking device, if the current location information of A pier with First segmentation location information is not overlapped, then A pier continues movement up to the current location information and first fragment bit confidence of A pier Manner of breathing is overlapped；

S7：The junction setting angle sensor of B pier and connection guardrail, and Beidou mould is installed at the top of A pier and B pier Block, the absolute position of A pier and B pier is determined by Beidou module, it is possible thereby to learn absolute position of the connection guardrail relative to ground Set and absolute angle, learn the relative angle of connection guardrail and B pier by angular transducer, then by its with connect the absolute of guardrail Angle combines the absolute angle relative to ground of relative angle and B pier for obtaining B pier relative to ground, according to the B in S3 step Pier current location and target position determine the direction of motion of B pier, and absolute encoder is housed between B pier and driving wheel, can be direct The angle between B pier and driving wheel is obtained, by orienting motor rotary driving wheel, moves it towards target position；

S8：Before B pier moves every time, the laser range finder on A pier is in the direction direct projection to B pier of connection guardrail, detection When to tide track direction rotation A pier on rangefinder driving motor, make the laser range finder on A pier direction with connect guardrail In 5 degree, obstacle judgement is carried out after the laser range finder on A pier launches light, if the process of rangefinder driving motor rotation The distance that middle laser range finder measures is consistently greater thanThe light for then judging that laser range finder issues is not blocked, i.e., There is a trip and accessible on the motion path of B pier, into S8 step；If rangefinder rotary electric machine swashs during rotating Being less than occurred in the distance that optar measuresThe case where, then the light for judging that laser range finder issues was blocked, It is then delayed after 3s and obstacle judgement is carried out to B pier again；

S9：It rotates the orientation motor on B pier and drives driving wheel rotation, B pier is made to be directly toward target position movement；B pier exists It orients and moves along a straight line under the driving of motor to segmented objects locality, the move distance of B pier is 10cm, and control motor makes B pier linear motion 10cm, in the movement of B pier, B pier keeps free following state, and after B pier has moved 10cm, B pier passes through north The module that struggles against determines itself current current location information, and first fragment bit that will be obtained in current location information and step S5 Confidence breath compares, if the current location information of B pier is overlapped with first fragment bit confidence manner of breathing, B pier moves to segmentation Alarm lamp is closed behind position and locks locking device, if the current location information of B pier is not overlapped with first segmentation location information, Then B pier continues movement until the current location information of B pier is overlapped with first fragment bit confidence manner of breathing；

S10：Section control base station successively sends remaining segmentation location information to A pier and B pier, and repeats above-mentioned S5~S9 Step completes the movement of one group of lane change robot until A pier and B pier reach target position；

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 step, Until all hard shoulder groups are moved to the other side in tide lane；

S12：The signal lamp for controlling tide lane, makes its new Way in green light, completes the change in entire tide lane Change process.

The beneficial effects of the utility model are：

1, the utility model utilizes the side movable type hard shoulder in tide lane, needs directly move when changing Lane When hard shoulder be moved to the mode in other side lane and realize the transformation in tide lane, it is flexible, it is at low cost.

2, the utility model is positioned in real time using dipper system progress hard shoulder, and control precision is high, highly-safe.

3, the utility model is accurately positioned using dipper system realizes that multilane changes, while realizing city using big data Traffic route network changes in real time, is coped at any time since the factors such as traffic accident, vehicle flowrate variation, bad weather are to road demand Variation, realize automatically control.

4, the utility model reduces the universal wheel on B pier in such a way that A hard shoulder drives B hard shoulder to move together The use of driving motor reduces whole cost.

5, the brake positioning of the utility model does not only rely on the braking mechanism inside block of wood, can also be directly by A pier or B pier Shell entire lowering be placed on ground, realize that the shell side of block of wood directly with ground face contact, avoids only A pier and B pier Hard shoulder caused by wheel and ground face contact slides, and positioning has been better achieved, and the positioning method of shell decline can have Effect prevents inside A pier or B pier into sundries, to influence the normal use of hard shoulder.

6, the utility model on the shell of hard shoulder by being arranged solar panel and the internal lead acid storage battery being arranged Pond realizes the charging at any time of hard shoulder and without the use under cable status, because of the number of change lane generally only one in one day To twice, thus lead-acid accumulator may be implemented completely daily change lane more can, while solar panel can guarantee The continuation of the journey of hard shoulder longer time.

