CN208533424U - Tide lane altering system based on optoelectronic scanning avoidance - Google Patents

Abstract

The utility model discloses a kind of tide lane altering system based on optoelectronic scanning avoidance, including remote control center, traffic lights background data server, group of robot is changed in section control base station and lane, the data transmission port of remote control center and the data transmission port of traffic lights background data server carry out real-time Data Transmission by way of optical fiber transmission or wireless data transmission, tide lane change signal is sent to section control base station by remote control center in real time, command-control signal of walking is sent in lane change group of robot all in corresponding road section by section control base station in real time by way of wireless data transmission；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.

Description

Tide lane altering system based on optoelectronic scanning avoidance

Technical field

The utility model relates to tide lane technical fields, more specifically, more particularly to a kind of being kept away based on optoelectronic scanning The tide lane altering system of barrier.

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 a orbital plane (each orbital plane 4), orbit inclination angle is 55 °.In addition, also 3 active redundancy satellites are in orbit. The distribution of satellite so that the whole world Anywhere, all can observe 4 or more satellites any time, and can be pre- in the satel-lite A period of time also can be used in the navigation information deposited, 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 a kind of based on optoelectronic scanning avoidance Tide lane altering system and method, the transformation in tide lane can be carried out automatically, and can be realized automatic obstacle-avoiding, reduced Production and application cost reduces influence of the manpower factor to intelligent tide lane.

The utility model achieves the above object through the following technical schemes: a kind of tide vehicle based on optoelectronic scanning avoidance Machine is changed in road altering system, including remote control center, traffic lights background data server, section control base station and lane Device crowd's group, the data transmission port of remote control center and the data transmission port of traffic lights background data server are logical The mode for crossing optical fiber transmission or wireless data transmission carries out real-time Data Transmission, and remote control center, which changes tide lane, to be believed Number it is sent to section control base station in real time, section control base station will walk command-control signal by way of wireless data transmission It is sent in lane change group of robot all in corresponding road section in real time, each lane change group of robot is receiving respectively From walking order when execute corresponding mobile, and location information is fed back into section control base station in real time；

Lane change group of robot includes multiple groups along the lane that tide track direction is distributed change robot group, adjacent Lane, which is changed, is spaced 0.5 ~ 1 meter between robot group, each lane change robot group includes A pier, B pier and connection guardrail, A It adopts and is hinged between pier and connection guardrail, B pier is fixedly connected with 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；

One driving wheel and two followers are installed on the chassis of the A pier, one is additionally provided on the chassis of A pier and is determined To motor, orients motor connection driving wheel and the driving wheel is driven to rotate, the fortune of entire A pier is driven by driving wheel movement It is dynamic；Guardrail driving motor, guardrail driving motor connection connection guardrail, the movement of guardrail driving motor are additionally provided with inside the A pier When drives the connection guardrail and B pier composition whole, and around the inside that central axis rotate the A pier to be additionally provided with first unrestrained Reflection photoelectric switch and the first optoelectronic switch driving motor, the first optoelectronic switch driving motor connection first diffuse electric switch And the described first rotation for diffusing electric switch is driven, offer horizontal big notch on A pier, first electric switch that diffuses is saturating Horizontal big notch is crossed to be irradiated to outside A pier；

Installation is there are three universal wheel on the chassis of the B pier, the inside of B pier be additionally provided with second diffuse electric switch and Second optoelectronic switch driving motor, the second optoelectronic switch driving motor connection second, which diffuses, electric switch and drives described second Diffuse the rotation of electric switch, offers horizontal small-rabbet on B pier, and second electric switch that diffuses shines through horizontal small-rabbet It is mapped to outside B pier.

Further, driving wheel is installed on the chassis of the A pier and follower is directional wheel, orientation motor is embedded in The inside chassis of A pier, orientation motor be electrically connected with lead-acid accumulator and by lead-acid accumulator power supply, orient motor with it is embedded Control module is electrically connected and passes through the running speed and rotation direction that embedded type control module controls itself, orientation motor connection master Driving wheel simultaneously drives the driving wheel to rotate, and the movement of entire A pier is driven by driving wheel movement.

