CN106494307A - A kind of vehicle trouble warning robot and control method - Google Patents
A kind of vehicle trouble warning robot and control method Download PDFInfo
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- CN106494307A CN106494307A CN201610973357.7A CN201610973357A CN106494307A CN 106494307 A CN106494307 A CN 106494307A CN 201610973357 A CN201610973357 A CN 201610973357A CN 106494307 A CN106494307 A CN 106494307A
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- vehicle
- controller
- marking line
- mobile vehicle
- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q7/00—Arrangement or adaptation of portable emergency signal devices on vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention belongs to robotics, provide a kind of vehicle trouble and warn robot and control method, two driving wheels and two deflecting rollers are provided with the base plate of mobile vehicle, power module and controller is provided with the first chamber of the mobile vehicle, warning sign and the rotating mechanism for controlling the warning sign rotation is provided with the second chamber, photographic head is also installed with the mobile vehicle, the photographic head is used for obtaining pavement image information and being sent to the controller, the controller obtains the positional information of road surface traffic marking line in photographic head uploading pictures by image recognition, and advance along the road traffic marking line or retreat based on positional information control mobile vehicle.The warning robot, is provided with warning sign, can voluntarily drive to the placement of rear view of vehicle safe distance, reminds front vehicle to note front accident vehicle, it is not necessary to which on a highway go place warning sign on foot by walking for driver, it is ensured that driver's personal safety.
Description
Technical field
The present invention relates to robotics, and in particular to a kind of vehicle trouble warning robot and control method.
Background technology
Expressway speed is fast, flow is big, assume responsibility for national 70% passenger traffic and 40% volume of goods transported, is Road Transportation master
Tremulous pulse.With flourishing for highway cause, the problem that highway is present also further is highlighted.Freeway traffic flow
Amount is big and Road Base construction apply imperfection, traffic administration fall behind relatively between contradiction increasingly serious.Highway in recent years
The loss that traffic accidents hidden danger is projected, accident rate steeply rises, accident is caused is serious, produce to the local masses,
Life causes greatly harm.
If vehicle breaks down during highway driving at present, generally all it is by after vehicle
Warning sign is placed in the position of 100～300 meters of side, for reminding front vehicle to note front accident vehicle, it is to avoid knock into the back
Vehicle accident.Due to the inertia of people, people generally will not go to place warning sign according to the rules, even if going according to the rules to place warning
Board, standing time are also very long, and speed is slow.Show through research：The probability of happening of second accident is with warning sign standing time into just
Than i.e. standing time is shorter, and the probability of happening of second accident is less.In addition, people is walked on foot on a highway to go to place police
Show board, it is possible to bigger traffic accident can be led to.
Content of the invention
For defect of the prior art, the present invention provides one kind and can quickly place and can ensure that driver's person
The vehicle trouble warning robot of safety, the present invention also provide the control method that the vehicle trouble warns robot.
A kind of vehicle trouble warns robot, including mobile vehicle, is provided with two drivings on the base plate of the mobile vehicle
Wheel and two deflecting rollers, the driving wheel are connected with motor, and the deflecting roller is connected with steer motor, the mobile vehicle
Inner chamber split to form first chamber and second chamber by demarcation strip, be provided with power module and control in the first chamber
Device, is provided with warning sign and for controlling the rotating mechanism that the warning sign is rotated, in the second chamber in the shifting
Photographic head is installed with also on mobile carrier, and the photographic head is used for obtaining pavement image information and being sent to the controller, should
Controller obtains the positional information of road surface traffic marking line in photographic head uploading pictures by image recognition, and based on the position letter
The breath control mobile vehicle advances along the road traffic marking line or retreats.
Preferably, the rotating mechanism includes two wind springs being disposed side by side on mobile vehicle second chamber bottom surface, with
And the rotating shaft of the axis setting through two wind springs；One end of wind spring is fixed in rotating shaft, and the other end is fixed on same movement
On carrier side plate；Also include that several are set in the mounting ring outside rotating shaft, the outwardly extension of mounting ring forms connecting portion
Fix with the bottom of warning sign；Also include the chute being arranged on parallel with the wind spring of extended state side plate in mobile vehicle,
Chute is bent upwards to form major arc section near the one end in the middle part of mobile vehicle；The end of the rotating shaft is by connector in chute
Slide.
