CN116189437A - A traffic monitoring robot - Google Patents
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/012—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from other sources than vehicle or roadside beacons, e.g. mobile networks
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
- B60P3/11—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles for carrying aircraft
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S13/00—Vehicle-manoeuvring devices separate from the vehicle
- B60S13/02—Turntables; Traversers
- B—PERFORMING OPERATIONS; TRANSPORTING
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- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/12—Ground or aircraft-carrier-deck installations for anchoring aircraft
- B64F1/125—Mooring or ground handling devices for helicopters
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
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Abstract
Description
Translated fromChinese技术领域technical field
本发明属于智能交通技术领域，涉及一种交通监控机器人。The invention belongs to the technical field of intelligent transportation, and relates to a traffic monitoring robot.
背景技术Background technique
基于交通信息化发展、智慧新建设的趋势，充分利用智能交通集成指挥平台，精准打击“问题车”，改变传统人海战术查车方式，提高路面拦截管控能力和现场查纠交通违法能力，成为智能交通研究的新方向。Based on the development of traffic informatization and the trend of smart new construction, make full use of the intelligent traffic integrated command platform to accurately attack "problem vehicles", change the traditional way of checking vehicles with crowd tactics, improve the ability of road interception control and on-site investigation and correction of traffic violations, and become A new direction of intelligent transportation research.
针对违章逃逸车辆，常用的阻拦车辆的方式是路障拦车，路障拦车包含破胎阻拦、闸门阻拦、锁链阻拦等方式，这些拦截方式大多需要动用大量的人力物力协调配合，路障拦车往往是用在目标车辆快速行驶的过程中，突然破胎、闸门或锁链阻拦很容易造成人员伤亡，且不易在人员密集场合使用，容易引发严重的交通事故，比较危险，使用安全性差。对于公务人员来说，近距离接触逃逸车辆非常危险，安全性难以保障。For illegal and escaping vehicles, the commonly used way to stop vehicles is to stop vehicles at roadblocks. Roadblocks include blocking tires, gates, chains, etc. Most of these blocking methods require a lot of manpower and material resources to coordinate and cooperate. When used in the process of fast driving of the target vehicle, a sudden tire rupture, gate or chain block is likely to cause casualties, and it is not easy to use in crowded places, which is likely to cause serious traffic accidents, is relatively dangerous, and has poor safety in use. For public servants, close contact with escaped vehicles is very dangerous, and safety is difficult to guarantee.
因此，如何提供一种能够实现现场拦截交通逃逸车辆的全自动交通监控机器人是本领域技术人员亟需解决的问题。Therefore, how to provide a fully automatic traffic monitoring robot capable of intercepting traffic escape vehicles on the spot is an urgent problem to be solved by those skilled in the art.
发明内容Contents of the invention
有鉴于此，本发明提出了一种交通监控机器人，解决现有技术中的技术问题。In view of this, the present invention proposes a traffic monitoring robot to solve the technical problems in the prior art.