Further, the opening radian of the horizontal big notch is quadrant.

Further, the opening radian of the horizontal small-rabbet is quadrant.

A kind of tide lane variation based on optoelectronic scanning avoidance, includes the following steps:

S1: robot group, every group of lane are changed in the direction setting multiple groups lane in a lateral edge tide lane in tide lane Change robot group includes A pier and B pier, is spaced 0.5 ~ 1 meter between adjacent one group of lane change robot group；

S2: remote control center judges each road according to the information of vehicle flowrate that traffic lights background data server is transmitted Whether section needs to carry out the change in tide lane, if desired carries out the change in tide lane, and remote control center is by tide lane Change signal is sent to section control base station in real time, is ordered walking by way of wireless data transmission by section control base station Control signal is sent in real time in change robot group in lane all in corresponding road section；

The A pier of robot group is changed in S3: the first group of lane and B pier is powered on and initialized respectively, and whether judges itself There are failure, breakdown judge includes judgement, the LoRa the mould whether enough judgements of battery capacity, Beidou module can position Whether block can normally transmit whether motor all in information and hard shoulder can work normally；If A pier or B pier there are failure, Breakdown judge is carried out to the hard shoulder again after then restarting to the hard shoulder there are failure, if A pier or B pier there are still failure, The fault message that the hard shoulder of failure then will be present passes 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 and B pier, judge that A pier and B pier can be moved, and enters S4 and walk Suddenly；

S4: section control base station is the interval of 10cm according to the initial position message and target position information of each hard shoulder The motion path of each hard shoulder is divided, the location segment location information that each hard shoulder needs to stop is obtained；Section Control base station sends the segmentation location information of each hard shoulder on corresponding hard shoulder；

S5:A pier receives first segmentation location information that section control base station is sent, and A pier is first turned on the report of itself Warning lamp simultaneously carries out obstacle judgement, and the mode that obstacle judges sentences method for distinguishing to penetrating as optoelectronic switch, before A pier moves every time, B pier On second diffuse electric switch along connection guardrail direction face A pier, when detection on tide track direction driving B pier Second optoelectronic switch driving motor makes second on the B pier electric switch that diffuses scan 90 degree of tide track direction of range, If second on B pier diffuses, second electric switch that diffuses is not received by optical telecommunications to electric switch always in the process Number, then it represents that barrier is not encountered during scanning, then has the stroke of one section of 10cm long simultaneously on the motion path of A hard shoulder It is accessible, into S5 step；If second diffuses electric switch terminating during the second optoelectronic switch driving motor rotates Receive photosignal, then it represents that encounter barrier during scanning, then obstacle is carried out to A hard shoulder again after the 3s that is delayed and is sentenced It is disconnected；

S6: unclamping the locking device of A pier and B pier, and A pier moves along a straight line to target position direction, the move distance of A pier For 10cm, controlling motor makes A pier linear motion 10cm, and in the movement of A pier, B pier keeps free following state, mobile in A pier After complete 10cm, A pier determines itself current current location information by Beidou module, and will be in current location information and step S5 The first segmentation location information obtained compares, if the current location information of A pier and first fragment bit confidence manner of breathing weight It closes, then A pier moves to fragment bit and postpones closing alarm lamp and lock locking device, if the current location information of A pier and first Segmentation location information is not overlapped, then A pier continues movement until the current location of A pier coincides with segmentation position；

S7: before B pier moves every time, first on A pier diffuse electric switch along connection guardrail direction face B pier, The first optoelectronic switch driving motor when detection on tide track direction rotation A pier, makes first on A pier to diffuse and establishes by cable 90 degree of rotation is closed, first on A pier diffuses after electric switch launches light and carries out obstacle judgement in the process, if first First electric switch that diffuses is not received by photosignal during optoelectronic switch driving motor rotates, then the movement of A pier There is the stroke of one section of 10cm long and accessible on path, into S5 step；If the mistake of the first optoelectronic switch driving motor rotation First electric switch that diffuses receives photosignal in journey, then carries out obstacle judgement to A pier again after the 3s that is delayed；