Preferably, the connector includes connecting plate, and two sides of connecting plate are outwardly respectively to be provided with convex portion, two
The distance of convex portion is equal to the diameter in the circle in chute corresponding to major arc section, and one convex portion of connecting plate is embedded in the chute and slides,
Another convex portion is rotatably connected with the end of the rotating shaft.
Preferably, the controller control mobile vehicle movement method be：Normal pictures, normal pictures are preset with first
By the mobile vehicle is moved to behind the centre of track, is taken pictures by photographic head and obtained；Controller is recognized and obtains standard drawing
The positional information of traffic marking line in piece；When controller receives the picture of photographic head shooting, recognize and obtain in the picture
The positional information of traffic marking line in the positional information of traffic marking line, and contrast standard picture, control steer motor and driving
Motor works, and adjusts the direction that mobile vehicle advances or retreats, until the positional information and mark of the picture traffic marking line for shooting
The positional information coupling of quasi- picture traffic marking line, mobile vehicle are advanced along traffic marking line or are retreated.
Preferably, the controller control mobile vehicle movement method be：Mobile vehicle is shot first to traffic marking
Information of road surface under the different actual distances of line, recognizes the positional information of traffic marking line in the picture for shooting, and draws movement
The curve chart of carrier positional information of traffic marking line in the actual distance and picture of traffic marking line；Then controller is preset
Gauged distance；When controller receives the picture of photographic head shooting, the position of traffic marking line in the picture is recognized and obtains
Information, and binding curve table obtains the corresponding mobile vehicle of the picture to the actual distance of traffic marking line, judge this truly away from
Gauged distance is equal to from whether, if it is not, control steer motor and motor work, adjustment mobile vehicle advance or after
The direction that moves back, until actual distance is mated with gauged distance, mobile vehicle advances along traffic marking line or retreats.
Preferably, photosensitive sensors are also equipped with the mobile vehicle outer surface, and photosensitive sensors are used for detecting outside
The intensity of illumination of environment, and the controller is transferred to, controller is used for the Data Control movement according to photosensitive sensors detection
The distance that carrier advances.
Preferably, rainwater detector is also equipped with the mobile vehicle outer surface, and rainwater detector is used for detecting outside
The rainfall situation of environment is simultaneously transferred to the controller, under controller is used for being judged whether according to the data of rainwater detector detection
Rain, and the distance that mobile vehicle advances is controlled according to judged result.
A kind of above-mentioned vehicle trouble warns the control method of robot, comprises the following steps：
S1：Rotary warning board presses the start button that the vehicle trouble warns robot in upright state；
S2：Controller reads the detection data of photosensitive sensors, and judges to be currently at daytime or night；When in white
It when, controller determine initial displacement be default displacement on daytime；When in night, controller determines initial shifting
Dynamic distance is default night displacement；
S3：Controller reads the detection data of rainwater detector, when controller judges to be currently at rain according to detection data
It when, controller determines that final displacement is equal to the summation that beginning displacement and default rainy day compensate distance；
S4：Controller drives steer motor and motor work, and control vehicle trouble warning robot ride is to vehicle
Rear distance is at the position of final displacement.
Preferably, step S1 is specially：
S11：The mobile vehicle is moved to behind the centre of track, the first mark of the vehicle trouble warning robot is pressed
Determine button, controller reads the picture that photographic head shoots, is defined as normal pictures；
S12：Controller is recognized and obtains the positional information of traffic marking line in normal pictures；
S13：Rotary warning board presses the start button that the vehicle trouble warns robot in upright state.
