CN107974969A - A kind of tide track altering system and method based on electronic compass - Google Patents

Abstract

The invention discloses a tidal lane change system and method based on an electronic compass, which includes a remote control center, a background data server for traffic lights, a road section control base station, and a lane change robot. The change signal is sent to the road section control base station in real time, and the road section control base station sends the walking command control signal to the corresponding lane changing robot through wireless data transmission. Feedback the location information to the section control base station in real time. The present invention can realize the automatic change of the tidal lane according to the demand, combined with the background data server of the traffic signal light, realizes the real-time change of the urban traffic road network by using big data, and responds to the change of the road demand due to factors such as traffic accidents, changes in traffic flow, and bad weather at any time. Realize the automatic control of tidal lane.

Description

A tidal lane change system and method based on an electronic compass

technical field

The present invention relates to the technical field of tidal lanes, more specifically, to a system and method for changing tidal lanes based on an electronic compass.

Background technique

Cars have brought great convenience to human travel, but with the rapid increase in the number of cars, traffic congestion is becoming more and more serious. Although the government continues to build roads and urban expressways, the growth rate of roads is far lower than the growth of the number of cars. In order to solve this problem, the government has invested more and more funds and energy in the development of intelligent transportation systems in recent years to improve the efficiency of road traffic and alleviate traffic congestion.

The "tidal phenomenon" of traffic is one of the important reasons for urban traffic congestion. Every morning, the traffic flow in the direction of the city is large, and the traffic flow in the direction of the city is small. At night, the traffic flow in the direction of the city is large, and the traffic flow in the direction of the city is small. A typical solution to deal with morning and evening peak traffic flow is to use tidal lanes. When there are many vehicles entering the city in the morning peak, increase the number of lanes in the direction of entering the city and reduce the number of lanes in the direction of leaving the city. Number of direction lanes. The current tidal lane is a timed tidal lane, changing the driving direction of the tidal lane within the specified time in the morning and evening peak hours to adjust the number of lanes. The double yellow lines on the ground and traffic lights are also used to control the lane direction. The traditional method of using double yellow lines on the ground and traffic lights to control the direction of the lane has been gradually replaced by the way of setting up a barrier on the side of the lane due to many disadvantages such as "topping the cow" by many vehicles and unclear signs. However, it is inconvenient to manually set up isolation zones between different lanes due to the huge workload, so many emerging intelligent tidal lanes have emerged as the times require.

The Golden Gate Bridge in the United States is one of the earliest road sections in the world to implement variable lanes. The bridge deck is 27 meters wide. Except for the sidewalks on both sides, the road section is a two-way six-lane road section. The opposite situation. In the early days, the management department adopted the artificial setting method to set up the tidal lane to solve this problem. There is an eye at every other section of the lane line in the middle of the bridge. The working vehicle is driving slowly in the middle of the lane. There is a worker sitting on the platform at the bottom of the vehicle on each side, and the staff on both sides of the working vehicle perform plugging and unplugging operations respectively. , walk once to change the lane. Many small cities in China will also use this artificial method to set up plastic traffic safety piles, thereby isolating a separate road for tidal vehicles. This method of artificially setting tidal lanes is relatively simple to operate, and the maintenance cost and cost are relatively low; however, this method of artificially setting tidal lanes during morning and evening peak hours requires a lot of labor and time costs, is inefficient, and is not easy to change tidal lanes At the same time, vehicles traveling at high speed are likely to cause injury to construction workers, and the risk factor is relatively high.

In order to solve the problem of low efficiency and high time cost of manually setting tidal lanes, the traffic control department uses traffic lights and traffic signs to designate fixed tidal times for some fixed tidal roads to relieve the pressure of traffic congestion. During the peak hours of commuting or entering the city, by setting up corresponding traffic lights or signs, tidal roads are temporarily set up to alleviate road congestion. This system control method saves time and labor costs and improves the efficiency of tidal lanes. applicability. However, there is no obvious isolation guardrail in this way. Due to the driver's unfamiliarity with the road signs or inattention, it is easy to cause mistakes, which will affect the use of tidal lanes. In severe cases, it may cause certain traffic accidents. .

Developed countries such as the United States have invented a tidal lane changer for a series of problems in artificially setting tidal lanes and intersection signal lights, which not only overcomes the low efficiency of artificial tidal setting, but also realizes the effective isolation of tidal roads. This tidal lane changer is essentially a running locomotive. By setting various mechanical devices inside the locomotive, it moves the guardrail of one lane to another lane as the locomotive runs, which greatly improves the lane guardrail change. The speed reduces the labor cost. For the particularly long tidal lane, it can be divided into several sections and multiple lane changers run at the same time to complete the lane change. However, due to planning restrictions, the original isolation belt or green belt cannot be removed, so the tidal lane changer cannot be widely used, and the purchase cost of the changer is relatively high, requiring a special isolation belt. At the same time, the cost of a tidal lane changer is between More than 3 million US dollars, so it also greatly limits the development of this technology.