S8: the guardrail rotary electric machine on driving A pier, guardrail rotary electric machine drive the entirety of connection guardrail and B pier composition around A Pier is rotated；After B pier has moved 10cm, B pier determines itself current current location information by Beidou module, and will work as The first segmentation location information obtained in front position information and step S5 compares, if the current location information of B pier with point Location information coincides, then enters S9 step；If the current location information of B pier with segmentation location information be not overlapped, B pier after Reforwarding is dynamic until the current location of B pier coincides with segmentation position；

S9: section control base station successively sends remaining segmentation location information to A pier and B pier, and repeats above-mentioned S5 ~ S8 step Suddenly, until A pier and B pier reach target position, the movement of first group of lane change robot group is completed；

After the completion of the movement of S10: the first group of lane change robot group, remaining lane change robot group is repeated in Above-mentioned S3 ~ S9 step completes entire tide until all lane change robot groups are moved to the other side in tide lane The conversion process in lane.

The utility model has the beneficial effects that:

1, of the invention to carry out avoidance using optoelectronic switch, the automatic change in tide lane can be realized according to demand, together When combine traffic lights background data server, using big data realize urban traffic road network change in real time, answer at any time To due to variation of the factors to road demand such as traffic accident, vehicle flowrate variation, bad weathers, the automatic control in tide lane is realized System.

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

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

4, the present invention reduces making for the universal wheel driving motor on B pier in such a way that A pier drives B pier to move together With reducing whole cost.

5, brake positioning of the invention does not only rely on the braking mechanism inside block of wood, can also be directly by the outer of A pier or B pier Shell entire lowering is placed on ground, realizes that the shell side of block of wood directly with ground face contact, avoids the wheel of only A pier and B pier It is slided with hard shoulder caused by ground face contact, positioning has been better achieved, and the positioning method of shell decline can be effective It prevents from entering sundries inside A pier or B pier, to influence the normal use of hard shoulder.

6, the present invention is real by the lead-acid accumulator that solar panel and internal setting are arranged on the shell of hard shoulder The charging at any time of existing hard shoulder and without the use under cable status, because of the number of change lane generally only one to two in one day It is secondary, thus lead-acid accumulator may be implemented completely daily change lane more can, while solar panel can guarantee to be isolated The continuation of the journey of pier longer time.

7, the present invention 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 every Fault alarm is carried out from when breaking down inside pier, lane caused by preventing because of hard shoulder failure can not change situation.

8, it is during the present invention detects change robot group movement in lane using the unrestrained transmitting effect of optoelectronic switch No there are obstacles, and not only judging result is more accurate, but also the mode relative to camera shooting is more easy, greatly reduces The cost of avoidance judgement, improves the practicability of the present apparatus.

9, invent lane change robot will do it on startup automatic fault detection, only lane change robot without It can just be moved when failure, the failure problems of lane change robot itself can effectively be avoided to cause to the change of tide lane It influences.

10, the present invention changes the movement of robot by closed-loop control lane, and lane change robot passes through Beidou module The location information for obtaining itself in real time recycles the moving method of segmented, keeps movement more accurate, what is finally positioned is accurate It spends also very high.

Detailed description of the invention

Fig. 1 is the overall structure signal of tide lane altering system and method for the utility model based on optoelectronic scanning avoidance Figure.

Fig. 2 is the overlooking structure diagram of the utility model lane change robot group.

Fig. 3 is the schematic view of the front view of the utility model lane change robot group.

Fig. 4 is the three dimensional structure diagram of the utility model A pier.

Fig. 5 is the three dimensional structure diagram of the utility model B pier.

Fig. 6 is the schematic cross-sectional view of the utility model A pier.

Fig. 7 is the schematic cross-sectional view of the utility model B pier.

Fig. 8 is the flow diagram that one group of lane change robot of the utility model carries out lane change.