7, the utility model can be hard shoulder by the setting of alarm lamp and not only play a warning role when in use, moreover it is possible to Fault alarm is carried out when breaking down inside hard shoulder, lane caused by preventing because of hard shoulder failure can not change situation.

Detailed description of the invention

Fig. 1 is a kind of front view structure of the lane change device based on angular transducer and absolute encoder of the utility model Schematic diagram.

Fig. 2 is the three dimensional structure diagram of the utility model A pier or B pier.

Fig. 3 is the internal sectional structure schematic diagram of the utility model A pier or B pier.

Fig. 4 is a kind of process signal of lane variation based on angular transducer and absolute encoder of the utility model Figure.

In figure, 1-A pier, 2-B pier, 3- connection guardrail, 4- central axis, 5- angular transducer, 6- ball-screw, 7- shell, 8- laser range finder, 9- rangefinder driving motor, 10- Beidou module, 11- alarm lamp, the chassis 12- driving motor, 13- shaft coupling Device, 14- lead-acid accumulator, 15- follower, the chassis 16-, 17- absolute encoder, 18- driving wheel, 19- solar panel.

Specific embodiment

The utility model is described in further detail with reference to the accompanying drawing：

As shown in Figures 1 to 3, a kind of lane change device based on angular transducer and absolute encoder, including A pier 1, B Pier 2 and connection guardrail 3, the both ends of connection guardrail 3 are respectively hinged on the central axis 4 of A pier 1 and the central axis of B pier 2, the A pier Angular transducer is mounted between 1 and B pier 2 and connection guardrail 3.

Beidou module 10, embedded type control module, alarm lamp 11, solar battery are provided on the A pier 1 and B pier 2 Plate 19, lead-acid accumulator 14, LoRa module, chassis 16 and shell 7, embedded type control module connect section control by LoRa module Base station processed, lead-acid accumulator 14 are fixed on chassis 16, and chassis 16 is sleeved on 7 bottom of shell, are provided with convex block on chassis 16, outside 7 bottom of shell is provided with the groove matched with the convex block on chassis 16, and chassis driving motor 12, chassis are further fixed on shell 7 Driving motor 12 connects ball-screw 6, is provided with the feed screw nut matched with the ball-screw 6, the silk on chassis 16 Thick stick nut is sleeved on the ball-screw 6, drives chassis 16 in shell when chassis driving motor 12 drives ball-screw 6 to rotate 7 bottom moves up and down, and chassis driving motor 12 connects the ball-screw 6 by shaft coupling 13；7 upper end of the shell setting 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 Beidou module 10 is arranged inside shell 7, and mobile mechanism and locking mechanism are arranged at bottom On disk 16.

Three directional wheels, an orientation motor, laser range finder 8 are also equipped on the chassis 16 of the A pier 1 and B pier 2 With rangefinder driving motor 9, three directional wheels include a driving wheel 18 and two followers 15, and orientation motor connects driving wheel 18 are driven the driving wheel 18 to rotate, and the movement for driving A pier 1 or B pier 2 is moved by driving wheel 18, is pacified on the driving wheel Equipped with absolute encoder 17, when factory, makes the direction of the zero-bit of absolute encoder 17, the direction of motion of hard shoulder and driving wheel 18 These three directions are consistent；Rangefinder driving motor 9 is fixed on shell 7, and rangefinder driving motor 9 connects laser range finder 8 and the rotation of the laser range finder 8 is driven, horizontal notch is offered on shell 7, connection guardrail 3 passes through the connection of horizontal notch Central axis and laser range finder 8 penetrate horizontal notch and are irradiated to outside hard shoulder.

As shown in figure 4, a kind of lane variation based on angular transducer and absolute encoder, includes the following steps：

S1：The signal lamp for controlling tide lane makes the signal lamp of tide lane inlet be converted to red light, and starts first Change robot in group lane；

S2：A pier 1 and B pier 2 are powered on and initialized respectively, and judge itself with the presence or absence of failure, and breakdown judge includes storing Whether judgement that whether the whether enough judgements of battery capacity, Beidou module 10 can position, wireless transport module can normally pass Pass whether motor all in information and hard shoulder can work normally；If there are failures for A pier 1 or B pier 2, in the presence of event The A pier 1 or B pier 2 of barrier carry out breakdown judge to the hard shoulder again after being restarted, will if there are still failures for A pier 1 or B pier 2 There are the fault messages of the A pier 1 of failure or B pier 2 to pass to section control base station, and lights the warning light of the hard shoulder, not right The hard shoulder is moved；If failure is not present in A pier 1 and B pier 2, judge that A pier 1 and B pier 2 can be moved, and enter S3 step；

