CN105239519A - Warning robot and intelligent transportation warning system containing robot - Google Patents
Warning robot and intelligent transportation warning system containing robot Download PDFInfo
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- CN105239519A CN105239519A CN201510784711.7A CN201510784711A CN105239519A CN 105239519 A CN105239519 A CN 105239519A CN 201510784711 A CN201510784711 A CN 201510784711A CN 105239519 A CN105239519 A CN 105239519A
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Abstract
The invention provides a warning robot and an intelligent transportation warning system containing the robot. The warning robot comprises a chassis, a support unit and a warning unit, wherein the chassis comprises a bottom plate and a frame arranged on the bottom plate, the support unit is arranged on the bottom plate, the warning unit is arranged on the frame and the support unit; the support unit comprises multiple levels of expansion links in sleeved connection in sequence and a driving device of the multiple levels of expansion links, and the driving device can realize sequential stretching or retraction of the multiple levels of expansion links. The terminal of the intelligent transportation warning system communicates with a control part to complete the procedure of stretching-warning signal-retracting of each warning robot and arrangement of multiple warning robots according to set manners. Compared with an existing manual intervention operating manner, the safety and the arrangement efficiency are improved.
Description
Technical field
The present invention relates to municipal administration and the intelligent transportation mark of field of road traffic, be specifically related to a kind of robot and comprise the intelligent transportation warning system of this robot of warning.
Background technology
Along with the development of auto industry and communications and transportation, by 2010, the speedway overall length of China reached 7.4 ten thousand kilometers, and automobile pollution also presents absolute growth trend.When in the coordination system at people-Che-Lu, in order to ensure the normal operation of traffic, Che Yu road either party meet accident situation time, all need the mark of warning arranged in time for reminding other cars and pedestrian.
When generation traffic accident or road are during carrying out upkeep operation, the mode of mark of warning generally is adopted to point out at present, as: enclose on the setpoint distance of direction to the car and put several marks of warning, observe with other vehicle drivers of convinent car mouth and take action in time;
Current mark of warning adopts folding plastic material tripod, puts, be also attended by following deficiency although its material is light in step:
Material gently makes tripod very not firm, and therefore tripod is launching reliably to be fixed with certain difficulty to it when placing, and is blown down even blow away as being easy to when there being wind.Need artificial walking to suitable place when arranging mark on a highway simultaneously, there is certain potential safety hazard;
Danger is caused in order to avoid the driving to passing through as far as possible, mark of warning must be placed in time once go wrong, but when needing to arrange a large amount of cones, its withdrawal is not only wasted time and energy, and there is potential safety hazard, and also can produce certain impact to road conditions in its withdrawal process.
Intelligent robot is as a kind of equipment automatically performing corresponding actions according to control instruction, can replace manually completing a lot of more dangerous work, as underwater robot can bear very large hydraulic pressure, as the unmanned aerial vehicle that high-voltage line cruises, not only work more reliable, and it is more flexible to fight, and avoids the potential safety hazard especially caused.Specific to traffic warning mobile device, existing research comprises:
Patent of invention CN102051863A discloses a kind of traffic sign warning pile, and by arranging wireless receiver and drive motor in warning pile pile body, drive motor drives and helps wheel of choking, and traffic sign warning pile is moved.But this traffic sign warning pile can only unit manual operation, compares to existing tripod structure, does not show breakthrough advantage.
Patent of invention CN101038023 discloses a kind of retractable three-grade electric cylinder, the first order screw mandrel that servomotor drives one end to be contained in roller box through belt and belt pulley rotates, first order screw mandrel is equipped with screw, end face is fixedly connected with first order inner cylinder tube, and screw mandrel one end, the second level and first order screw one end are fixed simultaneously; Second level screw mandrel is equipped with screw, and end face is fixedly connected with second level inner cylinder tube, and third level screw mandrel one end and screw one end, the second level are fixed simultaneously; Third level screw mandrel is equipped with screw, and end face and push rod are fixed; The other end of push rod is connected with earrings; The bracing wire of stay-supported type displacement sensor is fixedly connected with earrings by screw mandrel centre bore.Three grades of screw mandrels, can successively overhanging rotation, promotes respective screw translation.Because three grades of screw mandrels start together nestable, thus save axial installing space.