In order to improve the adaptability of the tidal lane, the R&D personnel in Shenzhen have designed an intelligent tidal lane. This intelligent tidal lane adopts the combination of remote control guardrail and light control and is officially unveiled in the Nanshan section of Shennan Avenue. The intelligent tidal lane The tidal lane can be automatically set according to the size of the traffic flow. The innovative highlight of this intelligent tidal lane is the introduction of the remote control guardrail, which looks like an ordinary guardrail, but the motor at the bottom drives four pulleys. As long as the power is plugged in, the guardrail can move laterally with the command of the remote control, and the tide can be realized within 1 minute. Lane switching. At the same time, it also has intelligent obstacle recognition technology, which can detect obstacles encountered during the lane change of the guardrail. Compared with traditional traffic control methods, it greatly reduces the risk and workload of traffic police on duty. According to the traffic conditions on the spot, the traffic police can control the variable directional driving lane signs to adjust the lane driving direction at any time through the hand-held remote control; if there are obvious traffic characteristics at the intersection, and in the absence of emergencies, the traffic police can also input and fix the program in advance The time of sign conversion is automatically changed by it; in addition, the control center can also monitor the road conditions at the intersection through the instrument, and use remote control means to control the sign in a timely manner; automatic regulation. At present, Shenzhen, Beijing and other regions have been put into use one after another, and the application prospect is very broad. However, during the operation of this intelligent tidal lane, due to the existence of the central isolation guardrail and the green belt, on the one hand, vehicles overflowing the eastbound queuing cannot enter the tidal lane and turn left, resulting in a low utilization rate of the tidal lane. On the one hand, the right turn at the south entrance cannot enter the tidal lane due to the obstruction of the guardrail, which also reduces the utilization rate of the tidal lane.

At the same time, this method of intelligent tidal lane control through a hand-held remote control is still manual control in essence, with many unstable factors, it is very easy to be affected by human factors, and it is not easy to centralize control, which greatly limits Development of intelligent tidal lanes.

The communication of intelligent tidal lanes is also one of the important factors that limit the development of tidal lanes. For example, the intelligent traffic police in Shenzhen's intelligent tidal lanes control the remote guardrails by holding a remote control on site. It can only be controlled at close range, but cannot Realize remote centralized control of large-scale remote guardrails.

The Internet of Things technology is an important opportunity to break through this problem. With the development of smart tidal lanes and the Internet of Things, there is an increasing demand for wireless technology in the market. Especially in the Internet of Things technology, how to create low-power, high-reliability wireless connections has become the pursuit of modern Internet of Things equipment manufacturers and the goal of wireless chip suppliers. There are many types of wireless technologies in IoT applications, including LAN and WAN. The wireless technologies that make up the local area network include 2.4GHz WiFi, Bluetooth, Zigbee, etc. The wireless technologies that make up the wide area network mainly include 2G/3G/4G. LoRa is one of the LPWAN communication technologies, and it is an ultra-long-distance wireless transmission technology based on spread spectrum technology. This technology has changed the trade-off between transmission distance and power in the past, and provides users with a simple system that can achieve long-distance and low power consumption. At the same time, Lo Ra is used in free frequency bands around the world, including 433, 868, and 915MHz. LoRa technology is an ultra-long-distance small wireless technology that combines digital spread spectrum, digital signal processing and forward error correction coding technology. Using LoRa technology, there can be a wireless data transmission network composed of tens of thousands of wireless data transmission modules, similar to the existing mobile communication base station network, each node is similar to mobile phone users of the mobile network, within the entire network coverage, each network The visual communication distance between nodes and gateways can reach 5 kilometers or even farther. LoRa technology has the characteristics of long distance, low power consumption, multi-node, and low cost.

If the LoRa system is integrated into the control of the intelligent tidal lane, it will be able to get rid of the defect of relying solely on the traffic police hand-held remote control to control the intelligent tidal lane, so as to realize the centralized control of the intelligent tidal lane and greatly reduce the production cost , reduce the overall power consumption of intelligent tidal lanes, and increase the penetration rate of intelligent tidal lanes.

The positioning system plays an extremely important role in the use of tidal lane automatic operation. The current positioning systems mainly include the GPS satellite navigation system of the United States, the GLONASS satellite navigation system of Russia and the Beidou satellite navigation system of my country.

The US GPS satellite navigation system is a positioning system that uses satellites flying in space to continuously broadcast radio signals of a certain frequency and loaded with some special positioning information to the ground to achieve positioning measurement. The system consists of three parts: the satellite constellation for space operation, the ground control part, and the user part. The GPS satellite navigation system started as a project of the U.S. military in 1958 and was put into use in 1964. In the 1970s, the U.S. Army, Navy and Air Force jointly developed a new generation of satellite positioning system GPS. The main purpose is to provide real-time, All-weather and global navigation services are used for some military purposes such as intelligence collection, nuclear explosion monitoring, and emergency communications. By 1994, the deployment of 24 GPS satellite constellations with a global coverage rate of up to 98% had been completed. In the process of using the GPS satellite navigation system, the global satellite positioning system has been successfully used in geodetic surveying, engineering surveying, aerial photography, vehicle navigation and control, crustal movement measurement, engineering Deformation measurement, resource exploration, geodynamics and other disciplines have achieved good economic and social benefits. The working satellites of the GPS satellite navigation system are located in the sky above 20200km from the earth's surface, evenly distributed on 6 orbital planes (4 on each orbital plane), and the orbital inclination is 55°. In addition, there are 3 active backup satellites in orbit. The distribution of satellites makes it possible to observe more than 4 satellites anywhere in the world at any time, and the navigation information pre-stored in the satellites can be used for a period of time, but the navigation accuracy will gradually decrease, and the current accuracy is about 10 meters .

GLONASS is the abbreviation of "Global Navigation Satellite System GLOBAL NAVIGATION SATELLITE SYSTEM" in Russian. The GLONASS satellite navigation system was first developed in the Soviet Union, and Russia continued the plan. Russia began to establish its own global satellite navigation system in 1993. The system began to operate in 2007. At that time, only satellite positioning and navigation in Russia were open. Serve. By 2009, its service scope had expanded to the whole world. The main service content of the GLONASS satellite navigation system includes determining the coordinates and movement speed information of land, sea and air targets. The GLONASS constellation consists of a total of 30 satellites, 27 of which are evenly distributed on three nearly circular orbital planes. These three orbital planes are separated by 120 degrees, and each orbital plane has 8 satellites. The distance between the satellites is 45 degrees, the orbital height is 23,600 kilometers, the operation period is 11 hours and 15 minutes, the orbital inclination is 64.8 degrees, and the current accuracy is about 10 meters.