为了实现上述目的，本发明采用如下技术方案：In order to achieve the above object, the present invention adopts the following technical solutions:
本发明公开了一种交通监控机器人，包括子母机，以及与子母机通信的地面控制终端：所述子母机包括飞行器和自动驾驶车；其中，The invention discloses a traffic monitoring robot, which includes a master machine and a ground control terminal communicating with the mother machine: the mother machine includes an aircraft and an automatic driving vehicle; wherein,
所述飞行器内部存储给定的交通监控线路范围，按照所述交通监控线路范围对道路及车辆进行飞行监控，并向所述地面控制终端发送目标车辆的跟踪信息，包括：绝对坐标、所在车道和当前车速；The aircraft internally stores a given traffic monitoring line range, performs flight monitoring on roads and vehicles according to the traffic monitoring line range, and sends the tracking information of the target vehicle to the ground control terminal, including: absolute coordinates, the lane where it is located and current speed;
所述自动驾驶车向所述地面控制终端发送所在位置的实时地图坐标，并绑定其状态标签，包括工作状态和闲置状态；所述自动驾驶车前端设有举升机构和充气气囊，所述充气气囊前端面设有若干真空吸盘二；所述举升机构用于对目标车辆执行举升制动动作；The self-driving car sends the real-time map coordinates of its location to the ground control terminal, and binds its status label, including working state and idle state; the front end of the self-driving car is provided with a lifting mechanism and an inflatable airbag, and the The front end of the inflatable airbag is provided with a number of
所述地面控制终端包括地图搜索引擎和控制单元；所述控制单元用于根据所述跟踪信息计算所述目标车辆的实时地图坐标，所述地图搜索引擎用于根据所述目标车辆的实时地图坐标搜索距离所述目标车辆最近的，且处于闲置状态的自动驾驶车，并向所述自动驾驶车发送启动指令和实时目标坐标，所述实时目标坐标为所述目标车辆的实时地图坐标。The ground control terminal includes a map search engine and a control unit; the control unit is used to calculate the real-time map coordinates of the target vehicle according to the tracking information, and the map search engine is used to calculate the real-time map coordinates of the target vehicle according to the tracking information. Search for an automatic driving vehicle that is closest to the target vehicle and is in an idle state, and send a startup instruction and real-time target coordinates to the automatic driving vehicle, the real-time target coordinates being the real-time map coordinates of the target vehicle.
优选的，所述控制单元根据所述跟踪信息计算所述目标车辆的实时地图坐标包括如下步骤：Preferably, the calculation of the real-time map coordinates of the target vehicle by the control unit according to the tracking information includes the following steps:
获取所述绝对坐标，判断目标车辆所在道路编号；Obtaining the absolute coordinates, and judging the number of the road where the target vehicle is located;
获取所述所在车道，判断目标车辆位于所在道路编号的右转车道、直行车道或左转车道；Obtaining the lane in which it is located, and judging that the target vehicle is located in the right-turn lane, straight lane or left-turn lane of the road number;
获取所述当前车速，结合所在车道判断当前时间节点以及下一个时间节点所述目标车辆的实时地图坐标。The current vehicle speed is obtained, and the real-time map coordinates of the target vehicle at the current time node and the next time node are judged in combination with the lane where it is located.
优选的，所述飞行器上设有摄像头和定位系统一，所述摄像头用于获取所述道路及车辆的实时图像信息；所述定位系统一用于获取飞行器的实时坐标；根据所述实时图像信息和所述实时坐标解析所述目标车辆的跟踪信息。Preferably, the aircraft is provided with a camera and a positioning system one, the camera is used to obtain real-time image information of the road and the vehicle; the positioning system one is used to obtain real-time coordinates of the aircraft; according to the real-time image information and analyzing the tracking information of the target vehicle with the real-time coordinates.
优选的，所述飞行器的底部设有真空吸盘一和距离传感器；Preferably, the bottom of the aircraft is provided with a
所述真空吸盘一连接有真空泵一；The vacuum sucker one is connected with a vacuum pump one;
所述距离传感器一用于感测飞行器底部距离目标车辆顶部的距离信息，当所述距离信息满足设定要求时，向所述真空泵一发送启动指令，控制真空吸盘一执行吸附动作，当所述真空吸盘内气压低于指定压力值时，所述飞行器开启对目标车辆的伴随飞行模式。The distance sensor one is used to sense the distance information between the bottom of the aircraft and the top of the target vehicle. When the distance information meets the set requirements, a start command is sent to the vacuum pump one to control the vacuum suction cup one to perform an adsorption action. When the air pressure in the vacuum suction cup is lower than a specified pressure value, the aircraft starts an accompanying flight mode for the target vehicle.