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

S4：The junction setting angle sensor of A pier 1 and connection guardrail 3, and the top of A pier 1 and B pier 2 is equipped with north Struggle against module 10, and the absolute position of A pier 1 and B pier 2 is determined by Beidou module 10, it is possible thereby to learn connection guardrail 3 relative to ground The absolute position in face and absolute angle, by angular transducer learn connection guardrail 3 and A pier 1 relative angle, then by itself and even The absolute angle for connecing guardrail 3 combines the absolute angle relative to ground of relative angle and A pier 1 for obtaining A pier 1 relative to ground, According in S3 step 1 current location of A pier and target position determine the direction of motion of A pier 1, be equipped between A pier 1 and driving wheel 18 Absolute encoder 17 can directly acquire the angle between A pier 1 and driving wheel 18, by orienting motor rotary driving wheel 18, make It is moved towards target position；

S5：A pier 1 is first turned on the alarm lamp 11 of itself and carries out obstacle judgement, and the mode that obstacle judges is laser ranging Method, before A pier 1 every time movement, laser range finder 8 on B pier 2 in the direction direct projection to A pier 1 of connection guardrail 3, when detection to Tide track direction rotate B pier 2 on rangefinder driving motor 9, make the laser range finder 8 on B pier 2 direction with connect guardrail 3 be in 5 degree, and obstacle judgement is carried out after the laser range finder 8 on B pier 2 launches light, and the length of connection guardrail 3 is S, if surveying The distance that laser range finder 8 measures during distance meter rotary electric machine rotates is consistently greater thanThen judge laser ranging The light that instrument 8 issues is not blocked, i.e., has the stroke of one section of 10cm long and accessible on the motion path of A pier 1, into S6 step In rapid；If being less than occurred in the distance that laser range finder 8 measures during rangefinder rotary electric machine rotatesFeelings Condition, the then light for judging that laser range finder 8 issues were blocked, then carried out obstacle judgement to A pier 1 again after the 3s that is delayed；

S6：The locking device of A pier 1 and B pier 2 is unclamped, the orientation motor rotated on A pier 1 drives driving wheel 18 to rotate, and makes A Pier 1 is directly toward target position movement；A pier 1 moves along a straight line under the driving of orientation motor to segmented objects locality, The move distance of A pier 1 be 10cm, control motor make A pier 1 move along a straight line 10cm, A pier 1 move when, B pier 2 keep freely with With state, after A pier 1 has moved 10cm, A pier 1 determines itself current current location information by Beidou module 10, and will work as The first segmentation location information obtained in front position information and step S5 compares, if the current location information of A pier 1 and One fragment bit confidence manner of breathing is overlapped, then A pier 1 moves to fragment bit and postpones closing alarm lamp 11 and lock locking device, if A pier 1 current location information is not overlapped with first segmentation location information, then A pier 1 continues movement up to the present bit confidence of A pier 1 Breath is overlapped with first fragment bit confidence manner of breathing；

S7：The junction setting angle sensor 5 of B pier 2 and connection guardrail, and the top of A pier 1 and B pier 2 is equipped with north Struggle against module 18, and the absolute position of A pier 1 and B pier 2 is determined by Beidou module 18, it is possible thereby to learn connection guardrail 3 relative to ground The absolute position in face and absolute angle, by angular transducer learn connection guardrail and B pier 2 relative angle, then by itself and even The absolute angle for connecing guardrail combines the absolute angle relative to ground of relative angle and B pier 2 for obtaining B pier 2 relative to ground, root According in S3 step 2 current location of B pier and target position determine the direction of motion of B pier 2, equipped with exhausted between B pier 2 and driving wheel 18 To encoder 17, the angle between B pier 2 and driving wheel 18 can be directly acquired, by orienting motor rotary driving wheel 18, makes it It is moved towards target position；