The Beidou satellite navigation system is a global satellite navigation and positioning system independently developed by my country. It is the third global satellite navigation system after the US GPS satellite navigation system and the Russian GLONASS satellite navigation system. The Beidou satellite navigation system provides global, all-weather, high-precision satellite navigation positioning and timing services, and has a unique short message communication capability. On December 27, 2012, the Beidou satellite navigation system launched its regional official service, covering the Asia-Pacific region, which is a milestone in the industrialization and marketization of my country's aerospace technology and satellite communications. With the cooperation of the ground facilities, the real-time positioning accuracy of the Beidou satellite navigation system has been much higher than that of the GPS satellite navigation system, and has now reached an accuracy of 2 cm at 80 km/h.

With the significant increase in the popularity of the Beidou satellite navigation system in various fields of transportation, the further improvement of the application environment, and the obvious enhancement of service capabilities, the application of the Beidou satellite navigation system has achieved remarkable results. Therefore, based on the Beidou satellite navigation system, A lane-changing guidance method based on controllable isolation pier for tidal lanes in a non-definite period is proposed. Lane changing is realized by designing a lane-changing robot based on the Beidou satellite navigation system. Combining with existing monitoring and license plate recognition technologies, it can realize fully automatic and unmanned lane change when changing lanes. Human operation, and then using the big data system, can finally realize the automatic adjustment of all-weather lanes, and solve the problem of road congestion caused by tidal phenomena, traffic accidents, abnormal weather and other problems.

Contents of the invention

The purpose of the present invention is to solve the above-mentioned deficiencies in the prior art, and propose a tidal lane change system and method based on an electronic compass, which can automatically change tidal lanes, and can realize automatic obstacle avoidance, reducing production and use costs, Reduce the impact of human factors on intelligent tidal lanes.

The present invention achieves the above object through the following technical solutions: a tidal lane change system based on an electronic compass, including a remote control center, a traffic signal light background data server, a road section control base station and a lane change robot, all lanes on the same tidal lane The changing robot forms a lane changing robot group. The data transmission port of the remote control center and the data transmission port of the background data server of the traffic signal are used for real-time data transmission through optical fiber transmission or wireless data transmission. The data transmission port of the remote control center and the road section The data transmission port of the control base station performs real-time data transmission through optical fiber transmission or wireless data transmission; the remote control center obtains the traffic flow information of the lane where the tidal lane is located from the background data server of the traffic signal and analyzes whether it is necessary to change the tidal lane. When the tidal lane changes, the remote control center will send the tidal lane change signal and the traffic light information at the entrance and exit of the tidal lane to the road section control base station in real time, and the road section control base station will send the walking command control signal to the corresponding tidal lane in real time through wireless data transmission On all lane changing robots on the road section, each lane changing robot executes the corresponding movement when receiving its own walking command, and feeds back the position information to the road section control base station in real time;

The lane-changing robot group on each tidal lane includes multiple lane-changing robots distributed along one side of the tidal lane, and the distance between adjacent lane-changing robots is 2 to 6 meters; the lane-changing robots include isolation pier shells . The battery is fixed on the chassis, the chassis is set on the bottom of the shell, the chassis is provided with bumps, the bottom of the shell is provided with grooves matching the bumps on the chassis, and the chassis drive motor is also fixed on the shell, and the chassis drive motor is connected to the ball wire. The chassis is provided with a screw nut that matches the ball screw, and the screw nut is set on the ball screw. When the chassis drive motor drives the ball screw to rotate, it drives the chassis to move up and down at the bottom of the shell. ; The upper end of the shell is provided with a warning light, and the outer surface of the shell is provided with a solar panel, and the solar panel is connected to a lead-acid battery through a solar charging circuit. Both the judging module and the locking mechanism are arranged on the chassis;

The angle judging module includes an electronic compass arranged on the chassis, the moving module includes two crawler wheels arranged on the chassis and a crawler driving device that drives the two crawler wheels to rotate, and the locking mechanism is connected to the moving module and used for The track wheels are locked and released; when the lane change robot leaves the factory, the direction of the electronic compass is the same as that of the isolation pier, both facing the true north direction; the obstacle avoidance module is arranged inside the isolation pier housing and The photoelectric switch driving motor fixedly connected with the isolation pier shell and the photoelectric switch are arranged horizontally, the photoelectric switch drive motor is connected to the photoelectric switch and drives the photoelectric switch to rotate within 90 degrees; the front of the isolation pier shell is provided with a 100 degree opening slot , the light emitted by the photoelectric switch passes through the open slot and swings left and right within the scope of the open slot.

Further, the remote control center is connected to the back-end data server of traffic lights and uses the back-end data server of traffic lights to control the entrance of the tidal lane before the change to keep the red light and the exit to keep the green light when the tidal lane is changed.

Further, when the chassis driving motor drives the chassis to move up and down at the bottom of the shell through the ball screw, the moving distance of the chassis is greater than the height between the bottom of the shell and the ground.

Further, each of the two crawler wheels is driven by a crawler drive motor.