Preferably, step S4 is specially：
S41：When controller receives the picture of photographic head shooting, the position of traffic marking line in the picture is recognized and obtains
Confidence ceases；
S42：Controller judge Current vehicle failure warning robot to rear view of vehicle distance whether reach final mobile away from
From；If not, execution step S43；If it is, controller control steer motor and motor quit work；
S43：Controller judges the positional information of picture traffic marking line and the positional information of normal pictures traffic marking line
Whether mate；If mismatched, control steer motor and motor work, and adjust the direction that mobile vehicle advances or retreats；
If it does, control steer motor and motor work, the direction for keeping current mobile vehicle to advance or retreat.
As shown from the above technical solution, the present invention is provided vehicle trouble warning robot and control method, are provided with warning
Board, can voluntarily drive to the placement of rear view of vehicle safe distance, remind front vehicle to note front accident vehicle, it is not necessary to drive
On a highway go place warning sign on foot by walking for member, it is ensured that driver's personal safety.
Description of the drawings
In order to be illustrated more clearly that the specific embodiment of the invention or technical scheme of the prior art, below will be to concrete
Needed for embodiment or description of the prior art, accompanying drawing to be used is briefly described.In all of the figs, similar element
Or part is typically identified by similar reference.In accompanying drawing, each element or part might not be drawn according to actual ratio.
Fig. 1 is the structural representation that this vehicle trouble warns robot.
Fig. 2 is the structural representation of connector in this vehicle trouble warning robot.
Fig. 3 is the circuit module block diagram that this vehicle trouble warns robot.
In figure, 1- mobile vehicles, 2- warning signs, 3- first chambers, 4- second chambers, 5- deflecting rollers, 6- driving wheels, 7- drive
Galvanic electricity machine, 8- mounting rings, 9- rotating shafts, 10- chutes, 11- wind springs, 12- connectors.
Specific embodiment
The embodiment of technical solution of the present invention is described in detail below in conjunction with accompanying drawing.Following examples are only used for
Technical scheme is described clearly, is therefore only used as example, and the protection model of the present invention can not be limited with this
Enclose.
It should be noted that unless otherwise stated, technical term used in this application or scientific terminology should be this
The ordinary meaning understood by bright one of ordinary skill in the art.
Embodiment：
A kind of vehicle trouble warns robot, as Figure 1-3, including mobile vehicle 1, on the base plate of the mobile vehicle 1
Two driving wheels 6 and two deflecting rollers 5 are provided with, the driving wheel 6 is connected with motor 7, the deflecting roller 5 is electric with steering
Machine connects, and the inner chamber of the mobile vehicle 1 is split to form first chamber 3 and second chamber 4 by demarcation strip, in first chamber
Power module and controller is provided with room 3, is provided with warning sign 2 and is used for controlling the warning in the second chamber 4
The rotating mechanism that board is rotated, is also installed with photographic head on the mobile vehicle 1, and the photographic head is used for obtaining pavement image
Information is simultaneously sent to the controller, and the controller obtains road surface traffic marking line in photographic head uploading pictures by image recognition
Positional information, and described mobile vehicle is controlled based on the positional information advance along the road traffic marking line or retreat.Tool
When body is implemented, the power module of the robot is used for powering to vehicle trouble warning robot.
The mobile vehicle is intelligent carriage, is additionally provided with audible-visual annunciator on the warning sign, for sending sound and light alarm,
Alarming effect is more preferable.The warning sign is accommodated in mobile vehicle, and mobile vehicle side plate upper end is additionally provided with corresponding with warning sign
Draw-in groove, for accommodating warning sign.Robot controls motor and steer motor work by controller, so as to control to move load
Body advances, retreats and turns to.Consider different traffics and effective warning function is provided, the robot being capable of edge
Traffic marking line to advance, retreat or turn round, walk in the track residing for vehicle, it is not necessary to which driver's manual operation is controlled,
Easy to use.Rotating mechanism can drive warning sign to rotate, and when not in use, warning sign is accommodated in mobile vehicle, but is made
Used time, warning sign rotation is in upright state.The positional information of the traffic marking line in picture includes traffic marking line to figure
The distance at piece edge.The vehicle trouble warning robot that the present invention is provided, is provided with warning sign, can voluntarily drive to rear view of vehicle
Safe distance is placed, and reminds front vehicle to note front accident vehicle, it is not necessary to which on a highway go on foot by walking for driver
Place warning sign, it is ensured that driver's personal safety.