In figure, 1-A pier, 2-B pier, 3- connection guardrail, 4- shell, 5- alarm lamp, 6- solar panel, 7- lead acid storage battery Pond, 8- Beidou module, the chassis 9-, the chassis 10- driving motor, 11- ball-screw, 12- feed screw nut, 13- shaft coupling, 14- master Driving wheel, 15- follower, 16- universal wheel, 17- guardrail driving motor, the first optoelectronic switch of 18- driving motor, 19- first are unrestrained anti- Optoelectronic switch, the second optoelectronic switch of 20- driving motor, 21- second is penetrated to diffuse electric switch, 22- horizontal big notch, 23- water Flat small-rabbet.

Specific embodiment

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

As shown in Fig. 1 ~ 7, the tide lane altering system based on optoelectronic scanning avoidance, including remote control center, traffic Group of robot, the data transmission of remote control center are changed in signal lamp background data server, section control base station and lane The data transmission port of port and traffic lights background data server is transmitted by optical fiber or the side of wireless data transmission Formula carries out real-time Data Transmission, and tide lane change signal is sent to section control base station, section by remote control center in real time Walking command-control signal is sent to vehicle all in corresponding road section by way of wireless data transmission by control base station in real time Road changes in group of robot, and each lane change group of robot executes corresponding move when receiving respective walking order It is dynamic, and location information is fed back into section control base station in real time.

Lane change group of robot includes multiple groups along the lane that tide track direction is distributed change robot group, adjacent Lane, which is changed, is spaced 0.5 ~ 1 meter between robot group, each lane change robot group includes A pier 1, B pier 2 and connection guardrail It adopts and is hinged between 3, A piers 1 and connection guardrail 3, B pier 2 is fixedly connected with connection guardrail 3.

Beidou module 8, embedded type control module, alarm lamp 5, solar panel are provided on the A pier 1 and B pier 2 6, lead-acid accumulator 7, LoRa module, chassis 9 and shell 4, embedded type control module connect section by LoRa module and control base It stands, lead-acid accumulator 7 is fixed on chassis 9, and chassis 9 is sleeved on 4 bottom of shell, and convex block, 4 bottom of shell are provided on chassis 9 It is provided with the groove matched with the convex block on chassis 9, chassis driving motor 10, chassis driving motor are further fixed on shell 4 10 connect ball-screws 11, are provided with the feed screw nut 12 matched with the ball-screw 11, the feed screw nut on chassis 9 12 are sleeved on the ball-screw 11, drive chassis 9 in shell 4 when chassis driving motor 10 drives ball-screw 11 to rotate Bottom moves up and down, and chassis driving motor 10 connects ball-screw 11 by shaft coupling 13, when chassis 9 moves to minimum point with ground Face contact, the weight of entire lane change robot is transferred to by ground and bears by chassis 9 at this time, is equivalent to entire lane and becomes More robot becomes the stake prevented on the ground, and lane change robot can be effectively prevented in the movement on ground；Institute It states 4 upper end of shell and is provided with alarm lamp 5, the outer surface of shell 4 is provided with solar panel 6, and solar panel 6 is by too Positive energy charging circuit connects lead-acid accumulator 7, and the Beidou module 8 is arranged inside shell 4, mobile mechanism and locking mechanism It is arranged on chassis 9.

The Beidou module 8 is arranged inside shell 4, and the top of A pier 1 and B pier 2 is provided with empty slot, button above empty slot There is end cap, Beidou module 8 is located inside empty slot.