A method for changing tidal lanes based on an electronic compass, comprising the steps of:

1) The remote control center receives the traffic flow information of the current tidal lane and the traffic light information at the entrance and exit of the tidal lane sent by the background data server of traffic lights, and judges whether it is necessary to change the tidal lane; if it is necessary to change the tidal lane, The information of the traffic lights at the entrance and exit of tidal lanes and tidal lane changes will be sent to the road section control base station in real time;

2) The road section control base station receives the information sent by the remote control center, and according to the status of the traffic light information at the entrance and exit of the tidal lane, when the traffic light at the entrance of the tidal lane is red, it will need to change the lane information And send the coordinate information of the final position where each lane changing robot needs to move to each lane changing robot;

3) The lane changing robot on the entire tidal lane moves sequentially according to the current direction of the tidal lane before the change. The specific movement method is as follows:

3.1) The lane change robot performs power-on initialization and judges whether there is a fault. The fault judgment includes whether the lead-acid battery is sufficient, whether the Beidou module can be positioned, whether the LoRa module can transmit information normally, and the inside of the lane change robot. Whether all the motors can work normally; if there is a fault in the lane changing robot, restart the faulty isolation pier and then make a fault judgment on the isolation pier. If the lane changing robot still has a fault, the faulty lane changing robot The failure information of the lane change robot is transmitted to the road section control base station, and the warning light of the lane change robot is turned on, and the lane change robot is not moved; if the lane change robot is judged to be able to move, the lane change robot is judged to be able to move, and enters step 3.2;

3.2) The crawler drive device of the lane changing robot drives the track wheels to rotate at a differential speed to realize the in-situ rotation of the lane changing robot. During this process, the electronic compass on the chassis rotates one circle and realizes its own calibration and positioning to obtain the electronic compass current output direction;

3.3) The Beidou module on the lane change robot obtains the current position information of the current lane change robot, and combines the coordinate information of the final position that needs to be moved obtained from the road section controller to obtain the movement direction of the lane change robot;

3.4) Since the lane-changing robot adopts a crawler structure, the angle between the isolation pier and the driving wheel of the crawler is known, combining the current output direction of the electronic compass obtained in step 3.2 and the lane-changing robot obtained in step 3.3 In the direction of movement, directly rotate the track wheels at a differential speed to make the lane changing robot rotate in situ until the orientation of the lane changing robot is directly facing the moving direction of the lane changing robot;

3.5) The lane change robot turns on its own warning light and performs obstacle judgment. The method of obstacle judgment is the diffuse reflection photoelectric switch ranging method. Turn on the photoelectric switch, turn the photoelectric switch on the lane change robot to drive the motor, and make the photoelectric switch on the lane change robot The switch rotates 90 degrees left and right within the scope of the opening slot, and judges whether the photoelectric switch has received a photoelectric signal during the process; if the photoelectric switch has not received a photoelectric signal, it means that no obstacle has been encountered during the scanning process, that is, the lane change robot There are no obstacles on the path of the upcoming movement, and the lane-changing robot can proceed to the next movement step; if the photoelectric switch receives a photoelectric signal, it means that an obstacle has been encountered during the scanning process, that is, there may be obstacles on the path of the lane-changing robot. object, you need to delay 3s to judge the obstacle again;

3.6) After it is determined that there is no obstacle, the lane changing robot starts to move along the movement direction determined in step 3.4 until it reaches the destination, and the movement of the lane changing robot is completed;

3.7) When the lane changing robot moves to the final position, the locking mechanism starts to work and locks the track wheels to realize the locking of the lane changing robot;

4) After the track wheel of the lane changing robot is locked, the chassis drive motor starts to move. When the chassis drive motor drives the ball screw to rotate, it drives the chassis to move upwards at the bottom of the casing until the bottom of the casing touches the ground, then close the chassis drive motor and Warning lights, complete the movement of a single lane changing robot;

5) After the lane change robots on the entire road section have completed their movement, the entire tidal lane change is realized.

Further, the remote control center is connected to the back-end data server of traffic lights and uses the back-end data server of traffic lights to control the entrance of the tidal lane before the change to keep the red light and the exit to keep the green light when the tidal lane is changed.

Further, the moving mode of the lane changing robot in step 3.6 is a segmented movement, that is, the entire motion path is divided into several segments, and the end point coordinates of each segment are sent to the lane changing robot, and the lane changing robot follows steps 3.2 to 3.6 The process moves to the end coordinates of each segment in turn, and determines the direction again according to its own position information at the key coordinates of each segment, and continues the process of steps 3.2 to 3.6 until the lane changing robot moves to the final position.

Further, the two crawler wheels are respectively driven by a crawler drive motor, and the differential rotation of the two track wheels is realized through the different speed rotations of the two crawler drive motors, thereby realizing the rotation and steering of the lane changing robot.

Further, the motor head of the photoelectric switch driving motor is also connected with an absolute angle encoding disc, and the photoelectric switch driving motor can move back and forth within a specified angle range through the absolute angle encoding disc.

The beneficial effects of the present invention are:

(1) The tidal lane change system based on the electronic compass of the present invention can realize the automatic change of the tidal lane according to the demand, and at the same time, in combination with the background data server of the traffic signal, realizes the real-time change of the urban traffic road network by using big data, so as to deal with traffic accidents, traffic accidents, Traffic flow changes, bad weather and other factors change the road demand, and realize the automatic control of tidal lanes.

(2) The remote control center of the present invention only needs to send the change signal of the tidal lane, and the road section control base station and the lane change robot can automatically realize the change of the tidal lane. Centralized control of lanes.

(3) The lane-changing robot of the present invention will perform automatic fault detection when starting, and will only move when the lane-changing robot has no faults, which can effectively avoid the impact of the lane-changing robot's own failure on tidal lane changes.

(4) The lane changing robot of the present invention can judge its own angle and the judgment of the track wheel angle before moving, so that the lane changing robot can smoothly find the correct direction of motion by itself even when the direction is uncertain, and realizes lane change. The automatic reversing of the changing robot avoids the problem of unsmooth lane changing caused by incorrect direction when placed. Even if the starting position of the lane changing robot deviates, it can move to the target position accurately.