优选的，所述自动驾驶车上设有距离传感器二、充气泵和真空泵二；Preferably, the self-driving car is provided with a distance sensor two, an air pump and a vacuum pump two;
所述气囊连接所述充气泵；The air bag is connected to the air pump;
所述若干真空吸盘二连接所述真空泵二；The plurality of vacuum chucks two are connected to the vacuum pump two;
所述距离传感器二用于感测所述自动驾驶车前端距离目标车辆后端的距离信息；The second distance sensor is used to sense the distance information between the front end of the automatic driving vehicle and the rear end of the target vehicle;
当所述距离信息满足设定值一时，充气泵向所述气囊内充气，同时向所述真空泵二发送启动指令，控制真空吸盘二执行吸附动作。When the distance information satisfies the
优选的，所述自动驾驶车上还设有计时器；Preferably, the self-driving car is also provided with a timer;
当所述距离信息满足设定值二时，计时器启动；When the distance information meets the set value two, the timer starts;
当所述距离信息不满足设定值二时，计时器停止并对计时执行清零动作；When the distance information does not meet the
当所述计时器计时时长满足设定要求时，触发所述举升机构对目标车辆执行举升制动动作。When the counting time of the timer meets the set requirement, the lifting mechanism is triggered to perform a lifting and braking action on the target vehicle.
优选的，所述举升机构包括举升部和延长部；所述举升部与所述自动驾驶车体前端连接，用于为所述延长部提供沿竖直方向的举升行程；所述延长部沿所述自动驾驶车体前进方向与所述举升部前端连接，所述延长部包括举升托架，用于为所述举升托架提供沿所述自动驾驶车体前进方向的延伸行程。Preferably, the lifting mechanism includes a lifting part and an extension part; the lifting part is connected to the front end of the self-driving car body, and is used to provide a lifting stroke in the vertical direction for the extension part; the The extension part is connected to the front end of the lifting part along the advancing direction of the self-driving car body, and the extending part includes a lifting bracket for providing the lifting bracket with a lift along the advancing direction of the self-driving car body. Extended trip.
优选的，所述举升机构包括：Preferably, the lifting mechanism includes:
所述举升部包括与所述自动驾驶车体前端底盘位置连接的固定架，所述固定架前端沿竖直方向固定有举升杆，所述举升杆顶部沿横向固定有连杆，所述连杆两端沿竖直方向固定有滑套；所述固定架顶部两端沿竖直方向固定有定位杆，所述滑套滑动套接在所述定位杆上；The lifting part includes a fixed frame connected to the chassis of the front end of the self-driving car body, the front end of the fixed frame is fixed with a lifting rod along the vertical direction, and the top of the lifting rod is fixed with a connecting rod along the horizontal direction, so The two ends of the connecting rod are fixed with sliding sleeves along the vertical direction; the two ends of the top of the fixed frame are fixed with positioning rods along the vertical direction, and the sliding sleeves are slidably socketed on the positioning rods;
所述延长部包括横向固定在两个所述滑套前端面上的安装板，所述安装板的前端面沿所述自动驾驶车体前进方向垂直固定有支撑架，所述支撑架中间位置沿所述自动驾驶车体前进方向设有液压杆，所述支撑架上沿所述液压杆两侧平行位置设有滑槽；所述液压杆前端连接有举升托架，所述举升托架底面安装有在所述滑槽中滑动的滑轮。The extension part includes a mounting plate transversely fixed on the front end faces of the two sliding sleeves, a support frame is vertically fixed on the front end faces of the mounting plate along the advancing direction of the self-driving car body, and the middle position of the support frame is along the A hydraulic rod is provided in the forward direction of the self-driving car body, and a chute is provided on the support frame parallel to both sides of the hydraulic rod; a lifting bracket is connected to the front end of the hydraulic rod, and the lifting bracket A pulley sliding in the chute is installed on the bottom surface.
优选的，若干所述真空吸盘二以阵列形式均匀排布在所述充气气囊前端面上。Preferably, several
优选的，所述自动驾驶车前端设有目标车辆牌照扫描器。Preferably, the front end of the self-driving car is provided with a target vehicle license plate scanner.
经由上述的技术方案可知，与现有技术相比，本发明的交通监控机器人采用子母机的无人自动监控方式，无需公务人员现场出警对违章逃逸车辆执行拦截任务，避免了大量的人力物力的协调成本，改变了传统人海战术查车方式，提高了路面拦截管控能力和现场纠查交通违法能力。It can be seen from the above-mentioned technical scheme that compared with the prior art, the traffic monitoring robot of the present invention adopts the unmanned automatic monitoring mode of the sub-machine, and does not need the public servants to send the police on-site to carry out the interception task for the illegal escape vehicles, avoiding a large amount of manpower and material resources. Coordinated costs have changed the traditional way of checking vehicles with crowd tactics, and improved the ability of road interception control and on-site inspection of traffic violations.