The rotating mechanism includes two wind springs 11 being disposed side by side on mobile vehicle second chamber bottom surface, and passes through
The rotating shaft 9 that the axis of two wind springs 11 is arranged；One end of wind spring 11 is fixed in rotating shaft 9, and the other end is fixed on same movement
On carrier side plate；Also include that several mounting rings 8 being set in outside rotating shaft, the outwardly extension of mounting ring 8 form connection
Fix the bottom of portion and warning sign 2；Also include the cunning being arranged on parallel with the wind spring of extended state side plate in mobile vehicle 1
Groove 10, chute 10 are bent upwards to form major arc section near the one end in the middle part of mobile vehicle；The end of the rotating shaft 9 passes through connector
12 slide in chute.
In the rotating mechanism, warning sign in the presence of restoring force can be withdrawn and cause warning sign bottom close by wind spring
On the side plate that fixes with wind spring.Driver can provide external force to warning sign, promote warning sign so that rotating shaft is sliding in chute
Dynamic, and when rotating shaft slides into the end in chute major arc section, rotating shaft is connected to the end of major arc section, realizes that warning sign is in
Upright state, the radian of major arc section are preferably 200 ° to 300 degree.Mounting ring is used for the connection for realizing wind spring and warning sign so that
When wind spring drives axis of rotation, warning sign can be driven along wind spring stretching or the direction movement for recovering.
The connector 12 includes connecting plate, and two sides of connecting plate are outwardly respectively to be provided with convex portion, two convex portions
Distance be equal to the diameter in chute in circle corresponding to major arc section, one convex portion of connecting plate is embedded in the chute and slides, another
Convex portion is rotatably connected with the end of the rotating shaft.The connector by sliding in the embedded chute in a convex portion, another convex portion with turn
Axle is rotatably connected so that rotating shaft can be equal in chute along the end of slide to major arc section, the distance of two convex portions
The diameter in circle corresponding to major arc section, it is ensured that when wind spring can be close to mobile vehicle base plate all the time to move, connector
Can slide in whole major arc section convex portion.
Present embodiments provide the methods that two kinds of identifications shoot traffic marking line in heads, it is ensured that mobile vehicle can be along
Traffic marking line advances or retreats.
First method, the controller control the method for mobile vehicle movement and are：Normal pictures, standard are preset with first
Picture is taken pictures by photographic head and is obtained by the mobile vehicle is moved to behind the centre of track；Controller is recognized and is marked
The positional information of traffic marking line in quasi- picture；When controller receives the picture of photographic head shooting, the figure is recognized and obtains
In piece in the positional information of traffic marking line, and contrast standard picture traffic marking line positional information, control steer motor and
Motor works, and adjusts the direction that mobile vehicle advances or retreats, until the positional information of the picture traffic marking line for shooting
Mate with the positional information of normal pictures traffic marking line, mobile vehicle advances along traffic marking line or retreats.
Normal pictures be used for as reference original state, due to photographic head arrange position constant, so by contrast
Current photographic head shoots picture and normal pictures, just can obtain current robot to the distance of traffic marking line.Normal pictures
Taken pictures by photographic head after track centre is moved to mobile vehicle and obtained so that robot can be in the middle of track along traffic
Marking line is moved, and is realized straight trip, is turned round and reverse end for end etc. to operate.In picture, the positional information of traffic marking line includes traffic marking line
To the distance at picture edge, generally, the distance of traffic marking line to picture edge is with robot to traffic marking line
Actual distance is directly proportional.The positional information of the picture traffic marking line of shooting and the positional information of normal pictures traffic marking line
Match somebody with somebody, refer to that the positional information of the picture traffic marking line of shooting is identical with the positional information of normal pictures traffic marking line.