(5) The lane-changing robot of the present invention will perform obstacle avoidance judgments before moving, and if there are obstacles on the tidal lane, it will not move, so as to avoid the lane-changing robot from being unable to work smoothly due to the influence of obstacles and bumping into other people during the movement process The motor vehicle causes the problem of affecting the normal driving of others, that is, avoiding the collision between the pier and the vehicle when it is moving.

(6) The present invention controls the movement of the lane-changing robot through closed-loop control. The lane-changing robot obtains its own position information in real time through the Beidou module, and then uses a segmented moving method to make the movement more accurate and the final positioning accuracy is also high. .

(7) In the present invention, the Beidou module is used as the positioning module, and the positioning accuracy is as high as centimeters, and the mobile positioning of the lane changing robot can be accurately realized with high precision.

(8) The present invention uses crawlers as the motion mechanism, which not only moves stably, but also realizes the in-situ steering of the lane-changing robot, which facilitates changing the orientation of the lane-changing robot.

(9) After the present invention reaches the final position, the chassis drive motor can drive the isolation pier housing to move towards the chassis, and the entire pier is fixed on the ground as a whole, which increases the stability of the pier itself.

Description of drawings

Fig. 1 is a schematic flowchart of a method for changing tidal lanes based on an electronic compass in the present invention.

Fig. 2 is a schematic diagram of a three-dimensional structure of the lane changing robot of the present invention.

Fig. 3 is a cross-sectional view of the lane changing robot of the present invention.

Fig. 4 is a top view of the lane changing robot of the present invention.

In the figure, 1-track wheel, 2-end cover, 3-top cover, 4-Beidou module, 5-isolation pier shell, 6-alarm light, 7-solar panel, 8-first crawler drive motor, 9 -Chassis, 10-lead-acid battery, 11-second crawler drive motor, 12-photoelectric switch drive motor, 13-photoelectric switch, 14-absolute angle encoding disc, 15-open slot, 16-chassis drive motor, 17-roller Shaft screw, 18-lead screw nut.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings. In order to facilitate expression, the lane change robot is briefly described as a pier in Fig. 1, the road section controller is briefly described as a base station, and the electronic compass is briefly described as an electronic compass:

As shown in Figures 2 to 4, a tidal lane change system based on an electronic compass includes a remote control center, a background data server for traffic lights, a road section control base station, and a lane change robot. All lane change robots on the same tidal lane are composed A lane-changing robot group, the data transmission port of the remote control center and the data transmission port of the background data server of traffic lights perform real-time data transmission through optical fiber transmission or wireless data transmission, the data transmission port of the remote control center and the road section control base station The data transmission port performs real-time data transmission through optical fiber transmission or wireless data transmission; the remote control center obtains the traffic flow information of the lane where the tidal lane is located from the background data server of the traffic signal and analyzes whether it is necessary to change the tidal lane. When changing, the remote control center will send the tidal lane change signal and the traffic light information at the entrance and exit of the tidal lane to the road section control base station in real time, and the road section control base station will send the walking command control signal to the corresponding tidal vehicle road section in real time through wireless data transmission. On the lane-changing robot, each lane-changing robot executes the corresponding movement when receiving its own walking command, and feeds back the position information to the road section control base station in real time.

The remote control center, road section controller and lane changing robot constitute a three-layer structural system from top to bottom. The road section controller includes a base station control module, a LoRa Internet of Things base station and a communication module. The LoRa Internet of Things base station and the communication module are all connected to the base station control module through a serial port. The LoRa module realizes the LoRa wireless communication connection, and the road section controller realizes the communication connection with the remote control center through the communication module. The control command of the robot, the base station control module sends the control command to the LoRa module of the corresponding lane change robot through the LoRa module; on the other hand, it receives the new position information sent by the LoRa module after the lane change robot executes the movement command, and sends The location information is transmitted to the remote control center through the communication module.

The base station control module adopts the Android system, and the road section controller is also provided with a touch display screen, a storage module, a power module and an alarm circuit. They are all electrically connected to the robot control module. The storage module is used to store the information sent by each lane change robot to the road section controller and the remote control center to the base station. The touch screen is used for on-site debugging of the road section controller. The input of the control command and the real-time display of the motion information of the lane-changing robot, the alarm circuit is used for alarming when the entire system of the road section controller is abnormal.

The LoRa wireless communication distance is within 5 kilometers, and the control range of the base station is all lane-changing robots on the road within 5 kilometers, and the base station performs cooperative control on these lane-changing robots.

The lane-changing robot group on each tidal lane includes multiple lane-changing robots distributed along one side of the tidal lane, and the distance between adjacent lane-changing robots is 2 to 6 meters; the lane-changing robots include isolation pier shells 5. Beidou module 4, embedded control module, alarm light 6, solar panel 7, lead-acid battery 10, LoRa module, mobile module, obstacle avoidance module, angle judgment module and chassis 9, and the isolation pier shell 5 is provided with The end cover 2, a top cover 3 is fixed at the center of the upper end of the end cover 2, and the Beidou module 4 is fixed at the middle of the top cover 3.

The embedded control module is connected to the road section to control the base station through the LoRa module. The lead-acid battery 10 is fixed on the chassis 9, and the chassis 9 is set on the bottom of the casing. The housing is also fixed with a chassis drive motor 16, the chassis drive motor 16 is connected to the ball screw 17, the chassis 9 is provided with a screw nut 18 that matches the ball screw 17, and the screw nut 18 Set on the ball screw 17, the chassis driving motor 16 drives the ball screw 17 to rotate and drives the chassis 9 to move up and down at the bottom of the shell; the upper end of the shell is provided with a warning light 6, and the outer surface of the shell is provided with a solar panel 7. The solar panel 7 is connected to the lead-acid battery 10 through a solar charging circuit, the Beidou module 4 and the obstacle avoidance module are all arranged inside the casing, and the mobile module, the angle judgment module and the locking mechanism are all arranged on the chassis 9 .

