CN105735167A - Traffic road cone recycling and placing control system and method - Google Patents

Abstract

The invention discloses a traffic cone retraction control system, which includes a controller, a drive device electrically connected to the controller, a detection device and a human-computer interaction device, wherein the drive device includes a storage disc motor for driving the storage disc to rotate , the slide rail motor used to drive the linear motion of the rotary arm, the rotary arm motor used to drive the rotary arm to rotate relative to the slide rail, the electromagnet used to absorb the road cones, and the flipper used to control the rotation of the flap to recover the road cones on the road board motor; the detection device includes a vehicle speed sensor for detecting the vehicle speed, a proximity switch for detecting the position of the storage tray, a rotary encoder for detecting the rotation angle of the rotating arm, a first limit switch, a micro switch, and a The second limit switch for whether the plate is overturned in place, and the pressure sensor for detecting whether the road cone is sucked on the rotating arm. The traffic cone retraction control system proposed by the present invention ensures the accuracy of the throwing and recycling process and reduces manual operations at the same time.

Description

Control system for retracting and retracting traffic cones and control method for retracting and retracting traffic cones

technical field

The invention relates to the technical field of road cone release control, in particular to a traffic cone retraction control system and a road cone retraction control method.

Background technique

At present, the death toll of road traffic accidents in my country ranks first in the world, and traffic accidents remain high. The national road traffic safety situation is severe. In 2012, the fatality rate of road traffic accidents in my country was 21.10% (of which the fatality rate of highway traffic accidents was as high as 33.32%), compared with 1.45% in the United States and 0.54% in Japan during the same period. The untimely emergency rescue of traffic accidents is one of the important reasons leading to the high fatality rate. With the increasing number of vehicles, due to drivers' lack of experience in dealing with road accidents, lack of accident detection facilities, and untimely rescue and other reasons, "secondary accidents" occur from time to time, mostly on expressways and urban expressways. Since the expressway is a fully enclosed road with a high index and linear shape, drivers usually have insufficient expectations for lateral obstacles and sudden obstacles ahead. When there is an accident ahead and the speed of the vehicle is high, the brakes are often insufficient, causing secondary accidents. After a major traffic incident, it is necessary to isolate the scene of the incident. On the one hand, it can prevent the occurrence of secondary accidents, reduce losses, prevent the deterioration of the situation, and protect the scene. On the other hand, it can ensure that normal vehicles can safely pass through the incident road section and avoid traffic jams. .

At present, most of the expressways in my country have entered the maintenance period. During the maintenance work on the expressway, some road sections need to be closed. During the maintenance work, it is necessary to ensure the safety of driving in the work area, so it needs to be placed outside the work area. Traffic cones to guide vehicles. The placement and recovery of traffic cones are mainly carried out by 2 to 3 construction workers standing at the rear of the road construction vehicle along the specific route of the expressway. It is not uniform, and construction workers are directly exposed to the highway, which is very dangerous.

In recent years, several types of traffic cone automatic and semi-automatic retractable vehicles have been developed in China, as well as a number of throwing and recycling devices, such as the SY-100 traffic cone automatic retractable vehicle developed by Shanghai Electric Control Research Institute in 2012. However, the automation control technology in this field has not yet entered the stage of large-scale application. Most of the existing relevant patents are mechanical transmission, and there are few automatic control systems for retracting and retracting road cones. In the face of sudden traffic accidents, the fast and accurate delivery of road cones cannot be achieved.

Contents of the invention

The main purpose of the present invention is to provide a control system for retracting and retracting traffic cones and a control method for retracting and retracting traffic cones, aiming at realizing accurate and automatic placement of traffic cones.

In order to achieve the above object, the present invention provides a control system for retracting and retracting traffic cones, including a controller, a driving device electrically connected to the controller, a detection device and a human-computer interaction device, wherein,

The driving device includes a storage disc motor for driving the storage disc for storing road cones to rotate, a slide rail motor for driving the rotary arm to move linearly on the slide rail, and a slide rail motor for driving the rotary arm to rotate relative to the slide rail to suck the road cones. The rotary arm motor, the electromagnet used to absorb the road cone, and the flap motor used to control the rotation of the flap to recover the road cone on the road, the storage tray motor, the slide rail motor, the rotary arm motor, the electromagnet and the flap The motors are all electrically connected to the controller;

The detection device includes a vehicle speed sensor used to detect the speed of the road cone retractable vehicle, a proximity switch used to detect the position of the storage tray, a rotary encoder used to detect the rotation angle of the rotating arm, and a rotary encoder used to detect the position of the rotating arm on the slide rail. The first limit switch, the micro switch used to detect whether the road cone is inserted into the flap, the second limit switch used to detect whether the flap is flipped in place, and the pressure used to detect whether the road cone is sucked on the rotating arm sensor, the vehicle speed sensor, proximity switch, micro switch, first limit switch, second limit switch and pressure sensor are all electrically connected to the controller;

The human-computer interaction device is used to receive the user's instruction, send the instruction to the controller and receive the feedback signal of the controller.