本发明针对违章逃逸车辆采用举升制动的方式，在有效实现目标车辆逼停的同时，还能够大大降低人员伤亡率，且由自动驾驶车在目标车辆后方以插入举升托架的方式使其悬停，不会占用相邻车道，也避免了交通的拥堵和不必要的交通事故，使用安全性强。本发明实现了向科技化、精准化。智能化打击交通违法的转变。The present invention adopts the method of lifting and braking for the illegal and escaping vehicle, which can greatly reduce the casualty rate while effectively realizing the forced stop of the target vehicle. It hovers without occupying adjacent lanes, avoids traffic jams and unnecessary traffic accidents, and is safe to use. The invention realizes technology and precision. The transformation of intelligent combating traffic violations.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图；In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to the provided drawings without creative work;
图1为本发明一种实施例提供的交通监控机器人的组织框架示意图；Fig. 1 is a schematic diagram of the organizational framework of a traffic monitoring robot provided by an embodiment of the present invention;
图2为本发明一种实施例提供的自动驾驶车的结构原理图；Fig. 2 is a structural principle diagram of an automatic driving vehicle provided by an embodiment of the present invention;
图3为本发明一种实施例提供的举升机构的结构示意图一；Fig. 3 is a structural schematic diagram 1 of a lifting mechanism provided by an embodiment of the present invention;
图4为本发明一种实施例提供的举升机构的结构示意图二；Fig. 4 is a structural schematic diagram II of a lifting mechanism provided by an embodiment of the present invention;
图5为本发明一种实施例提供的气囊结构示意图。Fig. 5 is a schematic structural diagram of an airbag provided by an embodiment of the present invention.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
如图1所示，本发明实施例提供了一种交通监控机器人，包括子母机，以及与子母机通信的地面控制终端：子母机包括飞行器和自动驾驶车100。As shown in FIG. 1 , an embodiment of the present invention provides a traffic monitoring robot, including a master machine and a ground control terminal communicating with the master machine: the master machine includes an aircraft and an
容易理解的是，地面控制终端不限于计算机、移动终端、系统平台等能够加载通信机制和控制机制的终端。地面控制终端与飞行器和自动驾驶车100以无线的方式传输指令。It is easy to understand that the ground control terminal is not limited to computers, mobile terminals, system platforms and other terminals capable of loading communication mechanisms and control mechanisms. The ground control terminal transmits instructions with the aircraft and the
飞行器不限于各种类型的无人机，其内部自带通讯模组，能够在给定区域内实现与地面控制终端的无线通讯功能，或通过基站实现与地面控制终端的无线通讯功能。The aircraft is not limited to various types of drones. It has a built-in communication module, which can realize the wireless communication function with the ground control terminal in a given area, or realize the wireless communication function with the ground control terminal through the base station.