Patent of invention CN101763784B has invented a kind of remote-controlled walking automatic traffic and to have warned mark, it comprises shell, remote-controlled walking device, antenna, mark of warning, mark of warning is connected with expanding unit, and expanding unit is connected with remote control circuit, and remote control is connected with antenna.After mark of warning can be remotely moved to assigned address by this invention, warning marker is opened in remote control again, ensure that the safety and stability of mark in remote-controlled walking process of warning, and feet can allow mark of warning stably stop at assigned address, prevent from not blown down by the air-flow that the anxious automobile of speeding in side drives.Equally because this mark of warning also is only be suitable for being used by the operation unit of manual hand manipulation, multiple warn device co-operating can not be realized, cannot realize closing or isolation the intellectuality of one section of road.
Summary of the invention
Given this problem, the invention provides a kind of robot and comprise the intelligent transportation warning system of this robot of warning, realizes multiple robot by sensor, the mutual wireless telecommunications of controller, and all receive the instruction from control terminal; Multiple robot of warning can move under long-range control terminal commander, lines up, and provides sound to warn and to warn with light; Also can regain by sequence under long-range control terminal commander, thus realize intellectual traffic control.
The technical solution used in the present invention is specially:
One is warned robot, comprises chassis, support unit and unit of warning, wherein:
Described chassis comprises base plate and is placed in the framework of described base plate, and described support unit is located at described base plate, described in warn cell layout in described framework and described support unit;
Described support unit comprises the drive unit of multistage retractable rod and the described multistage retractable rod be socketed successively, realizes stretching out successively or retracting of described multistage retractable rod by described drive unit.
Warn in robot above-mentioned, described support unit is multi-stage electric cylinder, described multi-stage electric cylinder comprises expansion link drive motors and expansion link, described expansion link drive motors is located at the center of described base plate, one end that some levels are socketed the described expansion link of action is successively connected with described expansion link drive motors, the other end be connected with antenna.
Warn in robot above-mentioned, described framework comprises perpendicular bottom girder, high side vertical beam and crossbeam, both sides, front and back along the direction of advance of robot of warning are fixed with crossbeam respectively, crossbeam both sides are respectively equipped with perpendicular bottom girder, described high side vertical beam is located at the top of described perpendicular bottom girder, and described high side erects the height that depth of beam is not less than first order expansion link.
Warn in robot above-mentioned, be also provided with movable pulley below described base plate, described movable pulley is connected with movable pulley drive unit, and described movable pulley drive unit comprises junction plate, reductor and direct current generator; Wherein:
Described direct current generator is connected with the power shaft of described reductor, and the output shaft of described reductor is connected to described movable pulley;
Described reductor is connected with described chassis by described junction plate.
Warn in robot above-mentioned, the described high side vertical beam that described base plate installs the relevant position of movable pulley is provided with the groove matched with described movable pulley profile, for the stacking placement of multiple robot of warning.
Warn in robot above-mentioned, described in unit of warning comprise the first unit and second of warning and to warn unit, wherein:
Described first unit of warning is located between the peak of described multistage retractable rod and described chassis, and the described second unit of warning is located at described crossbeam and described perpendicular bottom girder;
Also comprise sound warn device, described sound warn device is used for realizing sound by the mode of audio and warns.