Preferably, the human-computer interaction device is provided with a touch screen for the user to switch between multiple functional interfaces, and the human-computer interaction device is connected to the controller through the RS232 serial port.

Preferably, the traffic cone retraction control system further includes a power supply device connected to the controller.

The present invention further proposes a control method for retracting and retracting road cones based on the above-mentioned traffic cone retracting and retracting control system, comprising the following steps:

When the human-computer interaction device receives the user's instruction to release the road cone, the controller controls all actuators to initialize;

The controller obtains the real-time signals transmitted by the vehicle speed sensor and the pressure sensor;

When the controller obtains no signal change from the pressure sensor, the controller sends the rotating arm down command to the slide rail motor, and the rotating arm moves down along the slide rail until the controller obtains a signal change from the pressure sensor, and the controller controls the electromagnet at one end of the rotating arm energized to absorb road cones;

After the rotating arm absorbs the road cone, the controller sends the rotating arm up command to the slide rail motor to make it go up along the slide rail, and when the rotating arm’s up time reaches the first preset time, the controller sends a rotation command to the rotating arm motor to rotate The arm rotates, and when the up time of the rotating arm reaches the second preset time, the controller simultaneously sends the down command of the rotating arm and the rotation command of the storage plate to the slide motor and the motor of the storage plate respectively, and the rotating arm goes down until the controller obtains the first limit. The signal of the position switch, the storage disk rotates until the controller obtains the signal of the proximity switch;

When the delivery vehicle travels to the preset position, the controller controls the electromagnet to lose power to release the road cone;

After the rotating arm puts the road cone, the controller sends the rotating arm up command and the rotating command to the slide rail motor and the rotating arm motor at the same time, and when the up time of the rotating arm reaches the third preset time, the controller sends the rotating arm down command until The rotating arm moves to directly above the on-road cone of the storage tray, and continues to execute the step of acquiring the real-time signals transmitted by the vehicle speed sensor and the pressure sensor until the stop instruction is received.

Preferably, the traffic cone retraction control method of the traffic cone retraction control system also includes:

When the human-computer interaction device receives the instruction to recover the road cone from the user, the controller controls all actuators to initialize;

The controller simultaneously sends the up command and rotation command of the rotating arm to the slide rail motor and the rotating arm motor respectively, and obtains the real-time signal transmitted by the micro switch;

Determine whether the micro switch is powered;

When the micro switch is not energized and the up time of the rotating arm reaches the fourth preset time, the controller sends an up stop command to the slide rail motor and returns to continue to judge whether the micro switch is energized. When the micro switch is energized, the control The device sends the flip rotation command to the flip motor;

When the up time of the rotating arm reaches the fourth preset time and the second limit switch at the flip plate is not powered on, the controller sends an upward stop command to the slide rail motor until the electric signal of the second limit switch is obtained, when the rotating arm When the up time reaches the fourth preset time and the second limit switch at the flap is energized, the controller sends the rotating arm down command to the slide rail motor;

The rotating arm goes down until the controller obtains the signal of the pressure sensor, and the controller controls the electromagnet to be energized to absorb the road cone;

After the rotating arm absorbs the road cone, the controller sends the rotating arm up command, and when the up time of the rotating arm reaches the fifth preset time, the controller sends a rotation command to the motor of the rotating arm, and waits for the up time of the rotating arm to reach the sixth preset time At the same time, the controller sends the rotation command of the flap and the down command of the rotating arm to the flap motor and the slide rail motor respectively;

When the down time of the rotating arm reaches the seventh preset time, the controller controls the rotating arm to stop descending and controls the electromagnet to de-energize and release the cone. The disc rotates in place, and continues to execute the steps that the controller simultaneously sends the rotating arm up command and the rotating command to the slide rail motor and the rotating arm motor respectively, and obtains the real-time signal transmitted by the micro switch until the stop command is received.

Preferably, the traffic cone retraction control method of the traffic cone retraction control system also includes:

When the controller does not receive the control signal sent by the human-computer interaction device, the controller sends a dormancy control command to the drive device and the detection device so that the system is in a low power consumption mode.

Preferably, when the rotating arm picks up the road cone, the controller controls the slide rail motor to pause for an eighth preset time to ensure that the road cone is picked up in place.

Preferably, the controller has a fault-tolerant function. When an unexpected situation occurs, the controller records the state of the drive device before power-off and the number of road cones currently stored on the disk, so as to continue to work after power-on; The limit working speed of the driving device is preset in the controller, and the controller adjusts the actual working speed of the driving device according to the speed requirement of laying road cones. When the actual working speed is greater than the corresponding limit working speed, the control The controller controls the driving device to operate at the limit working speed, and gives the man-machine interface device a prompt.