Second method, the controller control the method for mobile vehicle movement and are：Mobile vehicle is shot first to traffic
Information of road surface under the different actual distances of marking line, recognizes the positional information of traffic marking line in the picture for shooting, and draws
The curve chart of mobile vehicle positional information of traffic marking line in the actual distance and picture of traffic marking line；Then controller
Preset standard distance；When controller receives the picture of photographic head shooting, traffic marking line in the picture is recognized and obtains
Positional information, and binding curve table obtains the corresponding mobile vehicle of the picture to the actual distance of traffic marking line, judges that this is true
Actual distance adjusts mobile vehicle from whether gauged distance is equal to if it is not, controlling steer motor and motor efforts
The direction that advances or retreat, until actual distance is mated with gauged distance, mobile vehicle advances along traffic marking line or retreats.
The pre-rendered curve chart of the method, for representing that mobile vehicle is handed in the actual distance and picture of traffic marking line
The relation of the positional information of logical marking line.Gauged distance is preferably the distance in the middle of track to traffic marking line, it is to avoid robot
Travel and deviate former track.The method is agreed to realize that robot is travelled along traffic marking line in track, realizes straight trip, turns
The operations such as curved and u-turn.
Photosensitive sensors are also equipped with the mobile vehicle outer surface, and photosensitive sensors are used for the light for detecting external environment condition
According to intensity, and the controller is transferred to, controller is used for advancing according to the Data Control mobile vehicle of photosensitive sensors detection
Distance.As night sight line is bad, such controller to can interpolate that be currently daytime or night, if being currently night,
Robot motion is accomplished by apart from the farther distance in mobile vehicle rear, the more preferable alarming effect for playing.
Rainwater detector is also equipped with the mobile vehicle outer surface, and rainwater detector is used for the rain for detecting external environment condition
Amount situation is simultaneously transferred to the controller, and controller is used for judging whether to rain according to the data of rainwater detector detection, and root
It is judged that the distance that output control mobile vehicle advances.As the rainy day can affect sight line, so the controller can pass through rainwater
Detector judges whether to rain, if the rainy day, it is necessary to which robot motion is to apart from the farther distance in mobile vehicle rear.
The robot can also drive to the distance of regulation exactly.The controller is according to the mobile load of preset vehicle speed control
Body uniform motion.Also include being arranged in mobile vehicle in first chamber apart from detection module, be used for remembering apart from detection module
Record mobile vehicle running time, and mobile vehicle operating range is calculated according to the preset vehicle speed and running time.Mobile vehicle
Operating range=speed * running time, by calculate mobile vehicle operating range can real-time tracking carry to robot to moving
The distance of body.
Described be also preset with predicted travel distance apart from detection module, apart from detection module according to preset vehicle speed and estimated row
Sail distance and be calculated the predicted travel time；When mobile vehicle running time arrival predicted travel is detected apart from detection module
Between after, generate and cease and desist order and be transferred to controller, controller controls motor according to ceasing and desisting order and quits work.Predicted travel
Time=predicted travel distance/speed, when mobile vehicle running time reach the predicted travel time when, illustrate robot currently with
The distance of vehicle is predicted travel distance, now, it is not necessary to which robot continues to travel.
A kind of above-mentioned vehicle trouble warns the control method of robot, comprises the following steps：
S1：Rotary warning board presses the start button that the vehicle trouble warns robot in upright state；
S2：Controller reads the detection data of photosensitive sensors, and judges to be currently at daytime or night；When in white
It when, controller determine initial displacement be default displacement on daytime；When in night, controller determines initial shifting
Dynamic distance is default night displacement；
S3：Controller reads the detection data of rainwater detector, when controller judges to be currently at rain according to detection data
It when, controller determines that final displacement is equal to the summation that beginning displacement and default rainy day compensate distance；
S4：Controller drives steer motor and motor work, and control vehicle trouble warning robot ride is to vehicle
Rear distance is at the position of final displacement.
When being embodied as, daytime, displacement was less than night displacement, and daytime, displacement was generally 100-200 rice,
Night displacement is generally 150-250 rice.Due to slippery when wet and sight line is bad, so rainy day, robot is accomplished by going
Sail to farther where, rainy day compensation distance generally 50-100 rice.