自动驾驶车100不限于现有可在路面上行驶的无人驾驶车，其内部自带通讯模组，能够在给定区域内实现与地面控制终端的无线通讯功能，或通过基站实现与地面控制终端的无线通讯功能。The self-driving
本实施例技术方案如下：Present embodiment technical scheme is as follows:
飞行器内部存储给定的交通监控线路范围，按照交通监控线路范围对道路及车辆进行飞行监控，并向地面控制终端发送目标车辆的跟踪信息，包括：绝对坐标、所在车道和当前车速；The aircraft internally stores the given range of traffic monitoring lines, conducts flight monitoring of roads and vehicles according to the range of traffic monitoring lines, and sends the tracking information of the target vehicle to the ground control terminal, including: absolute coordinates, lane and current speed;
自动驾驶车100向地面控制终端发送所在位置的实时地图坐标，并绑定其状态标签，包括工作状态和闲置状态；自动驾驶车100前端设有举升机构200和充气气囊300，充气气囊300前端面设有若干真空吸盘二；举升机构200用于对目标车辆执行举升制动动作；The self-driving
地面控制终端包括地图搜索引擎和控制单元；控制单元用于根据跟踪信息计算目标车辆的实时地图坐标，地图搜索引擎用于根据目标车辆的实时地图坐标搜索距离目标车辆最近的，且处于闲置状态的自动驾驶车100，并向自动驾驶车100发送启动指令和实时目标坐标，实时目标坐标为目标车辆的实时地图坐标。The ground control terminal includes a map search engine and a control unit; the control unit is used to calculate the real-time map coordinates of the target vehicle according to the tracking information, and the map search engine is used to search for the closest to the target vehicle according to the real-time map coordinates of the target vehicle, and is in an idle state. The
下面对工作原理进行说明：The working principle is explained below:
控制飞行器启动实时飞行监控，并根据无人机实时坐标控制无人机在预设空域按照绑定的预设路线进行飞行监控；根据无人机影像实时分析是否有预设类型的目标车辆处于违法状态；若有则根据跟踪信息控制与目标车辆距离最近的停车点内部闲置的自动驾驶车100启动；控制启动的自动驾驶车100前往无人机定位的目标车辆的实时地图坐标并在到达位置后，控制自动驾驶车100与处于违法状态的目标车辆保持同步移动，直至真空吸盘二稳定吸附目标车辆的车尾部；控制举升机构200用于伸入至目标车辆底部位置并在伸出完成后，对目标车辆执行举升安全制动动作。Control the aircraft to start real-time flight monitoring, and control the drone to perform flight monitoring in the preset airspace according to the bound preset route according to the real-time coordinates of the drone; analyze in real time according to the drone image whether there is a preset type of target vehicle that is illegal state; if there is, then according to the tracking information, the idle self-driving
在一个实施例中，控制单元根据跟踪信息计算目标车辆的实时地图坐标包括如下步骤：In one embodiment, the control unit calculating the real-time map coordinates of the target vehicle according to the tracking information includes the following steps:
获取绝对坐标，判断目标车辆所在道路编号；Obtain absolute coordinates and determine the road number where the target vehicle is located;
获取所在车道，判断目标车辆位于所在道路编号的右转车道、直行车道或左转车道；Obtain the lane in which it is located, and determine whether the target vehicle is located in the right-turn lane, through lane or left-turn lane of the road number;
获取当前车速，结合所在车道判断当前时间节点以及下一个时间节点目标车辆的实时地图坐标。Obtain the current vehicle speed, and judge the real-time map coordinates of the target vehicle at the current time node and the next time node based on the lane it is in.
本实施例在具体执行时，绝对坐标为地球坐标系下的经纬度坐标，结合交通网络道路规划信息，判断其所在的具体道路。由于目标车辆一直在行进中，为了预测其在未来时间节点的路径方向，对其车道进行判别，当处于右转或左转车道时，在未来时间节点将变更上一步获取的道路编号，提前通过交通网络道路规划信息获取未来时间节点的道路编号，保证飞行器跟踪的实时性。When this embodiment is specifically implemented, the absolute coordinates are the latitude and longitude coordinates in the earth coordinate system, and the specific road where it is located is determined in combination with the traffic network road planning information. Since the target vehicle has been moving, in order to predict its path direction at the future time node, its lane is judged. When it is in the right-turn or left-turn lane, the road number obtained in the previous step will be changed at the future time node, and it will pass ahead of time. The traffic network road planning information obtains the road number of the future time node to ensure the real-time performance of aircraft tracking.
在一个实施例中，飞行器上设有摄像头和定位系统一，摄像头用于获取道路及车辆的实时图像信息；定位系统一用于获取飞行器的实时坐标；根据实时图像信息判断目标车辆所在车道，根据飞行器实时坐标和实时图像信息中反映的与目标车辆的平面距离解析目标车辆的绝对坐标，并根据单位时间内的移动距离(绝对坐标的变化量)解析目标车辆当前车速。In one embodiment, the aircraft is provided with a camera and a positioning system one, the camera is used to obtain real-time image information of the road and the vehicle; the positioning system one is used to obtain the real-time coordinates of the aircraft; the lane where the target vehicle is judged according to the real-time image information, according to The real-time coordinates of the aircraft and the plane distance to the target vehicle reflected in the real-time image information analyze the absolute coordinates of the target vehicle, and analyze the current speed of the target vehicle according to the moving distance per unit time (the change of the absolute coordinates).