Preferably, the traffic cone retraction control method of the traffic cone retraction control system also includes:

When the stop instruction is received, the controller controls the current operation process to stop automatically after completing a delivery or recovery cycle.

Preferably, the traffic cone retraction control method of the traffic cone retraction control system also includes:

When the emergency stop command is received, the controller controls the current operation process to stop immediately, and when the road cone command is released or the road cone recovery command is received again, the controller controls the detection device and the drive device to continue to execute according to the state before the stop.

The traffic cone retraction control system proposed by the present invention realizes the automatic release and automatic recovery of the road cones by setting the controller to cooperate with the driving device, the detection device and the human-computer interaction device, and the automatic control of the controller ensures the release and release The precision of the recycling process also reduces manual operations. In addition, the traffic cone retraction control system also has the advantages of simple structure, safety and reliability.

Description of drawings

Fig. 1 is the schematic diagram of the circuit structure of the preferred embodiment of the control system for retracting and releasing traffic cones of the present invention;

Fig. 2 is the serial port communication processing diagram of the preferred embodiment of the traffic cone retraction control system of the present invention;

Fig. 3 is the schematic diagram of throwing road cone process in the retractable road cone control method of the traffic road cone retractable control system of the present invention;

Fig. 4 is the schematic diagram of recovery road cone flow process in the retractable road cone control method of the traffic road cone retractable control system of the present invention;

Fig. 5 is the stop control flowchart in the retractable road cone control method of the traffic road cone retractable control system of the present invention;

Fig. 6 is the emergency stop control flowchart in the retractable road cone control method of the traffic road cone retractable control system of the present invention;

Fig. 7 is a flow chart of the execution of the stop operation in the retractable and retractable road cone control method of the traffic road cone retractable and retractable control system of the present invention;

Fig. 8 is a flow chart of emergency stop operation execution in the retractable and retractable road cone control method of the traffic road cone retractable control system of the present invention;

Fig. 9 is a control task distribution diagram of the retractable road cone control method of the traffic road cone automatic retractable control system of the present invention;

Fig. 10 is a task transfer diagram of the method for retracting and retracting road cones of the present invention for automatic retracting and retracting control of traffic cones.

The realization of the purpose of the present invention, functional characteristics and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

detailed description

It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

The invention proposes a traffic cone retraction control system.

Referring to FIG. 1 , FIG. 1 is a schematic diagram of the circuit structure of a preferred embodiment of the traffic cone retraction control system of the present invention.

In this preferred embodiment, a traffic cone retraction control system includes a controller, a drive device electrically connected to the controller, a detection device and a human-computer interaction device, wherein,

The driving device includes a storage disc motor for driving the storage disc for storing road cones to rotate, a slide rail motor for driving the rotary arm to move linearly on the slide rail, and a slide rail motor for driving the rotary arm to rotate relative to the slide rail to absorb the rotation of the road cone Arm motor, electromagnet for picking up road cones (the electromagnet is located at the end of the rotating arm, which drives the electromagnet to move when the rotating arm moves), and the flap motor for controlling the rotation of the flap to recover the road cones on the road, and the storage disc motor , slide rail motor, rotating arm motor, electromagnet and flap motor are all electrically connected to the controller;

The detection device includes a vehicle speed sensor for detecting the speed of the road cone retractable vehicle, a proximity switch for detecting the position of the storage tray, a rotary encoder for detecting the rotation angle of the rotating arm, and a first sensor for detecting the position of the rotating arm on the slide rail. A limit switch (two sets, respectively used to detect the up and down limit positions of the rotating arm), a micro switch used to detect whether the road cone is inserted into the flap (four sets, when four micro switches At the same time, when the power is on, it means that the road cone is inserted in place, which ensures the detection accuracy), the second limit switch used to detect the position of the flap (there are two second limit switches, respectively when the flap is in the horizontal and vertical states closed), and the pressure sensor used to detect whether the road cone is sucked on the rotating arm, the vehicle speed sensor, the proximity switch, the micro switch, the first limit switch, the second limit switch and the pressure sensor are all electrically connected to the controller;

The human-computer interaction device is used for receiving the user's instruction, sending the instruction to the controller and receiving the feedback signal of the controller.

A slide rail is fixed on the road cone retractable car, and the rotating arm is installed on the slide rail and can slide up and down relative to it. The rotating arm is provided with a corresponding mechanism to make it rotatable relative to the slide rail, so as to realize grabbing road cones at different positions. One side of the road cone retractable car is provided with a flap. The road cone retractable car is also provided with a storage tray, which is rotatable, and the storage tray is provided with a plurality of support frames, and a plurality of road cones are placed on each support frame. When the storage tray rotates, it drives the support frame to rotate, so that the rotating arm can absorb the road cone on each support frame. When recycling the road cone, when the flap is in a horizontal state, the support rod on it can be inserted into the inverted road cone. When the flap is vertical, the support rod drives the road cone to be vertical, and the rotating arm moves to the vertical position. Above the road cone, the electromagnet absorbs electricity so as to absorb the support rod on the turning plate.