S8：Before B pier 2 every time movement, laser range finder 8 on A pier 1 in the direction direct projection to B pier 2 of connection guardrail 3, When detection to tide track direction rotation A pier 1 on rangefinder driving motor 9, make the laser range finder 8 on A pier 1 direction with Connecting guardrail 3 is in 5 degree, obstacle judgement is carried out after the laser range finder 8 on A pier 1 launches light, if rangefinder driving motor The distance that laser range finder 8 measures during 9 rotations is consistently greater thanThen judge the light that laser range finder 8 issues Line is not blocked, i.e., has a trip and accessible on the motion path of B pier 2, into S8 step；If rangefinder rotation electricity Being less than occurred in the distance that laser range finder 8 measures during machine rotatesThe case where, then judge laser range finder 8 The light of sending was blocked, then carried out obstacle judgement to B pier 2 again after the 3s that is delayed；

S9：The orientation motor rotated on B pier 2 drives driving wheel 18 to rotate, and B pier 2 is made to be directly toward target position movement；B Pier 2 moves along a straight line under the driving of orientation motor to segmented objects locality, and the move distance of B pier 2 is 10cm, control Motor makes the linear motion 10cm of B pier 2, and when B pier 2 moves, B pier 2 keeps free following state, has moved 10cm in B pier 2 Afterwards, B pier 2 determines itself current current location information by Beidou module 10, and will obtain in current location information and step S5 The first segmentation location information obtained compares, if the current location information of B pier 2 and first fragment bit confidence manner of breathing weight It closes, then B pier 2, which moves to fragment bit and postpones, closes alarm lamp 11 and lock locking device, if the current location information of B pier 2 and the One segmentation location information is not overlapped, then B pier 2 continues movement up to the current location information and first fragment bit confidence of B pier 2 Manner of breathing is overlapped；

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

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 step, Until all hard shoulder groups are moved to the other side in tide lane；

S12：The signal lamp for controlling tide lane, makes its new Way in green light, completes the change in entire tide lane Change process.

Above-described embodiment is the preferred embodiment of the utility model, is not the limit to technical solutions of the utility model System, as long as being regarded as falling into without the technical solution that creative work can be realized on the basis of the above embodiments In the rights protection scope of the utility model patent.

Claims (1)

1. a kind of lane change device based on angular transducer and absolute encoder, it is characterised in that：Including A pier (1), B pier (2) and connection guardrail (3), the both ends of connection guardrail (3) are respectively hinged at the central axis of A pier (1) and the central axis (4) of B pier (2) On；The A pier (1) and B pier (2) are mounted on angular transducer (5) with connecting between guardrail (3)；

Beidou module (10), embedded type control module, alarm lamp (11), solar energy are provided on the A pier (1) and B pier (2) Solar panel (19), lead-acid accumulator (14), LoRa module, chassis (16) and shell (7), embedded type control module pass through LoRa mould Block connects section control base station, and lead-acid accumulator (14) is fixed on chassis (16), and chassis (16) are sleeved on shell (7) bottom, Convex block is provided on chassis (16), shell (7) bottom is provided with the groove matched with the convex block on chassis (16), shell (7) On be further fixed on chassis driving motor (12), chassis driving motor (12) connect ball-screw (6), be provided on chassis (16) with The feed screw nut that the ball-screw (6) matches, the feed screw nut are sleeved on the ball-screw (6), chassis driving Driving chassis (16) moves up and down in the bottom of shell (7) when motor (12) drives ball-screw (6) rotation；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 Beidou module (10) is arranged at shell (7) inside, moving machine Structure and locking mechanism are arranged on chassis (16)；

Three directional wheels, orientation motor, a laser ranging are also equipped on the chassis (16) of the A pier (1) and B pier (2) Instrument (8) and rangefinder driving motor (9), three directional wheels include a driving wheel (18) and two followers (15), orientation electricity Machine connects driving wheel (18) and the driving wheel (18) is driven to rotate, and is moved by driving wheel (18) and drives A pier (1) or B pier (2) Movement, be equipped with absolute encoder (17) on the driving wheel (18), when factory makes zero-bit, the isolation of absolute encoder (17) The direction of motion and driving wheel (18) of pier are consistent towards these three directions；Rangefinder driving motor (9) is fixed on shell (7) on, rangefinder driving motor (9) connection laser range finder (8) and the rotation for driving the laser range finder (8), shell (7) On offer horizontal notch, connection guardrail (3) passes through horizontal notch connection central axis and laser range finder (8) penetrates horizontal notch It is irradiated to outside hard shoulder.