在一个实施例中，无人机在发现违规目标车辆后实时跟随飞行，跟随飞行为在目标车辆垂直上空保持一定距离飞行。In one embodiment, the UAV follows the target vehicle in real time after discovering the violation target vehicle, and the following flight is to fly at a certain distance vertically above the target vehicle.
飞行器的底部设有真空吸盘一301和距离传感器；The bottom of the aircraft is provided with a
真空吸盘一301连接有真空泵一；
距离传感器一用于感测飞行器底部距离目标车辆顶部的距离信息，当距离信息满足设定要求时，向真空泵一发送启动指令，控制真空吸盘一301执行吸附动作，当真空吸盘内气压低于指定压力值时，飞行器开启对目标车辆的伴随飞行模式。
在一个实施例中，自动驾驶车100上设有定位系统二，向地面控制终端发送所在位置的实时地图坐标，该实时地图坐标与控制单元根据跟踪信息计算的目标车辆的实时地图坐标为同一地图坐标系下的坐标，以保证定位的准确性。In one embodiment, the
在一个实施例中，自动驾驶车100上设有距离传感器二、充气泵和真空泵二；In one embodiment, the self-driving
气囊300连接充气泵；The
若干真空吸盘二连接真空泵二；A plurality of vacuum suction cups two are connected to the vacuum pump two;
距离传感器二用于感测自动驾驶车100前端距离目标车辆后端的距离信息；The second distance sensor is used to sense the distance information between the front end of the
当距离信息满足设定值一时，充气泵向气囊300内充气，同时向真空泵二发送启动指令，控制真空吸盘二执行吸附动作。When the distance information satisfies the
本实施例在具体执行时，当自动驾驶车100在距离目标车辆后方较近位置时，气囊300充气，用于与前面目标车辆尾部接触时起到缓冲作用，防止意外事故发生。同时，当真空吸盘二接触目标车辆尾部后，由于其已经启动抽气，因此便于及时与目标车辆吸附，使前车在后车的制动牵引下逐渐降低车速，还起到相对后车定位的作用，方便自动驾驶车100辆的举升机构200执行举升动作。In this embodiment, when the
在一个实施例中，为了保证举升机构200稳定准确插入目标车辆底盘下，自动驾驶车100上还设有计时器；In one embodiment, in order to ensure that the
当距离信息满足设定值二时，计时器启动；When the distance information meets the
当距离信息不满足设定值二时，计时器停止并对计时执行清零动作；When the distance information does not meet the
当计时器计时时长满足设定要求时，触发举升机构200对目标车辆执行举升制动动作。When the timing of the timer meets the set requirement, the
容易理解的是，当满足前后车保持相对稳定距离达到一定时长后，才能确保自动驾驶汽车已经稳定跟随目标车辆，若前后车距离时远时近，则说明自动驾驶汽车并未稳定跟随目标车辆，此时盲目执行举升动作，易造成前后车交通事故，因此执行计数器清零动作。It is easy to understand that when the distance between the front and rear vehicles is relatively stable for a certain period of time, the self-driving car can be guaranteed to follow the target vehicle stably. At this time, blindly performing the lifting action may easily cause traffic accidents between the front and rear vehicles, so the counter clearing action is performed.