In this embodiment, the STM32F103ZET6 microcontroller with TQFP-144 package and ARM Cortex-M3 core is used as the controller. The P23 and P24 pins of the controller are connected to an 8MHZ external crystal oscillator, and the operating frequency can reach 72MHZ. The power supply voltage is 3.3V, and the reference voltage P31 (VREF-) pin is connected to GND, P32 (VREF+) pin is connected to 3.3V.

In this embodiment, fixed-point delivery of road cones can be realized by setting a vehicle speed sensor. The data of the vehicle speed detection can be transmitted to the controller by the on-board computer through the CAN bus. The chip SN65HVD230 is selected to realize the CAN data transmission. For transmission, a 120-ohm terminal matching resistor needs to be connected between pins 7 and 8, and the controller monitors the running distance of the road cone retractable car in real time according to the speed of the vehicle. The position detection of the storage tray is realized by the proximity switch. Iron sheets are installed directly under each pile of road cones on the storage tray. The proximity switch outputs a 12V switching signal, and the identifiable high and low voltage is output through the TLP281 optocoupler isolation. Level signal, which is input as the switch signal of the controller, judged by the external interrupt, when the CPU detects a level jump, it means that a pile of road cones on the storage disk has reached the designated position. The position detection and rotation angle position detection of the rotating arm are mainly realized by the encoder. The A phase, B phase and Z phase of the rotating arm encoder and the slide rail encoder pass through the AM26LS32 differential receiver and the controllers PA6, PA7, PB0 and PB6 respectively. , PB7, and PB1 are connected to form an encoder signal input capture, and the differential receiver must be connected to a terminal resistor, about 330 ohms. In addition, three limit switches of the same type are installed, one is used for the calibration of the initial position of the rotary arm, and the other two (ie, the first limit switch) are used to limit the limit position of the rotary arm on the slide rail (ie, the limit position of up and down). ), the output of the limit switch is a 12V switching signal, and the identifiable high and low level signals are output through the TLP281 optocoupler isolation, which is used as the controller switching signal input, judged by an external interrupt, when the CPU detects a level jump Change, you can calibrate the swivel arm and limit the stroke of the swivel arm on the slide rail. The position of the flap is detected by the second limit switch, the principle is the same as above, and the CPU can control the flap to be accurately positioned in the horizontal and vertical directions according to its output signal. The position of the road cone is mainly detected by the four micro switches installed on the flap. The principle is the same as above, and the CPU can accurately grasp whether the road cone can be recycled according to its output signal. The pressure sensor is mainly used to determine the best time for road cone absorption. The output of the pressure sensor is a current signal of 4-20mA, and its power supply voltage is 12V. First, it is converted into a voltage signal by using a precision resistor, and then through a voltage follower composed of OPA365 Isolation, buffering, signal conditioning, outputting stable voltage signal for single-chip AD channel collection.

The control of the driving device includes controlling the rotation of each actuator and the power gain and loss of the electromagnet. Among them, all motor control principles are the same, except for simple start, stop and enable control, and in order to transmit the pulse data correctly, the differential drive mode is uniformly adopted, and the AM26LS31 The differential drive controls the frequency and speed of the rotating arm motor, turnover motor, slide rail motor, and storage tray motor respectively, and the drive will also feedback alarm and in-position signals to the CPU through the differential drive. Because the TTL level power output by the single-chip microcomputer is low, it cannot directly control the power gain and loss of the electromagnet. It can be isolated through the optocoupler first, and then the relay is amplified and driven by the triode to control the power supply of the electromagnet to achieve the purpose of control. One needs to be added at both ends of the relay. Reverse freewheeling diode to protect the triode from being damaged.

Specifically, the human-computer interaction device is provided with a touch screen for the user to switch between multiple functional interfaces, and the human-computer interaction device is connected to the controller through the RS232 serial port. The human-computer interaction device uses serial port RS232 communication, which is a full-duplex serial asynchronous communication. The driver chip is MAX3232, which has two receivers and two drivers, and provides 1uA shutdown mode. The data rate of 120Kbps can be guaranteed under the working conditions. Its overvoltage and overcurrent protection includes P6KE13CA TVS tube for voltage protection, 100mA insurance for current protection, and 100Ω current limiting resistor to avoid burning the chip due to instantaneous high voltage, and realize stable communication with the touch screen with RS232 interface. In order to receive and send more accurately, the system customizes the packet header and packet tail and data ID, including power control commands, release, recovery, stop, emergency stop, setting and display of the number of road cones, etc., and its communication protocol processing reference figure 2. When the host sends a command to cause an interrupt, each time a data packet of 8 bytes is received, the system detects whether it is the end of the packet 0x3d, and if so, clears the interrupt and parses the data packet, otherwise the count reaches 8 bytes and is automatically cleared and Clear interrupts.