Comprise an intelligent transportation warning system for above-mentioned robot of warning, the motor unit comprising control part, terminal and be made up of robot of warning described in several; Wherein:
Described control part comprises the big current control unit be placed in the first control cabinet and the vulnerabilities scan unit be placed in the second control cabinet; Wherein:
Along warning the direction of advance of robot, described first control cabinet and described second control cabinet be located at respectively described in warn the floor rear of robot and front side; Wherein:
Described big current control unit comprises electric machine controller and comprises warning signal controller; Wherein:
Described electric machine controller makes movable pulley rotate for controlling direct current generator by reductor, and makes expansion link stretch out successively or retract for controlling expansion link drive motors;
Described warning signal controller is used for starting warning signal after described motor unit moves to assigned address;
Described vulnerabilities scan unit comprises communication module, locating module and processor; Wherein:
Described control part processor is by described communication module and described terminal called;
Described locating module is for obtaining the position of robot of originally warning and the position relationship with adjacent robot of warning thereof;
Described control part also comprises range finding sensing device, and the outside of described first control cabinet and the second control cabinet is located at by described range finding sensing device; Wherein:
Described location is for providing the coordinate position of robot relative to earth longitude and latitude of warning;
Described range finding sensing device is for measuring the spacing in originally warn robot and adjacent other warn robot and relevant vehicle or roadsides;
Described terminal draws in motor unit the arrangement of robot of respectively warning by the motor unit information that described control part and described locating module draw, and send corresponding action command to electric machine controller, and corresponding warning signal instruction is sent to warning signal controller after robot of respectively warning arrives assigned address, and recovery command is sent after use terminates, make robot recurrence assigned address of respectively warning.
In above-mentioned intelligent transportation warning system, described communication module also be located at described in the warn antenna of expansion link end at robot top be connected, be convenient to the ability to communicate of strengthening system.
In above-mentioned intelligent transportation warning system, described warning signal controller comprises LED and to warn controller and voice controller, and warn controller and voice controller of described LED communicates with described unit of warning respectively.
The beneficial effect that the present invention produces is:
Can laminated multi-layer easily when robot of warning of the present invention transports after assembly, save space, WIFI, GPS navigation system can be passed through after releasing, undertaken controlling it by control terminal to move and formation and position, highway realizes the closed of certain section of road warn, auditory tone cues and LED blinking light enhance effect of warning, and improve the safety of control of traffic and road with advanced.
Accompanying drawing explanation
When considered in conjunction with the accompanying drawings, more completely the present invention can be understood better.Accompanying drawing described herein is used to provide a further understanding of the present invention, and embodiment and explanation thereof, for explaining the present invention, do not form inappropriate limitation of the present invention.
Fig. 1 is the structural representation of a kind of robot of warning of the present invention;
Fig. 2 is the movable pulley drive system schematic diagram of a kind of robot of warning of the present invention;
Fig. 3 is the road arrangement schematic diagram of a kind of robot of warning of the present invention.
In figure:
1, road breaking point 3, normal lane 4, road edge 5, movable pulley 6, crossbeam 7, first control cabinet 8, first order expansion link 9, second level expansion link 10, third level expansion link 11, antenna 12, second control cabinet 13, LED warning light soft ribbons 14, base plate 15, perpendicular bottom girder 16, supersonic generator 17, camera 18, junction plate 19, reductor 20, direct current generator 24, supersonic generator 25, high side vertical beam 26, LED warning light 27, expansion link drive motors.
Detailed description of the invention
Below in conjunction with drawings and Examples, technical scheme of the present invention is described in further detail.
One is as shown in Figure 1 warned robot, the both sides of base plate 14 are fixed with perpendicular bottom girder 15 respectively, the top of perpendicular bottom girder 15 is connected with high side vertical beam 25, and the rear and front end along the base plate 14 of robot direction of advance of warning all is installed with crossbeam 6, constitutes the chassis of robot of warning.
The two ends, bottom (i.e. the corner on chassis) that every root erects bottom girder 15 are separately installed with movable pulley 5, and movable pulley 5 is connected with the movable pulley drive system as its power source.Preferred as one, under the control of drive system, the motion of each movable pulley 5 is relatively independent, can not interfere.
The concrete structure of movable pulley drive system as shown in Figure 2, comprises junction plate 18, reductor 19 and direct current generator 20; Wherein:
The input shaft end of reductor 19 is connected with the axle of direct current generator 20, the output shaft end of reductor 19 is connected to movable pulley 5, when direct current generator 20 rotates, drive movable pulley 5 to rotate by reductor 19 and control its rotating speed, turn to and run duration, finally according to the movement locus driving the motion of movable pulley 5 to form robot of warning.In addition, one end reductor 19 being provided with junction plate 18, the L shape of L shape is stretched out by the housing of output shaft side, and the other end is located at the cylinder of reductor 19 vertically, and movable pulley drive system is connected by the chassis of junction plate 18 with robot of warning.