One driving wheel 14 and two followers 15 are installed on the chassis 9 of the A pier 1, also set up on the chassis 9 of A pier 1 There is an orientation motor, orientation motor connection driving wheel 14 is driven the driving wheel 14 to rotate, and moves band by driving wheel 14 Move the movement of entire A pier 1；Guardrail driving motor 17, the connection connection shield of guardrail driving motor 17 are additionally provided with inside the A pier 1 Column 3, guardrail driving motor 17 drives the connection guardrail and B pier 2 to form entirety when moving carry out rotating the A around central axis The inside of pier 1 is additionally provided with first and diffuses electric switch 19 and the first optoelectronic switch driving motor 18, and the first optoelectronic switch drives The dynamic connection of motor 18 first, which diffuses, electric switch 19 and drives the described first rotation for diffusing electric switch 19, opens on A pier 1 Equipped with horizontal big notch 22, first electric switch 19 that diffuses is irradiated to outside A pier 1 through horizontal big notch 22.The B pier 2 Chassis 9 on installation there are three universal wheel 16, the inside of B pier 2 is additionally provided with second and diffuses electric switch 21 and the second photoelectricity Switch driving motor 20, the second optoelectronic switch driving motor 20 connection second, which diffuses, electric switch 21 and to be driven described second unrestrained The rotation of reflection photoelectric switch 21 offers horizontal small-rabbet 23 on B pier 2, and second diffuses electric switch 21 through horizontal small Notch 23 is irradiated to outside B pier 2.

It is directional wheel that driving wheel 14 and follower 15 are equipped on the chassis 9 of the A pier 1, and orientation motor is embedded in A pier Inside 1 chassis 9, orients motor and be electrically connected with lead-acid accumulator 7 and powered by lead-acid accumulator 7, orientation motor and insertion Formula control module is electrically connected and passes through the running speed and rotation direction that embedded type control module controls itself, orientation motor connection Driving wheel 14 simultaneously drives the driving wheel 14 to rotate, and the movement of entire A pier 1 is driven by the movement of driving wheel 14.

The opening radian of the horizontal big notch 22 is quadrant；The opening radian of the horizontal small-rabbet 23 is four / mono- circle.

As shown in figure 8, a kind of tide lane variation based on optoelectronic scanning avoidance, includes the following steps:

S1: robot group, every group of lane are changed in the direction setting multiple groups lane in a lateral edge tide lane in tide lane Change robot group includes A pier 1 and B pier 2, is spaced 0.5 ~ 1 meter between adjacent one group of lane change robot group；

S2: remote control center judges each road according to the information of vehicle flowrate that traffic lights background data server is transmitted Whether section needs to carry out the change in tide lane, if desired carries out the change in tide lane, and remote control center is by tide lane Change signal is sent to section control base station in real time, is ordered walking by way of wireless data transmission by section control base station Control signal is sent in real time in change robot group in lane all in corresponding road section；

The A pier 1 of robot group is changed in S3: the first group of lane and B pier 2 is powered on and initialized respectively, and judges that itself is It is no there are failure, breakdown judge include the whether enough judgements of battery capacity, Beidou module 8 whether can position judgement, Whether LoRa module can normally transmit whether motor all in information and hard shoulder can work normally；If A pier 1 or B pier 2 are deposited In failure, then breakdown judge is carried out to the hard shoulder again after restarting to the hard shoulder there are failure, if A pier 1 or B pier 2 are still There are failures, then the fault message that the hard shoulder of failure will be present passes to section control base station, and lights the police of the hard shoulder Lamp is reported, which is not 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 It is dynamic, and enter S4 step；

S4: section control base station is the interval of 10cm according to the initial position message and target position information of each hard shoulder The motion path of each hard shoulder is divided, the location segment location information that each hard shoulder needs to stop is obtained；Section Control base station sends the segmentation location information of each hard shoulder on corresponding hard shoulder；

S5:A pier 1 receives first segmentation location information that section control base station is sent, and A pier 1 is first turned on itself Alarm lamp 5 simultaneously carries out obstacle judgement, and the mode that obstacle judges sentences method for distinguishing to penetrating as optoelectronic switch, moves every time in A pier 1 Before, second on B pier 2 diffuse electric switch 21 along connection guardrail 3 direction face A pier 1, to tide track direction when detection Drive B pier 2 on the second optoelectronic switch driving motor 20, make second on B pier 2 diffuse electric switch 21 scan tide lane The range that 90 degree of direction, if second on B pier 2 diffuse electric switch 21 in the process second diffuse electric switch beginning It is not received by photosignal eventually, then it represents that do not encounter barrier during scanning, then have one on the motion path of A pier 1 The stroke of section 10cm long is simultaneously accessible, into S5 step；If second during the rotation of the second optoelectronic switch driving motor 20 21 terminating of electric switch that diffuses receives photosignal, then it represents that barrier is encountered during scanning, then it is delayed after 3s again Obstacle judgement is carried out to A pier 1；