Further, the traffic cone retraction control system also includes a power supply device connected to the controller. The control principle of the power supply device is the same as that of the electromagnet power gain and loss control. It can control the 220V and 12V power on and off through the host computer to achieve the purpose of power management. In addition, when the system does not work for a long time, the system will enter a low power consumption mode , that is, stop mode. Before entering this mode, the controller PA10 (serial port receiving end) needs to be set as an external interrupt input. In this interrupt service program, restore the CPU clock and set the port as a serial port data receiving end. The upper bit wakes up the low power consumption mode without affecting the subsequent work.

In order to prevent the loss of important data after power failure and affect the normal work, the system has designed a 16k data storage space. The CPU accesses the AT24C16 chip through the I2C bus protocol, and writes information such as the number of road cones in each pile, the status and position of the slide rail and the rotating arm . Pins 1, 2, and 3 of AT24C16 are I2C address setting input pins, all of which are grounded, pins 5 and 6 are respectively connected to the data line SDA and clock line SCL of the microcontroller, and pin 7 is grounded to prohibit chip write protection.

The controller is embedded with the uCOS-II operating system. In order to improve the efficiency and real-time performance of the automatic retraction and retraction of traffic cones, the system has established a multi-task operation mechanism. Referring to Figures 9 and 10, the system software integrates 12 tasks, among which task one has the highest priority and has the highest operating right, and the priorities of tasks one to ten are lowered in turn. Among them, each task from task seven to task twelve has different running states according to different process steps. The execution of the task is realized through message mailbox and semaphore delivery. Task switching is performed sequentially depending on the task block priority.

The traffic cone retraction control system proposed by the present invention realizes the automatic release and automatic recovery of the road cones by setting the controller to cooperate with the driving device, the detection device and the human-computer interaction device, and the automatic control of the controller ensures the release and release The precision of the recycling process also reduces manual operations. In addition, the traffic cone retraction control system also has the advantages of simple structure, safety and reliability.

The present invention further proposes a traffic cone retraction and retraction control method for the traffic cone retraction and retraction control system.

Referring to FIG. 3 , FIG. 3 is a schematic diagram of the process of putting in road cones in the method for retracting and releasing road cones in the traffic cone retracting and releasing control system of the present invention.

A preferred embodiment of the method for retracting and retracting road cones based on the above-mentioned traffic cone retraction and retraction control system proposed by the present invention comprises the following steps:

Step S10, when the human-computer interaction device receives the user's instruction to release the road cone, the controller controls all actuators to initialize;

The user can issue a road cone release command through the human-computer interaction device, and when the human-computer interaction device receives the road cone release command from the user, the controller controls all actuators to initialize. The actuator includes a slide rail, a storage tray, a flap, and a swivel arm. System initialization mainly realizes the position calibration of each actuator.

Step S11, the controller obtains the real-time signals transmitted by the vehicle speed sensor and the pressure sensor;

Step S12, when the controller obtains no signal change from the pressure sensor, the controller sends the rotating arm down command to the slide rail motor, and the rotating arm moves down along the slide rail until the controller obtains a signal change from the pressure sensor, and the controller controls one end of the rotating arm The electromagnet is energized to attract the road cone;

When the controller obtains a signal change from the pressure sensor, it means that the road cone is located directly below the pressure sensor. At this time, the controller controls the electromagnet at one end of the rotating arm to be energized to attract the road cone.

Step S13, after the rotating arm absorbs the road cone, the controller sends the rotating arm up command to the slide rail motor to make it go up along the slide rail, and when the rotating arm's up time reaches the first preset time, the controller sends a rotation command to the rotating arm The motor rotates the rotating arm (controlling the rotating arm to rotate 270 degrees), and when the up time of the rotating arm reaches the second preset time (the second preset time is calculated from the moment when the controller sends the rotating arm up command), the controller sends the rotating arm at the same time The arm down command and the storage tray rotation command are respectively sent to the slide rail motor and the storage tray motor, the rotating arm goes down until the controller obtains the signal of the first limit switch (the first limit switch in downlink), and the storage tray rotates until the controller obtains the signal of the first limit switch. signal to the proximity switch;

The first preset time is greater than or equal to the time it takes for the rotating arm to take the cone and move up the slide rail to just avoid the contact area (that is, the height area of the road cone on the storage tray). In each road cone delivery cycle, the first preset time is a certain value. The second preset time is greater than the time taken for the rotating arm to rotate 90 degrees plus the first preset time, and the second preset time is a certain value.