Comprise being specially of the intelligent transportation warning system of above-mentioned robot of warning:
Traffic warning system include several robots compositions of warning motor unit, shown and the control part of robot motion of warning and the terminal with control part communication by control warning signal; Particularly:
Control part comprises the big current control unit be placed in the first control cabinet 7 and the vulnerabilities scan unit be placed in the second control cabinet 12; Wherein:
Along warning the direction of advance of robot, on rear side of the base plate 14 that robot of warning is located at respectively by the first control cabinet 7 and the second control cabinet 12 and front side; Wherein:
Big current control unit mainly comprises power supply (as battery), electric machine controller and comprises LED warns the warning signal controller etc. of controller, voice controller;
Vulnerabilities scan unit mainly comprises communication module (as Wi-Fi module), GPS module and processor etc.;
Warning robot in the process of walking, vulnerabilities scan unit on front side of base plate 14, the arrangement of big current control unit on rear side of base plate 14 avoids large power, electrically sub-element may to the interference of weak electricity measuring signal, the misoperation having evaded robot to a great extent may.
Communication module is connected with antenna 11, is convenient to the remote communications capability of strengthening system.
The center of base plate 14 is provided with and is socketed the expansion link of action successively (in the present embodiment primarily of expansion link drive motors 27, some levels, be preferably three grades, i.e. expansion link: (one, two, three) level expansion link (8,9,10)) and antenna 11 form multi-stage electric cylinder, under the effect of handling part, expansion link drive motors 27 drives expansion link (8,9,10) stretch out successively or retract, as:
When expansion link drive motors 27 forward (or reverse) rotates, antenna 11 stretches out from third level expansion link 10, and third level expansion link 10 stretches out from second level expansion link 9, and second level expansion link 9 stretches out from first order expansion link 8;
When expansion link drive motors 27 reverse (or forward) rotates, in antenna 11 indentation third level expansion link 10, in third level expansion link 10 indentation second level expansion link 9, in second level expansion link 9 indentation first order expansion link 8.
Preferred as one, the height of high side vertical beam 25 is not less than the height of first order expansion link 8, can multi-layer stacking for ensureing to warn robot after multistage electric cylinder shrinks.
About the warning signal of robot of warning, at crossbeam 6 and the outside of perpendicular bottom girder 15, LED warning light 26 can be all installed, can also support between the top of third level expansion link 10 and the corner of base plate 14 and establish LED warning light soft ribbons 13, when the expansion link of multistage electric cylinder stretches out successively and LED warning light 26 and LED warning light soft ribbons 13 are energized under LED controller controls, because entirety is rectangular pyramid shape, so, no matter from which direction, " LED warning light soft ribbons 13 (waist) and LED warning light 26 (base) " all can form the triangle warning light of traditional sense.Meanwhile, can also be provided with and be provided with sound in the appropriate location of robot of warning and to warn unit (as loudspeaker), realize sound by the voice controller in the first control cabinet 7 in the mode of audio and warn.
Corresponding with said " motion of each movable pulley 5 is relatively independent; can not interfere " before, a kind of concrete preferred embodiment is: four single direct current generators 20 that four movable pulleys 5 associate respectively are controlled respectively by four electric machine controllers relatively independent in electronic control component respectively, for realizing speed to robot of warning and the flexible adjustment turned to.
Further, the outside of the first control cabinet 7 and the second control cabinet 12 can also be provided with range finding sensing device, as: the ultrasonic distance-measuring sensor formed primarily of supersonic generator 16 and ultrasonic receiver 24, preferably, can arrange in pairs or groups and camera 17 is set, by with terminal called, by detecting the picture signal of the front and back of robot of warning and the distance signal with other object (sailing next vehicle or another robot of warning), after processor in second control cabinet 12 receives picture signal and distance signal, communication is carried out with the terminal of mating (as mobile terminals such as mobile phones) by communication module, according to the feedback of terminal, the track of robot of warning and the action corresponding with track is drawn by picture signal and distance signal, thus send corresponding instruction to expansion link drive motors 27, expansion link drive motors 27 is made to drive expansion link (8 as performance element, 9, 10) stretch out successively or retract, simultaneously, the picture signal of camera 17 also can be shown by terminal simultaneously.