在一个实施例中，举升机构200包括举升部和延长部；举升部与自动驾驶车100体前端连接，用于为延长部提供沿竖直方向的举升行程；延长部沿自动驾驶车100体前进方向与举升部前端连接，延长部包括举升托架7，用于为举升托架7提供沿自动驾驶车100体前进方向的延伸行程。In one embodiment, the
在一个实施例中，举升机构200包括：In one embodiment,
举升部包括与自动驾驶车100体前端底盘位置连接的固定架1，固定架1前端沿竖直方向固定有举升杆2，举升杆2顶部沿横向固定有连杆3，连杆3两端沿竖直方向固定有滑套5；固定架1顶部两端沿竖直方向固定有定位杆4，滑套5滑动套接在定位杆4上；The lifting part includes a fixed
延长部包括横向固定在两个滑套5前端面上的安装板9，安装板9的前端面沿自动驾驶车100体前进方向垂直固定有支撑架8，支撑架8中间位置沿自动驾驶车100体前进方向设有液压杆6，支撑架8上沿液压杆6两侧平行位置设有滑槽10；液压杆6前端连接有举升托架7，举升托架7底面安装有在滑槽10中滑动的滑轮11。The extension includes a mounting plate 9 that is horizontally fixed on the front end faces of the two sliding
举升机构200的举升原理如下：The lifting principle of the
举升机构200通过固定架1可拆卸安装在自动驾驶车100辆车头的底盘前端或者保险杠上，固定架1设置为L型。延长部升降安装在举升部上，The
举升部的连杆3升降安装在固定架1上，实现延长部的高度调节，适用于逼停轮胎高度不同的汽车。The connecting
两个固定架1的顶部包括有横梁，横梁长度长于两个固定架1之间的间距，定位杆4垂直向下设置在横梁两端的底部。The tops of the two fixed
固定架1上设置控制箱，控制箱内安装有为举升杆2提供动力的油缸，油缸受控于自动驾驶车100的控制信号。举升杆2与油缸传动连接，并竖直伸出于控制箱之上，对举升杆2顶部的连杆3执行举升动作，连杆3牵动滑套5在定位杆4上向上滑动，进而实现延长部的高度调节。通过设置滑滑套5与定位杆4配合竖直滑动，有利于举升杆2与延伸部升降更加平稳，同时使得整个装置稳定性更强。A control box is arranged on the fixed
延长部通过安装板9固定在举升部前端，并且在滑套5的升降过程中牵引执行升降动作。当液压杆6向前推进举升托架7时，借助滑轮11在滑槽10的连带滚动，从而保证推进的稳定性和承托性，使举升托架7延长至支撑架8前端。The extension part is fixed on the front end of the lifting part through the mounting plate 9, and is pulled to perform the lifting action during the lifting process of the sliding
为了保证举升托架7的承托力，考虑举升托架7宽度的同时，举升托架7不应延长超出至支撑架8的前方三分之一位置处。In order to ensure the supporting force of the lifting bracket 7 , while considering the width of the lifting bracket 7 , the lifting bracket 7 should not extend beyond the front third of the
延长部的延长动作和举升部的举升动作执行先后顺序不限于一种方式。The execution sequence of the extension action of the extension part and the lifting action of the lifting part is not limited to one method.
在一个实施例中，若干真空吸盘二以阵列形式均匀排布在充气气囊300前端面上。充气气囊300的形状不限于一种形状，阵列排布的真空吸盘二增加了对目标车辆的吸附力和吸附面积。In one embodiment, several
在一个实施例中，自动驾驶车100前端设有目标车辆牌照扫描器，自动驾驶车100控制设置于扫描器启动实时摄取目标车辆的牌照，并上传至地面控制终端。In one embodiment, the
以上对本发明所提供的交通监控机器人进行了详细介绍，本实施例中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上，本说明书内容不应理解为对本发明的限制。The traffic monitoring robot provided by the present invention has been described in detail above. In this embodiment, specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its implementation. core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and application scope. In summary, the content of this specification should not be construed as limiting the present invention.
对所公开的实施例的上述说明，使本领域专业技术人员能够实现或使用本发明。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的，本实施例中所定义的一般原理可以在不脱离本发明的精神或范围的情况下，在其它实施例中实现。因此，本发明将不会被限制于本实施例所示的这些实施例，而是要符合与本实施例所公开的原理和新颖特点相一致的最宽的范围。The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined in this embodiment can be implemented in other embodiments without departing from the spirit or scope of the invention . Therefore, the present invention will not be limited to these embodiments shown in this embodiment, but will conform to the widest scope consistent with the principles and novel features disclosed in this embodiment.
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