Step S14, when the delivery vehicle travels to the preset position, the controller controls the electromagnet to be de-energized to release the road cone;

It is realized by the vehicle speed sensor that the delivery vehicle travels to the preset position. The vehicle speed sensor detects the vehicle speed of the delivery vehicle in real time, and the controller calculates the distance traveled by the vehicle for delivery of road cones at the current moment. When the requirement for delivery distance is reached, the controller controls the electromagnet to lose power, and the delivery process of road cones is completed.

Step S15, after the rotating arm drops the road cone, the controller simultaneously sends the rotating arm up command and the rotating command to the slide rail motor and the rotating arm motor respectively, and when the rotating arm up time reaches the third preset time, the controller sends the rotating arm The down command is performed until the rotating arm moves to the top of the storage disk up road cone, and the execution of step S10 is continued until the stop command is received.

The third preset time is a variable value, which varies with the height of the road cone on the storage tray, that is, the higher the height of the road cone, the greater the value of the third preset time.

The control method for retracting and unwinding road cones proposed by the present invention controls the rotation of the upper road cones on the storage tray during the process of controlling the rotating arm to put the road cones in, which reduces the time for waiting for the rotation of the upper road cones on the storage tray during the next cycle of putting in road cones, and improves the Cone delivery efficiency, before receiving the stop command, the controller will automatically control the driving device and the detection device to complete the cycle of multiple delivery of road cones, avoiding manual repeated operation of putting road cones, further improving the delivery efficiency and simplifying manual operations . At the same time, the control method for retracting and retracting road cones proposed in this embodiment ensures the accuracy of the fixed-point delivery of road cones through the precise cooperation of the controller and the vehicle speed sensor.

Referring to FIG. 4 , shown in FIG. 4 is the process of recycling road cones, which can be executed before or after the process of throwing road cones shown in FIG. 3 .

Further, the method for retracting and retracting road cone control of the traffic cone retraction control system proposed by the present invention also includes the following steps:

Step S20, when the human-computer interaction device receives the command to recover the road cone from the user, the controller controls all actuators to initialize;

Step S21, the controller simultaneously sends the rotating arm up command and the rotation command (to control the rotating arm to rotate 180 degrees) respectively to the slide rail motor and the rotating arm motor and obtains the real-time signal transmitted by the micro switch;

Step S22, judging whether the micro switch is energized; when the micro switch is not energized, execute step S23 and return to execute step S22; when the micro switch is energized, execute step S24;

Step S23, when the up time of the rotating arm reaches the fourth preset time, the controller sends an up stop command to the slide rail motor;

The micro switch is not energized, indicating that the road cone has not been recovered to the flap at this time, so it is necessary to control the rotating arm to pause upward to wait for the road cone to be recovered.

Step S24, the controller sends the flap rotation instruction to the flap motor (the flap rotation instruction controls the flap to rotate 90 degrees, so that the road cone is changed from a horizontal state to a vertical state);

Step S25, judging whether the second limit switch at the flap is energized; when the second limit switch is not energized, execute step S26 and return to execute step S25; when the second limit switch is energized, execute step S27;

Step S26, when the up time of the rotating arm reaches the fourth preset time, the controller sends an up stop command to the slide rail motor;

Step S27, when the up time of the rotating arm reaches the fourth preset time, the controller sends the down command of the rotating arm to the slide rail motor;

The fourth preset time is a variable value that varies with the height of the on-road cone of the storage tray, that is, the higher the height, the smaller the value of the fourth preset time.

Step S28, the rotating arm goes down until the controller obtains the signal of the pressure sensor, and the controller controls the electromagnet to be energized to absorb the road cone;

Step S29, after the rotating arm absorbs the road cone, the controller sends the rotating arm up command, and when the rotating arm's up time reaches the fifth preset time, the controller sends a rotation command to the rotating arm motor (controls the rotating arm to rotate 180 degrees in reverse , so that the rotating arm returns to the top of the storage tray), when the up time of the rotating arm reaches the sixth preset time, the controller simultaneously sends the flap rotation command and the swivel arm down command to the flap motor and the slide rail motor respectively;

The value of the fifth preset time varies with the height of the on-road cone of the storage tray, that is, the higher the height, the greater the value of the fifth preset time. The sixth preset time varies with the height of the on-road cone of the storage tray, that is, the higher the height, the smaller the value of the sixth preset time.

Step S30, when the down time of the rotating arm reaches the seventh preset time, the controller controls the rotating arm to stop descending and controls the electromagnet to power off and release the cone. After the rotating arm places the road cone, the controller sends the rotation command of the storage disc to the storage disc The motor rotates until the storage tray is in place, and continues to execute step S21 until it receives a stop command and ends.

Further, the road cone retraction control method of the traffic cone retraction control system also includes:

Step S40, when the controller does not receive the control signal sent by the human-computer interaction device, the controller sends a sleep control command to the driving device and the detecting device so that the system is in a low power consumption mode.