The Beidou module 4 includes a radio frequency unit, and is connected with the radio frequency unit and is used for receiving and processing the receiving and processing unit of the positioning signal sent by the Beidou satellite navigation and positioning system, and the output terminal of the signal receiving and processing unit is connected with the control module through a serial port .

The angle judging module includes an electronic compass arranged on the chassis 9, the moving module includes two crawler wheels 1 arranged on the chassis 9 and a crawler driving device that drives the two crawler wheels 1 to rotate, and the locking mechanism is connected to move The module is also used to lock and release the track wheel 1; when the lane change robot leaves the factory, the direction of the electronic compass and the orientation of the isolation pier are the same, both facing the true north direction; the obstacle avoidance module includes The photoelectric switch drive motor 12 fixedly connected to the isolation pier housing 5 and the photoelectric switch 13 are arranged horizontally in the pier housing 5, and the photoelectric switch drive motor 12 is connected to the photoelectric switch 13 and drives the photoelectric switch to rotate within 1390 degrees; the isolation pier A 100-degree open slot 15 is opened on the front of the housing 5 , and the light emitted by the photoelectric switch 13 passes through the open slot 15 and swings left and right within the scope of the open slot 15 .

The remote control center is connected to the background data server of the traffic signal and uses the background data server of the traffic signal to control the entrance of the tidal lane before the change to keep the red light and the exit to keep the green light when the tidal lane is changed.

When the chassis drive motor 16 drives the chassis 9 to move up and down at the bottom of the shell through the ball screw 17, the moving distance of the chassis 9 is greater than the height between the bottom of the shell and the ground.

Two crawler wheels 1 are respectively driven by a crawler drive motor. The two crawler drive motors are respectively the first crawler drive motor 8 and the second crawler drive motor 12. When the first crawler drive motor 8 and the second crawler drive motor 12 rotate at different speeds or in different directions, the lane change robot can be realized. rotation.

As shown in Figure 1, a tidal lane change method based on an electronic compass includes the following steps:

1) The remote control center receives the traffic flow information of the current tidal lane and the traffic light information at the entrance and exit of the tidal lane sent by the background data server of traffic lights, and judges whether it is necessary to change the tidal lane; if it is necessary to change the tidal lane, The information of the traffic lights at the entrance and exit of tidal lanes and tidal lane changes will be sent to the road section control base station in real time;

2) The road section control base station receives the information sent by the remote control center, and according to the status of the traffic light information at the entrance and exit of the tidal lane, when the traffic light at the entrance of the tidal lane is red, it will need to change the lane information And send the coordinate information of the final position where each lane changing robot needs to move to each lane changing robot;

3) The lane changing robot on the entire tidal lane moves sequentially according to the current direction of the tidal lane before the change. The specific movement method is as follows:

3.1) The lane change robot is powered on and initialized, and judges whether it has a fault. The fault judgment includes the judgment of whether the lead-acid battery 10 is sufficient, whether the Beidou module 4 can be positioned, whether the LoRa module can normally transmit information and change lanes. Whether all the motors inside the robot can work normally; if there is a fault in the lane change robot, restart the faulty isolation pier and then make a fault judgment on the isolation pier. If the lane change robot still has a fault, there will be a faulty lane The fault information of the changing robot is transmitted to the road section control base station, and the warning light of the lane changing robot is turned on, and the lane changing robot is not moved; if the lane changing robot is judged to be able to move, proceed to step 3.2;

3.2) The track drive device of the lane-changing robot drives the crawler wheel 1 to rotate at a differential speed to realize the in-situ rotation of the lane-changing robot. During this process, the electronic compass on the chassis 9 rotates one circle and realizes its own calibration and positioning, and obtains The current output direction of the electronic compass;

3.3) The Beidou module 4 on the lane-changing robot obtains the current position information of the current lane-changing robot, and obtains the direction of motion of the lane-changing robot in combination with the coordinate information of the final position that needs to be moved obtained from the road section controller;

3.4) Since the lane-changing robot adopts a crawler structure, the angle between the isolation pier and the driving wheel of the crawler is known, combining the current output direction of the electronic compass obtained in step 3.2 and the lane-changing robot obtained in step 3.3 In the direction of movement, directly rotate the crawler wheel 1 at a differential speed to make the lane changing robot rotate in situ until the orientation of the lane changing robot is directly facing the moving direction of the lane changing robot;

3.5) The lane change robot turns on its own warning light 6 and performs obstacle judgment. The way of obstacle judgment is the diffuse reflection photoelectric switch 13 distance measurement method, the photoelectric switch 13 is turned on, and the photoelectric switch drive motor 12 on the lane change robot is turned to change the lane. The photoelectric switch 13 on the robot rotates 90 degrees left and right within the scope of the opening slot 15, and judges whether the photoelectric switch 13 receives the photoelectric signal in the process; If there is an obstacle, that is, there is no obstacle on the path that the lane changing robot is about to move, the lane changing robot can proceed to the next step of motion; if the photoelectric switch 13 receives a photoelectric signal, it means that an obstacle has been encountered during the scanning process, that is, the lane If you change possible obstacles on the path where the robot is about to move, you need to delay 3s to judge obstacles again;

3.6) After it is determined that there is no obstacle, the lane changing robot starts to move along the movement direction determined in step 3.4 until it reaches the destination, and the movement of the lane changing robot is completed;

3.7) When the lane changing robot moves to the final position, the locking mechanism starts to work and locks the track wheel 1 to realize the locking of the lane changing robot;

4) After the track wheel 1 of the lane changing robot is locked, the chassis drive motor 16 starts to move. When the chassis drive motor 16 drives the ball screw 17 to rotate, it drives the chassis 9 to move upward at the bottom of the shell until the bottom of the shell contacts the ground, and then Turn off the chassis drive motor 16 and the warning light 6 to complete the movement of a single lane change robot;

5) After the lane change robots on the entire road section have completed their movement, the entire tidal lane change is realized.