S6: unclamping the locking device of A pier 1 and B pier 2, and A pier 1 moves along a straight line to target position direction, the movement of A pier 1 Distance is 10cm, and control motor makes the linear motion 10cm of A pier 1, and when A pier 1 moves, B pier 2 keeps free following state, in A After pier 1 has moved 10cm, A pier 1 determines itself current current location information by Beidou module 8, and by current location information It is compared with the first segmentation location information obtained in step S5, if the current location information of A pier 1 and first fragment bit Confidence manner of breathing is overlapped, then A pier 1 moves to fragment bit and postpones closing alarm lamp 5 and lock locking device, if the current location of A pier 1 Information is not overlapped with first segmentation location information, then A pier 1 continues movement until the current location of A pier 1 is mutually be overlapped with segmentation position It closes；

S7: before B pier 2 every time movement, first on A pier 1 diffuses electric switch 19 along the direction face for connecting guardrail 3 B pier 2, the first optoelectronic switch driving motor 18 when detection on tide track direction rotation A pier 1 make first on A pier 1 unrestrained Reflection photoelectric switch 19 rotates 90 degree, and first on A pier 1 diffuses after electric switch 19 launches light and carry out in the process Obstacle judgement, if first electric switch 19 that diffuses is not received by light during the first optoelectronic switch driving motor 18 rotates Electric signal then has the stroke of one section of 10cm long and accessible, into S5 step on the motion path of A pier 1；If the first photoelectricity is opened It closes first electric switch 19 that diffuses during driving motor 18 rotates and receives photosignal, then again to A after the 3s that is delayed Pier 1 carries out obstacle judgement；

S8: the guardrail rotary electric machine on driving A pier 1, the entirety that guardrail rotary electric machine drives connection guardrail 3 and B pier 2 to form It is rotated around A pier 1；After B pier 2 has moved 10cm, B pier 2 determines itself current present bit confidence by Beidou module 8 Breath, and the first segmentation location information obtained in current location information and step S5 is compared, if the present bit of B pier 2 Confidence breath is overlapped with fragment bit confidence manner of breathing, then enters S9 step；If the current location information of B pier 2 and segmentation location information are not It is overlapped, then B pier 2 continues movement until the current location of B pier 2 coincides with segmentation position；

S9: section control base station successively sends remaining segmentation location information to A pier 1 and B pier 2, and repeats above-mentioned S5 ~ S8 Step completes the movement of first group of lane change robot group until A pier 1 and B pier 2 reach target position；

After the completion of the movement of S10: the first group of lane change robot group, remaining lane change robot group is repeated in Above-mentioned S3 ~ S9 step completes entire tide until all lane change robot groups are moved to the other side in tide lane The conversion process in lane.

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 (4)

1. the tide lane altering system based on optoelectronic scanning avoidance, it is characterised in that: including remote control center, traffic signals Group of robot, the data transmission port of remote control center are changed in lamp background data server, section control base station and lane With the data transmission port of traffic lights background data server optical fiber transmit or wireless data transmission by way of into Tide lane change signal is sent to section control base station, section control by row real-time Data Transmission, remote control center in real time Walking command-control signal is sent to lane all in corresponding road section by way of wireless data transmission in real time and become by base station In more group of robot, each lane change group of robot executes corresponding movement when receiving respective walking order, and Location information is fed back into section control base station in real time；