Specifically, step S40 can be performed before or after the process of recovering road cones and the process of releasing road cones.

Further, referring to Fig. 5 and Fig. 7, the traffic cone retracting and retracting control method of the traffic cone retraction control system also includes:

Step S50, when the stop command is received, the controller controls the current operation process to stop automatically after completing a release or recovery cycle.

Step S50 can be performed between any two steps in the process of recovering road cones and the process of releasing road cones.

Further, referring to Fig. 6 and Fig. 8, the traffic cone retracting and retracting control method of the traffic cone retraction control system also includes:

Step S60, when the emergency stop instruction is received, the controller controls the current operation process to stop immediately, and when the instruction of injecting road cones or recovering road cones is issued again, the controller controls the detection device and the driving device to continue execution according to the state before the stop.

Step S60 can be performed between any two steps in the process of recovering road cones and the process of releasing road cones.

Further, when the rotating arm picks up the road cone, the controller controls the slide rail motor to pause for an eighth preset time to ensure that the road cone is picked up in place. In this embodiment, the eighth preset time is set to 0.1s. In addition, the controller will appropriately reduce the movement speed of the slide rail motor according to the time when the road cone is ready to be sucked. When the distance between the end of the rotating arm and the downhill cone is less than a certain height, the controller will appropriately reduce the moving speed of the slide rail motor.

Further, the controller has a fault-tolerant function. When an unexpected situation occurs in the system, the controller records the state of the driving device before the power failure and the number of road cones on the current storage disk, so as to continue to work after the power is turned on again; the preset value in the controller is The limit working speed of the driving device, the controller adjusts the actual working speed of the driving device according to the speed requirement of laying the road cones, when the actual working speed is greater than the corresponding limit working speed, the controller controls the driving device to act at the limit working speed, and gives device to prompt.

In addition, the controller can also adjust the high-speed movement time of the slide rail motor during the feeding and recycling process according to the number of road cones on the current storage tray, so as to ensure the efficiency of the operation process. The more the number of road cones on the storage tray, the shorter the high-speed motion time of the slide rail motor in the process of putting in and recovering.

Specifically, the following method is adopted: the fewer the number of road cones on the current storage disk, the longer the stroke of the cone-taking slide rail will be, and the longer the time for controlling the high-speed movement of the motor is, the better. There is a corresponding relationship between the high-speed motion time of the rail motor, and the formula is:

T=s/v+k*(S_num-N_num);

In the above formula, T is the high-speed motion time of the slide rail motor, s is a fixed value (the minimum value of the stacking height of the first limit switch on the uplink from the road cone), v is the current speed of the slide rail motor, k is a coefficient, S_num is the total number of road cones, and N_num is the current number of road cones.

The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural transformations made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related technical fields, are all the same. included in the scope of patent protection of the present invention.

Claims (10)

1. a traffic conic road-sign folding and unfolding controls system, it is characterised in that include controller and the driving device, detecting device and the human-computer interaction device that electrically connect with described controller, wherein,

Described driving device include for drive deposit road cone tray rotate tray motor, for drive turning arm on slide rail the slide rail motor of rectilinear motion, for drive turning arm relative to slide rail rotate with draws road cone turning arm motor, for draw road bore electric magnet, and rotate to reclaim the turnover panel motor of road cone on road surface for controlling turnover panel, described tray motor, slide rail motor, turning arm motor, electric magnet and turnover panel motor all electrically connect with described controller；

Described detecting device includes the vehicle speed sensor for detecting road cone folding and unfolding car speed, for detecting the proximity switch of tray position, for detecting the rotary encoder of the turning arm anglec of rotation, for detecting turning arm first limit switch of position on slide rail, the microswitch whether inserting on turnover panel for detecting road to bore, the second limit switch put in place for detecting turnover panel whether to overturn, and for detecting the pressure transducer whether drawing road cone on turning arm, described vehicle speed sensor, proximity switch, microswitch, first limit switch, second limit switch and pressure transducer all electrically connect with described controller；

Described human-computer interaction device is for sending instructions to controller and receive the feedback signal of controller after receiving the instruction of user.

2. traffic conic road-sign folding and unfolding as claimed in claim 1 controls system, it is characterised in that described human-computer interaction device is provided with touch screen and switches between multiple function interfaces for user, and described human-computer interaction device is connected with controller by RS232 serial ports.

3. traffic conic road-sign folding and unfolding as claimed in claim 1 controls system, it is characterised in that also include the supply unit being connected with described controller.