In the first scaling method, step S1 is specially：
S11：The mobile vehicle is moved to behind the centre of track, the first mark of the vehicle trouble warning robot is pressed
Determine button, controller reads the picture that photographic head shoots, is defined as normal pictures；
S12：Controller is recognized and obtains the positional information of traffic marking line in normal pictures；
S13：Rotary warning board presses the start button that the vehicle trouble warns robot in upright state.
Step S4 is specially：
S41：When controller receives the picture of photographic head shooting, the position of traffic marking line in the picture is recognized and obtains
Confidence ceases；
S42：Controller judge Current vehicle failure warning robot to rear view of vehicle distance whether reach final mobile away from
From；If not, execution step S43；If it is, controller control steer motor and motor quit work；
S43：Controller judges the positional information of picture traffic marking line and the positional information of normal pictures traffic marking line
Whether mate；If mismatched, control steer motor and motor work, and adjust the direction that mobile vehicle advances or retreats；
If it does, control steer motor and motor work, the direction for keeping current mobile vehicle to advance or retreat.
In second scaling method, step S1 is specially：
S11a：The second demarcation button of the vehicle trouble warning robot is pressed, the mobile vehicle is moved to
At traffic marking line different distance position, controller reads the picture that photographic head shoots, and recognizes respectively and obtain handing in picture
The positional information of logical marking line, draws the position of mobile vehicle traffic marking line in the actual distance and picture of traffic marking line
The curve chart of information；
S12a：Rotary warning board presses the start button that the vehicle trouble warns robot in upright state.
Step S4 is specially：
S41a：When controller receives the picture of photographic head shooting, traffic marking line in the picture is recognized and obtains
Positional information；
S42a：Controller binding curve table obtains the corresponding mobile vehicle of the picture to the actual distance of traffic marking line,
Judge whether the actual distance is equal to default gauged distance；If it is not, control steer motor and motor work, adjust
The direction that whole mobile vehicle advances or retreats；If equal to, control steer motor and motor work, and keep current movement to carry
The direction that body advances or retreats.
Finally it should be noted that：Various embodiments above only in order to technical scheme to be described, rather than a limitation；To the greatest extent
Pipe has been described in detail to the present invention with reference to foregoing embodiments, it will be understood by those within the art that：Its according to
So the technical scheme described in foregoing embodiments can be modified, or which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, do not make the essence of appropriate technical solution depart from various embodiments of the present invention technology
The scope of scheme, its all should cover in the middle of the scope of the claim and description of the present invention.
Claims (10)
1. a kind of vehicle trouble warns robot, it is characterised in that including mobile vehicle, be provided with the base plate of the mobile vehicle
Two driving wheels and two deflecting rollers, the driving wheel are connected with motor, and the deflecting roller is connected with steer motor, described
The inner chamber of mobile vehicle is split to form first chamber and second chamber by demarcation strip, is provided with power supply mould in the first chamber
Block and controller, are provided with warning sign and in the second chamber for controlling the rotating mechanism that the warning sign is rotated,
Photographic head is installed with also on the mobile vehicle, and the photographic head is used for obtaining pavement image information and being sent to the control
Device processed, the controller obtain the positional information of road surface traffic marking line in photographic head uploading pictures by image recognition, and are based on
The positional information controls the mobile vehicle and advances along the road traffic marking line or retreat.
2. vehicle trouble according to claim 1 warns robot, it is characterised in that the rotating mechanism includes two simultaneously
Row is arranged on the wind spring on mobile vehicle second chamber bottom surface, and the rotating shaft of the axis setting through two wind springs；Wind spring
One end is fixed in rotating shaft, and the other end is fixed on same mobile vehicle side plate；Also include that several are set in outside rotating shaft
Mounting ring, outwardly the extending of mounting ring form the bottom of connecting portion and warning sign and fix；Also include being arranged on mobile load
Chute on the side plate parallel with the wind spring of extended state in vivo, chute are bent upwards to be formed near the one end in the middle part of mobile vehicle
Major arc section；Slided in chute by connector the end of the rotating shaft.