Meanwhile, multiple robot of warning transmit current positional information by GPS module communication and with the distance of adjacent robot of warning to control terminal, the realizing route planning preset by terminal is distributed on road.
In the implementation procedure of positioning function, GPS module mainly provides the coordinate position of robot relative to earth longitude and latitude of warning, limited accuracy; Ultrasonic distance-measuring sensor is then the spacing for Measurement accuracy robot and adjacent other robot or relevant vehicle and/or roadside; The formation arrangement of motor unit full out can be realized by the cooperation of the two.
A kind of specific embodiment as shown in Figure 3, when certain section of road occurs that maintenance closed by road breaking point 1 needs, maintenance personal can by switching to the setting arrangement of required terminal, or form required arrangement by setting parameter, thus obtain the concrete position of each robot of warning, the processor of control part gathers the coherent signal of current robotic end of warning, according to the communication of terminal and control part, control part sends corresponding instruction, make control cabinet (7, 12) the multiple robot of warning of the control in moves to the position of setting, and send corresponding warning signal, achieve closing this section of road, after road maintenance work completes or scene of the accident process terminates, make multiple robot of warning return to appointed place by terminal transmission (can preset, also can be set by input parameter) order, after robot of warning returns, the expansion link drive motors 27 of multi-stage electric cylinder controls expansion link (10,9,8) and retracts successively, make it highly be down to minimum, be convenient to receive in transport vehicle.In addition, the relevant position of four movable pulleys 5 is installed bottom the base plate 14 of robot of warning and is provided with four grooves (circular arc) that radius and movable pulley 5 match, when needing overlapping placement after multiple robot 2 use of warning terminates, the movable pulley 5 of the robot of warning on upper strata just in time mates and is placed in lower floor and warns the groove of robot corner, ensure that robot of warning is neatly stacking in transportation, not easily scatter.
Below explain embodiments of the invention by reference to the accompanying drawings, accompanying drawing is herein used to provide a further understanding of the present invention.Obviously; the foregoing is only the present invention's preferably detailed description of the invention; but protection scope of the present invention is not limited thereto; any be to one skilled in the art can expect easily, do not depart from change of the present invention or replacement in fact, be also all included within protection scope of the present invention.
Claims (9)
1. to warn a robot, it is characterized in that, comprise chassis, support unit and unit of warning, wherein:
Described chassis comprises base plate and is placed in the framework of described base plate, and described support unit is located at described base plate, described in warn cell layout in described framework and described support unit;
Described support unit comprises the drive unit of multistage retractable rod and the described multistage retractable rod be socketed successively, realizes stretching out successively or retracting of described multistage retractable rod by described drive unit.
2. robot of warning according to claim 1, it is characterized in that, described support unit is multi-stage electric cylinder, described multi-stage electric cylinder comprises expansion link drive motors and expansion link, described expansion link drive motors is located at the center of described base plate, one end that some levels are socketed the described expansion link of action is successively connected with described expansion link drive motors, and the other end is connected with antenna.
3. robot of warning according to claim 1, it is characterized in that, described framework comprises perpendicular bottom girder, high side vertical beam and crossbeam, both sides, front and back along the direction of advance of robot of warning are fixed with crossbeam respectively, crossbeam both sides are respectively equipped with perpendicular bottom girder, described high side vertical beam is located at the top of described perpendicular bottom girder, and described high side erects the height that depth of beam is not less than first order expansion link.
4. robot of warning according to claim 1, is characterized in that, is also provided with movable pulley below described base plate, and described movable pulley is connected with movable pulley drive unit, and described movable pulley drive unit comprises junction plate, reductor and direct current generator; Wherein:
Described direct current generator is connected with the power shaft of described reductor, and the output shaft of described reductor is connected to described movable pulley;
Described reductor is connected with described chassis by described junction plate.