4. the folding and unfolding road cone control method controlling system based on the traffic conic road-sign folding and unfolding described in any one in claims 1 to 3, it is characterised in that comprise the following steps:

When human-computer interaction device receive the input road that user sends have a meagre knowledge of make time, controller controls all actuators and initializes；

Controller obtains vehicle speed sensor and the live signal of pressure transducer transmission；

When controller gets the change of pressure transducer no signal, controller sends turning arm downlink command to slide rail motor, turning arm is descending until controller gets pressure transducer and has signal intensity along slide rail, and controller controls the electric magnet of turning arm one end and obtains electric to draw road cone；

Draw after the cone of road until turning arm, controller sends turning arm up-on command to slide rail motor makes it up along slide rail, when turning arm upstream time reaches the first Preset Time, controller sends rotation command makes turning arm rotate to turning arm motor, when turning arm upstream time reaches the second Preset Time, controller sends turning arm downlink command and tray rotation command respectively to slide rail motor and tray motor simultaneously, turning arm is descending until controller gets the signal of the first limit switch, and tray rotates until controller gets the signal of proximity switch；

When dispensing vehicle travels to predeterminated position, controller controls electric magnet dead electricity to throw in road cone；

Throw in after the cone of road until turning arm, controller sends turning arm up-on command and rotation command respectively to slide rail motor and turning arm motor simultaneously, when turning arm upstream time reaches three Preset Times, controller sends turning arm downlink command until turning arm moves to tray the surface of road cone, and continues executing with the step of the live signal obtaining vehicle speed sensor and pressure transducer transmission until terminating when receiving halt instruction.

5. traffic conic road-sign folding and unfolding as claimed in claim 4 controls the folding and unfolding road cone control method of system, it is characterised in that also include:

When human-computer interaction device receive the recovery road that user sends have a meagre knowledge of make time, controller controls all actuators and initializes；

Controller sends turning arm up-on command and rotation command respectively to slide rail motor and turning arm motor and obtain the live signal that microswitch transmits simultaneously；

Judge microswitch whether electric；

When microswitch not electric and when turning arm upstream time reaches four Preset Times, controller send up halt instruction to slide rail motor and return continuation judge microswitch whether electric, when microswitch obtains electric, controller sends turnover panel and rotates instruction to turnover panel motor；

When turning arm upstream time reach the 4th Preset Time and turnover panel place the second limit switch not electric time, controller sends up halt instruction to slide rail motor until getting the second limit switch to obtain the signal of telecommunication, when turning arm upstream time reaches the 4th Preset Time and turnover panel place the second limit switch obtains electric, controller sends turning arm downlink command to slide rail motor；

Turning arm is descending until controller gets the signal of pressure transducer, and controller controls electric magnet and obtains electric to draw road cone；

Draw after the cone of road until turning arm, controller sends turning arm up-on command, when turning arm upstream time reaches five Preset Times, controller sends rotation command to turning arm motor, when turning arm upstream time reaches six Preset Times, controller sends turnover panel simultaneously and rotates instruction and turning arm downlink command respectively to turnover panel motor and slide rail motor；

When turning arm downgoing time reaches seven Preset Times, controller controls turning arm and stops descending and control electric magnet dead electricity and put cone, place after the cone of road until turning arm, controller sends tray rotation command to tray motor until tray rotate in place, and continues executing with controller and send turning arm up-on command and rotation command respectively to slide rail motor and turning arm motor and obtain the step of the live signal that microswitch transmits until terminating when receiving halt instruction simultaneously.

6. traffic conic road-sign folding and unfolding as claimed in claim 5 controls the folding and unfolding road cone control method of system, it is characterised in that also include:

When controller does not receive the control signal that human-computer interaction device sends, controller sends dormancy control instruction to driving device and detecting device so that system is in low-power consumption mode.

7. traffic conic road-sign folding and unfolding as claimed in claim 5 controls the folding and unfolding road cone control method of system, it is characterised in that when turning arm draws road cone, and described controller controls slide rail motor and suspends the 8th Preset Time to ensure that road cone absorption puts in place.

8. traffic conic road-sign folding and unfolding as claimed in claim 5 controls the folding and unfolding road cone control method of system, it is characterized in that, described controller has fault tolerance, when emergency case system occurs, the number of road cone in the state of described controller record power-off front driving device and current tray, in order to work on after re-powering；Described controller is preset the maximal work speed of described driving device, controller adjusts described driving device real work speed according to laying road cone rate request, when described real work speed is more than corresponding described maximal work speed, described controller controls described driving device by described maximal work speed action, and gives described human-computer interface device with prompting.

9. traffic conic road-sign folding and unfolding as claimed in claim 5 controls the folding and unfolding road cone control method of system, it is characterised in that also include:

When receiving halt instruction, controller controls current work process and covers an input or be automatically stopped after return period.

10. traffic conic road-sign folding and unfolding as claimed in claim 5 controls the folding and unfolding road cone control method of system, it is characterised in that also include:

When receiving stop command, controller controls current work process and stops immediately, when again throw in road have a meagre knowledge of order or reclaim road have a meagre knowledge of make time, controller controls detecting device and driving device and continues executing with according to state before stopping.