The remote control center is connected to the background data server of the traffic signal and uses the background data server of the traffic signal to control the entrance of the tidal lane before the change to keep the red light and the exit to keep the green light when the tidal lane is changed.

In Step 3.6, the lane-changing robot moves in segments, that is, the entire motion path is divided into several segments, and the end point coordinates of each segment are sent to the lane-changing robot, and the lane-changing robot moves in sequence according to the process of steps 3.2 to 3.6 Go to the end coordinates of each segment, and determine the direction again according to its own position information at the key coordinates of each segment, and continue the process of steps 3.2 to 3.6 until the lane changing robot moves to the final position.

The two track wheels 1 are respectively driven by a track drive motor, and the differential rotation of the two track wheels 1 is realized through the different speed rotations of the two track drive motors, thereby realizing the rotation and steering of the lane changing robot.

The motor head of the photoelectric switch drive motor 12 is also connected with an absolute angle encoder disc 14, through which the photoelectric switch drive motor 12 can move back and forth within a specified angle range.

The above-described embodiments are only preferred embodiments of the present invention, and are not limitations to the technical solutions of the present invention. As long as they are technical solutions that can be realized on the basis of the above-mentioned embodiments without creative work, they should be regarded as falling into the scope of the patent of the present invention. within the scope of protection of rights.

Claims (9)

1. A kind of 1. tide track altering system based on electronic compass, it is characterised in that：Including remote control center, traffic signals Lamp background data server, section control base station and track change robot, all tracks on same tide track become More robot forms a track group of change robot, data transmission port and the traffic lights backstage of remote control center The data transmission port of data server carries out real-time Data Transmission by way of optical fiber transmission or wireless data transmission, far The data transmission port at process control center is transmitted with the data transmission port of section control base station by optical fiber or wireless data The mode of transmission carries out real-time Data Transmission；Remote control center obtains tide track from traffic lights background data server The information of vehicle flowrate in place track analyses whether to need the change for carrying out tide track, when needing to carry out the change in tide track Remote control center sends out the traffic lights information that tide track is changed at signal and present period tide turning roadway terminal in real time Send to section control base station, section control base station is sent walking command-control signal by way of wireless data transmission in real time On to corresponding tide lane segment in all track change robots, each track change robot is receiving respective walking Corresponding movement is performed during order, and positional information is fed back into section control base station in real time；

   Track group of change robot on every tide track includes changing along multiple tracks of tide track side distribution Robot, adjacent track are spaced 2~6 meters between changing robot；The track change robot includes hard shoulder housing (5), big dipper module (4), embedded type control module, alarm lamp (6), solar panel (7), lead-acid accumulator (10), LoRa Module, mobile module, obstacle avoidance module, angle judgment module and chassis (9), embedded type control module pass through LoRa module link roads Section control base station, lead-acid accumulator (10) are fixed on chassis (9), and chassis (9) are sleeved on outer casing bottom, and chassis is set on (9) Have a convex block, outer casing bottom be provided with the matched groove of convex block on chassis (9), be further fixed on bottom disk-drive motor on shell (16), bottom disk-drive motor (16) connection ball-screw (17), is provided with chassis (9) and is engaged with the ball-screw (17) Feed screw nut (18), the feed screw nut (18) is sleeved on the ball-screw (17), and bottom disk-drive motor (16) drives Chassis (9) are driven to move up and down in the bottom of shell when ball-screw (17) rotates；The shell upper end is provided with alarm lamp (6), the outer surface of shell is provided with solar panel (7), and solar panel (7) connects lead by solar charging circuit Acid accumulator (10), the big dipper module (4) and obstacle avoidance module are arranged at enclosure, mobile module, angle judgment module It is arranged at locking mechanism on chassis (9)；

   The angle judgment module includes the electronic compass being arranged on chassis (9), and the mobile module includes being arranged on chassis (9) caterpillar drive that two Athey wheels (1) of two Athey wheels (1) and driving on rotate, the locking mechanism connection move Dynamic model block simultaneously is used to Athey wheel (1) is locked and decontroled；Robot is changed when dispatching from the factory in the track, the finger of electronic compass To identical with the direction of hard shoulder, direct north is all directed towards；The obstacle avoidance module includes being arranged on hard shoulder housing (5) inside And the optoelectronic switch driving motor (12) and horizontally disposed optoelectronic switch (13) being fixedly connected with hard shoulder housing (5), photoelectricity is opened Close driving motor (12) connection optoelectronic switch (13) and drive and rotated in the range of (13) 90 degree of optoelectronic switch；The hard shoulder housing (5) front offers 100 degree of open slot (15), and the light that optoelectronic switch (13) is sent is through open slot (15) and in opening Groove swings in the range of (15).
2. 2. the tide track altering system according to claim 1 based on electronic compass, it is characterised in that：The long-range control Center processed is connected traffic lights background data server and is taken when tide track is changed using traffic lights back-end data Be engaged in device control the inlet in tide track does not remain red light phase before changing and exit remains green light phase.
3. 3. the tide track altering system according to claim 1 based on electronic compass, it is characterised in that：Drive on the chassis Dynamic motor (16) by ball-screw (17) drive chassis (9) when the bottom of shell moves up and down chassis (9) displacement distance More than the height between outer casing bottom and ground.
4. 4. the tide track altering system according to claim 1 based on electronic compass, it is characterised in that：Two Athey wheels (1) driven each via a track drive motor.
5. A kind of 5. tide track variation based on electronic compass, it is characterised in that：Include the following steps：