Lane change group of robot includes multiple groups along the lane that tide track direction is distributed change robot group, adjacent lane It changes and is spaced 0.5 ~ 1 meter between robot group, each lane change robot group includes A pier (1), B pier (2) and connection guardrail (3), it adopts and is hinged between A pier (1) and connection guardrail (3), B pier (2) is fixedly connected with connection guardrail (3)；

Beidou module (8), embedded type control module, alarm lamp (5), solar-electricity are provided on the A pier (1) and B pier (2) Pond plate (6), lead-acid accumulator (7), LoRa module, chassis (9) and shell (4), embedded type control module is connected by LoRa module Section control base station is connect, lead-acid accumulator (7) is fixed on chassis (9), and chassis (9) are sleeved on shell (4) bottom, chassis (9) On be provided with convex block, shell (4) bottom is provided with the groove matched with the convex block on chassis (9), and shell is further fixed on (4) Chassis driving motor (10), chassis driving motor (10) connect ball-screw (11), are provided with and the ball wire on chassis (9) The feed screw nut (12) that thick stick (11) matches, the feed screw nut (12) are sleeved on the ball-screw (11), chassis driving Driving chassis (9) moves up and down in the bottom of shell (4) when motor (10) drives ball-screw (11) rotation；The shell (4) Upper end is provided with alarm lamp (5), and the outer surface of shell (4) is provided with solar panel (6), and solar panel (6) passes through Solar charging circuit connects lead-acid accumulator (7), and it is internal that the Beidou module (8) is arranged at shell (4), mobile mechanism and Locking mechanism is arranged on chassis (9)；

One driving wheel (14) and two followers (15), the chassis (9) of A pier (1) are installed on the chassis (9) of the A pier (1) On be additionally provided with an orientation motor, orientation motor connection driving wheel (14) is driven the driving wheel (14) to rotate, and passes through master Driving wheel (14) movement drives the movement of entire A pier (1)；Guardrail driving motor (17), guardrail are additionally provided with inside the A pier (1) Driving motor (17) connection connection guardrail (3), guardrail driving motor (17) drive the connection guardrail and B pier (2) group when moving At whole be additionally provided with first around the inside that central axis rotate the A pier (1) and diffuse electric switch (19) and first Optoelectronic switch driving motor (18), the first optoelectronic switch driving motor (18) connection first, which diffuses, electric switch (19) and to be driven Described first rotation for diffusing electric switch (19) offers horizontal big notch (22), the first diffusing reflection photoelectricity on A pier (1) Switch (19) is irradiated to A pier (1) outside through horizontal big notch (22)；

There are three universal wheel (16) for installation on the chassis (9) of the B pier (2), and the inside of B pier (2) is additionally provided with the second diffusing reflection Optoelectronic switch (21) and the second optoelectronic switch driving motor (20), the second optoelectronic switch driving motor (20) connect the second diffusing reflection Optoelectronic switch (21) simultaneously drives the described second rotation for diffusing electric switch (21), and B pier offers horizontal small-rabbet on (2) (23), second diffuse that electric switch (21) through horizontal small-rabbet (23) to be irradiated to B pier (2) external.

2. the tide lane altering system according to claim 1 based on optoelectronic scanning avoidance, it is characterised in that: the A It is directional wheel that driving wheel (14) and follower (15) are equipped on the chassis (9) of pier (1), and orientation motor is embedded in A pier (1) Chassis (9) is internal, orients motor and be electrically connected with lead-acid accumulator (7) and by lead-acid accumulator (7) power supply, orient motor with it is embedding Enter formula control module and be electrically connected and pass through running speed and rotation direction that embedded type control module controls itself, orientation motor connects It connects driving wheel (14) and the driving wheel (14) is driven to rotate, the movement of entire A pier (1) is driven by driving wheel (14) movement.

3. the tide lane altering system according to claim 1 based on optoelectronic scanning avoidance, it is characterised in that: the water The opening radian for putting down big notch (22) is quadrant.

4. the tide lane altering system according to claim 1 based on optoelectronic scanning avoidance, it is characterised in that: the water The opening radian of flat small-rabbet (23) is quadrant.