3. vehicle trouble according to claim 2 warns robot, it is characterised in that the connector includes connecting plate,
Two sides of connecting plate are outwardly respectively to be provided with convex portion, and the distance of two convex portions is equal to the circle in chute corresponding to major arc section
In diameter, one convex portion of connecting plate be embedded in the chute slide, another convex portion is rotatably connected with the end of the rotating shaft.
4. vehicle trouble according to claim 1 warns robot, it is characterised in that the controller controls mobile vehicle
Mobile method is：Normal pictures are preset with first, and normal pictures are led to by the mobile vehicle is moved to behind the centre of track
Cross photographic head and take pictures and obtain；Controller is recognized and obtains the positional information of traffic marking line in normal pictures；When controller is received
When arriving the picture that photographic head shoots, recognize and obtain in the positional information of traffic marking line in the picture, and contrast standard picture
The positional information of traffic marking line, control steer motor and motor work, adjust the direction that mobile vehicle advances or retreats,
Until the positional information of the picture traffic marking line for shooting is mated with the positional information of normal pictures traffic marking line, mobile vehicle
Advance along traffic marking line or retreat.
5. vehicle trouble according to claim 1 warns robot, it is characterised in that the controller controls mobile vehicle
Mobile method is：Information of road surface mobile vehicle to the different actual distances of traffic marking line under is shot first, and identification shoots
Picture in traffic marking line positional information, and draw mobile vehicle traffic in the actual distance and picture of traffic marking line
The curve chart of the positional information of marking line；Then controller preset standard distance；When controller receives the figure of photographic head shooting
The positional information of traffic marking line in the picture during piece, is recognized and obtained, and binding curve table obtains the corresponding movement of the picture
Actual distance of the carrier to traffic marking line, judges whether the actual distance is equal to gauged distance, if it is not, control is turned to
Motor and motor work, adjust the direction that mobile vehicle advances or retreats, until actual distance is mated with gauged distance, move
Mobile carrier advances along traffic marking line or retreats.
6. vehicle trouble according to claim 1 warns robot, it is characterised in that on the mobile vehicle outer surface also
Photosensitive sensors are installed, photosensitive sensors are used for the intensity of illumination for detecting external environment condition, and are transferred to the controller, control
Device is used for the distance that advances according to the Data Control mobile vehicle of photosensitive sensors detection.
7. vehicle trouble according to claim 6 warns robot, it is characterised in that on the mobile vehicle outer surface also
Rain detector is installed, rainwater detector is used for detecting the rainfall situation of external environment condition and being transferred to the controller, controls
Device be used for according to rainwater detector detection data judge whether to rain, and according to judged result control mobile vehicle advance away from
From.
8. a kind of vehicle trouble as claimed in claim 1 warns the control method of robot, it is characterised in that including following step
Suddenly：
S1：Rotary warning board presses the start button that the vehicle trouble warns robot in upright state；
S2：Controller reads the detection data of photosensitive sensors, and judges to be currently at daytime or night；When in daytime
When, controller determines that initial displacement is default displacement on daytime；When in night, controller determines initial mobile
Distance is default night displacement；
S3：Controller reads the detection data of rainwater detector, when controller judges to be currently at the rainy day according to detection data,
Controller determines that final displacement is equal to the summation of beginning displacement and compensation of default rainy day distance；
S4：Controller drives steer motor and motor work, and control vehicle trouble warning robot ride is to rear view of vehicle
Distance is at the position of final displacement.
9. vehicle trouble according to claim 8 warns the control method of robot, it is characterised in that the step S1 tool
Body is：
S11：The mobile vehicle is moved to behind the centre of track, press the first demarcation of vehicle trouble warning robot by
Key, controller read the picture that photographic head shoots, and are defined as normal pictures；
S12：Controller is recognized and obtains the positional information of traffic marking line in normal pictures；
S13：Rotary warning board presses the start button that the vehicle trouble warns robot in upright state.