   1) remote control center receive the current tide lane flow amount information sent of traffic lights background data server and Traffic lights information at the entrance and exit of tide track, thus judges whether to need the change for carrying out tide track；If desired into The change in row tide track, then will need to carry out the change of tide track and the information of the traffic lights at the entrance and exit of tide track It is sent to section control base station in real time；

   2) section control base station receives the information that remote control center is sent, and according to red at the entrance and exit of tide track The situation of green light information, will need to change into runway in the case of being red light in the traffic lights of current tide track inlet Information and need the coordinate information of mobile final position to be sent to each track in each track change robot to change machine On device people；

   3) the track change robot on whole tide track is according to tide track is moved when front direction successively before changing, Specific move mode is as follows：

   3.1) change robot in track carries out power-up initializing, and judges itself to whether there is failure, and breakdown judge includes plumbic acid Whether judgement that whether the whether enough judgements of storage battery (10) electricity, big dipper module (4) can position, LoRa modules can be normal Transmit information and track changes whether all motors of robot interior can work normally；If there is event in track change robot Barrier, then to carrying out breakdown judge to the hard shoulder again after restarting there are the hard shoulder of failure, if track change robot is still There are failure, then the fault message there will be the track change robot of failure passes to section control base station, and lights the car Road changes the warning light of robot, track change robot is not moved；If robot is changed in track, track is judged Change robot can be moved, into 3.2 steps；

   3.2) caterpillar drive of track change robot drives Athey wheel (1) to be rotated with differential, realizes that machine is changed in track The original place of people rotates, and the electronic compass on chassis (9) rotates a circle in this process, and realizes the calibration positioning of itself, Obtain the current outbound course of electronic compass；

   3.3) big dipper module (4) in track change robot obtains the current location information of current lane change robot, knot The coordinate information for closing the mobile final position of the needs obtained at road segment controller draws the movement side of track change robot To；

   3.4) since track change robot uses track structure, the angle between hard shoulder and the driving wheel of crawler belt is known , with reference to the track change robot obtained in the current outbound course of the electronic compass obtained in step 3.2 and step 3.3 The direction of motion, direct differential rotate Athey wheel (1), rotate track change robot original place, until track change robot Towards the direction of motion of direct face track change robot；

   3.5) change robot in track opens the alarm lamp (6) of itself and carries out obstacle judgement, and the mode that obstacle judges is anti-to overflow Optoelectronic switch (13) telemetry is penetrated, opens optoelectronic switch (13), rotates the optoelectronic switch driving motor in the change robot of track (12), 90 degree of the left-right rotation in the range of open slot (15) of the optoelectronic switch (13) in the change robot of track is made, in the mistake Judge whether optoelectronic switch (13) receives photosignal in journey；If optoelectronic switch (13) is not received by photosignal all the time, Then represent not encounter barrier in scanning process, i.e., barrier, car is not present on the path that change robot in track will move Road change robot can carry out the movement step of next step；If optoelectronic switch (13) receives photosignal, then it represents that scanning During encountered barrier, i.e., on the path that change robot in track will move may barrier, then need to be delayed 3s again Secondary progress obstacle judgement；

   3.6) determine it is accessible after, the direction of motion that track change robot determines in starting along step 3.4 is moved, directly To arriving at, the movement of track change robot is completed；

   3.7) when change robot in track is moved to final position, locking mechanism is started to work, and Athey wheel (1) is locked, and is realized Change the locking of robot in track；

   4) after track change robot Athey wheel (1) locking, bottom disk-drive motor (16) setting in motion, bottom disk-drive motor (16) ball-screw (17) is driven to drive chassis (9) to be moved upwards in the bottom of shell when rotating, until the bottom of shell and ground Face contacts, and turns off bottom disk-drive motor (16) and alarm lamp (6), completes the movement of single track change robot；

   5) after the track change machine on whole section completes movement per capita, the change in whole tide track is realized.
6. A kind of 6. tide track variation based on electronic compass according to claim 5, it is characterised in that：It is described remote Process control center connects traffic lights background data server and number of units after traffic lights is utilized when tide track is changed According to server controls the inlet in tide track does not remain red light phase before changing and exit remains green light phase.
7. A kind of 7. tide track variation based on electronic compass according to claim 5, it is characterised in that：Step The move mode of track change robot moves for segmented in 3.6, entirely will be divided into some sections by motion path, every section of end Point coordinates is sent in the change robot of track, and track change robot moves successively according to the process of step 3.2~step 3.6 Move at every section of terminal point coordinate, and according to the positional information of itself, travel direction is true again when at every section of emphasis coordinate It is fixed, the process of step 3.2~step 3.6 is continued to execute, until track change robot is moved to final position.
8. A kind of 8. tide track variation based on electronic compass according to claim 5, it is characterised in that：Two shoes Belt wheel (1) drives each via a track drive motor, and two are realized by two not rotating at the same speed for track drive motor The differential of Athey wheel (1) rotates, and then realizes the rotation and steering of track change robot.
9. A kind of 9. tide track variation based on electronic compass according to claim 5, it is characterised in that：The light Absolute angle coding disk (14) is also associated with the motor head of electric switch driving motor (12), is passed through absolute angle coding disk (14) Realize that optoelectronic switch drives motor (12) to be moved back and forth in the range of specified angle.