5. robot of warning according to claim 4, is characterized in that, the described high side vertical beam that described base plate installs the relevant position of movable pulley is provided with the groove matched with described movable pulley profile, for the stacking placement of multiple robot of warning.
6. robot of warning according to claim 1, is characterized in that, described in unit of warning comprise the first unit and second of warning and to warn unit, wherein:
Described first unit of warning is located between the peak of described multistage retractable rod and described chassis, and the described second unit of warning is located at described crossbeam and described perpendicular bottom girder;
Also comprise sound warn device, described sound warn device is used for realizing warning by the mode of audio.
7. comprise an intelligent transportation warning system for robot of warning according to any one of claim 1 ~ 6, it is characterized in that, the motor unit comprising control part, terminal and be made up of robot of warning described in several; Wherein:
Described control part comprises the big current control unit be placed in the first control cabinet and the vulnerabilities scan unit be placed in the second control cabinet; Wherein:
Along warning the direction of advance of robot, described first control cabinet and described second control cabinet be located at respectively described in warn the floor rear of robot and front side; Wherein:
Described big current control unit comprises electric machine controller and comprises warning signal controller;
Wherein:
Described electric machine controller makes movable pulley rotate for controlling direct current generator by reductor, and makes expansion link stretch out successively or retract for controlling expansion link drive motors;
Described warning signal controller is used for starting warning signal after described motor unit moves to assigned address;
Described vulnerabilities scan unit comprises communication module, locating module and processor; Wherein:
Described control part processor is by described communication module and described terminal called;
Described locating module is for obtaining the position of robot of originally warning and the position relationship with adjacent robot of warning thereof;
Described control part also comprises range finding sensing device, and the outside of described first control cabinet and the second control cabinet is located at by described range finding sensing device; Wherein:
Described location is for providing the coordinate position of robot relative to earth longitude and latitude of warning;
Described range finding sensing device is for measuring the spacing in originally warn robot and adjacent other warn robot and relevant vehicle or roadsides;
Described terminal draws in motor unit the arrangement of robot of respectively warning by the motor unit information that described control part and described locating module draw, and send corresponding action command to electric machine controller, and corresponding warning signal instruction is sent to warning signal controller after robot of respectively warning arrives assigned address, and recovery command is sent after use terminates, make robot recurrence assigned address of respectively warning.
8. intelligent transportation warning system according to claim 7, is characterized in that, described communication module also be located at described in the warn antenna of expansion link end at robot top be connected, be convenient to the ability to communicate of strengthening system.
9. intelligent transportation warning system according to claim 7, is characterized in that, described warning signal controller comprises LED and to warn controller and voice controller, and warn controller and voice controller of described LED communicates with described unit of warning respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510784711.7A CN105239519B (en) | 2015-11-16 | 2015-11-16 | A kind of robot and intelligent transportation warning system comprising the robot of warning |
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| CN201510784711.7A CN105239519B (en) | 2015-11-16 | 2015-11-16 | A kind of robot and intelligent transportation warning system comprising the robot of warning |
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| CN105239519A true CN105239519A (en) | 2016-01-13 |
| CN105239519B CN105239519B (en) | 2017-08-29 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114822082A (en) * | 2022-04-27 | 2022-07-29 | 浙江交投高速公路运营管理有限公司 | Tunnel traffic remote control system and method |
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| CN205152832U (en) * | 2015-11-16 | 2016-04-13 | 许正阳 | Warn robot and contain intelligent transportation system of warning of this robot |
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| CN101038023A (en) * | 2007-04-10 | 2007-09-19 | 浙江大学 | Retractable three-grade electric cylinder |
| WO2010092229A1 (en) * | 2009-02-13 | 2010-08-19 | Haenninen Jouni | Arrangement in connection with a traffic sign and a warning system for motorists |
| CN101763784A (en) * | 2009-09-21 | 2010-06-30 | 杭州六易科技有限公司 | Remote control walking automatic traffic warning mark |
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