10. vehicle trouble according to claim 9 warns the control method of robot, it is characterised in that step S4
Specially：
S41：When controller receives the picture of photographic head shooting, the position letter of traffic marking line in the picture is recognized and is obtained
Breath；
S42：Controller judges whether Current vehicle failure warning robot reaches final displacement to rear view of vehicle distance；Such as
Really no, execution step S43；If it is, controller control steer motor and motor quit work；
S43：Whether controller judges the positional information of the positional information of picture traffic marking line and normal pictures traffic marking line
Coupling；If mismatched, control steer motor and motor work, and adjust the direction that mobile vehicle advances or retreats；If
Coupling, control steer motor and motor work, the direction for keeping current mobile vehicle to advance or retreat.
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| CN201610973357.7A CN106494307B (en) | 2016-10-31 | 2016-10-31 | A kind of vehicle trouble warning robot and control method |
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| CN201610973357.7A CN106494307B (en) | 2016-10-31 | 2016-10-31 | A kind of vehicle trouble warning robot and control method |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107399271A (en) * | 2017-08-06 | 2017-11-28 | 李良杰 | Automatic safe warning sign |
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| CN108693874A (en) * | 2017-04-12 | 2018-10-23 | 鸿富锦精密电子(天津)有限公司 | Control system and method for tripod self-propelled vehicle |
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| CN107399271A (en) * | 2017-08-06 | 2017-11-28 | 李良杰 | Automatic safe warning sign |
| CN108360409A (en) * | 2018-02-26 | 2018-08-03 | 天津广土科技发展有限公司 | Vehicle trouble warns robot |
| CN111038376A (en) * | 2018-10-12 | 2020-04-21 | 宝马股份公司 | Method, device and system for controlling warning sign for vehicle |
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| CN109455136A (en) * | 2018-12-06 | 2019-03-12 | 北京三快在线科技有限公司 | Parking warning device, vehicle and vehicle parking alarming method for power |
| WO2020228029A1 (en) * | 2019-05-16 | 2020-11-19 | 深圳市大疆创新科技有限公司 | Detachable robot |
| CN113853555A (en) * | 2019-05-27 | 2021-12-28 | 宁波吉利汽车研究开发有限公司 | Identification of safety devices in a vehicle |
| CN113853555B (en) * | 2019-05-27 | 2024-05-31 | 宁波吉利汽车研究开发有限公司 | Identification of safety devices in a vehicle |
| CN110136483A (en) * | 2019-06-17 | 2019-08-16 | 深圳市沃特沃德股份有限公司 | Intelligent caution device control method, device, intelligent caution device and storage medium |
| CN111717111A (en) * | 2020-07-02 | 2020-09-29 | 上海政和自动控制有限公司 | Intelligent vehicle fault warning robot |
| CN111845549A (en) * | 2020-08-20 | 2020-10-30 | 皖西学院 | Intelligent robot roadblock vehicle and use method thereof |
| CN114167849A (en) * | 2020-08-21 | 2022-03-11 | 鸿富锦精密电子(天津)有限公司 | Self-propelled triangular warning frame and advancing control method thereof |
| CN114167849B (en) * | 2020-08-21 | 2023-12-08 | 富联精密电子(天津)有限公司 | Self-propelled triangular warning frame and travelling control method thereof |
| CN113085726A (en) * | 2021-04-01 | 2021-07-09 | 郑州科技学院 | Safety self-locating vehicle-mounted triangular warning board |
| CN114926821A (en) * | 2022-06-24 | 2022-08-19 | 长城汽车股份有限公司 | Vehicle fault warning method and system |
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Effective date of registration: 20201015 Address after: No.88 Pingwu Road, WuJie Town, Tongzhou District, Nantong City, Jiangsu Province, 226000 Patentee after: Nantong Meilai Industrial Intelligent Technology Co., Ltd Address before: The industrial park of Dazu County, Chongqing city in 400900 Patentee before: CHONGQING SUNFLOWER ROBOT Co.,Ltd. |