Roadblock lifting type placing and recycling system and method based on unmanned aerial vehicle

Abstract

The invention discloses a roadblock lifting type placing and recycling system and method based on an unmanned aerial vehicle. The system comprises an unmanned aerial vehicle body, a connecting device and a roadblock putting and recycling device. The roadblock putting and recycling device comprises a roadblock storage device, a roadblock clamping device, an automatic detection module, a movement control module and a lifting device. The method comprises the steps that the data processing module calculates the shortest length of a warning area 106 and the lengths of roadblocks placed in all the areas according to the design speed of a lane, and then a roadblock placement point diagram is generated according to different roadblock interval requirements of all the areas; the unmanned aerial vehicle carries out placement and recovery of the roadblock through the roadblock storage device, the roadblock clamping device, the lifting device, the automatic detection module and the movement control module according to the roadblock placement point diagram. The roadblocks are placed and recycled according to different distance intervals set in each area, so that accidents caused by placing and recycling the roadblocks by operators are avoided, and the safety and the working efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of traffic roadblocks, and in particular to a roadblock lifting placement and recovery system and method based on an unmanned aerial vehicle. Background Art

[0002] With the continuous development of transportation, the frequency of traffic accidents is also increasing, and after a traffic accident occurs, personnel are required to handle the accident scene. Roadblocks, as an important facility to warn and protect the safety of operators, play a vital role in the process. Because roadblocks are used temporarily, most of them are currently placed and recovered by manpower, especially on highways where the operation area is generally long and the requirements for the placement interval of roadblocks in each area are different. Therefore, the manual placement of roadblocks is not only inefficient, but also inaccurate for the distance between roadblocks and the starting position of roadblocks. Moreover, the danger of manual placement and recovery on highways is extremely high, and secondary accidents are prone to occur. At the operation site, the operators are not closely connected with the management center during the operation, and timely communication and handling cannot be achieved in case of emergencies.

[0003] Nowadays, drones are widely used in express delivery, emergency rescue and agricultural product transportation, but are less used in the field of roadblock placement and recycling. Most of the current drone transportation adopts point-to-point transportation, determines fixed take-off and landing points, creates common transportation routes through remote control or software systems, and after arriving at the destination and completing landing, the command center disassembles the goods through remote instructions or manual operation. However, how to combine roadblocks, drones, artificial intelligence and automation, how to use drones to scan the road environment at complex road operation sites and automatically determine the roadblock placement points according to requirements, and then automatically place and recycle the roadblocks according to the placement points and requirements; if the wrong information about the roadblock placement position is obtained, it can be recycled and adjusted in time, thereby realizing fully automatic roadblock placement and recycling, which greatly liberates the hands of the staff and reduces the risk of operations. This is a problem that still needs to be solved. Summary of the invention

[0004] Purpose of the invention: In view of the shortcomings of the prior art, the present invention proposes a roadblock lifting placement and recovery system and method based on drones, which combines sensors, roadblock storage and tightening devices with automatic detection modules to establish a two-dimensional Grid Coordinate PlotThe data processing module first calculates the shortest warning zone length according to the traffic volume and vehicle speed, so that the operators can place the outermost construction length sign for warning at the first time; the high-definition camera on the drone is used to accurately identify the road conditions, determine the position of each roadblock and calculate the initial coordinates of each roadblock; the roadblocks are placed and recovered according to the different distance intervals set in each area, and the roadblocks are accurately placed and recovered even on the vehicle. The present invention is applicable to operations on ordinary roads as well as highways, which improves the safety and work efficiency of operators.

[0005] Technical solution: The present invention is a roadblock lifting placement and recovery system based on a drone, comprising a drone body, a connecting device and a roadblock placement and recovery device;

[0006] The drone body includes a distance detection module, a data processing module, a mobile control module, an automatic detection module, a display module, an image recognition module, an autonomous positioning module and a real-time information interaction module;

[0007] The roadblock delivery and recovery device includes a roadblock storage device, a roadblock clamping device, an automatic detection module, a mobile control module and a lifting device; the roadblock storage device is connected to the drone body through a connecting device;

[0008] The lifting device includes a lifting frame, a longitudinal stabilizer bar with a lifting wire, a rotating wheel, a trigger motor, an active rack, a driven rack, a preload plate, a spur gear, a clamping block and a rotating wheel shaft; a rotating wheel runs through the rotating wheel shaft, and the rotating wheel is driven by the trigger motor; the trigger motor is inverted on the lifting frame and connected to the spur gear through a shaft; one end of the longitudinal stabilizer bar is fixed to the lower end baffle of the active rack, and the other end is fixed to the lower end baffle of the preload plate; the preload plate is connected to the clamping block; the rotating wheel is connected to a traction rope;

[0009] The roadblock storage device comprises a delivery box, a transmission shaft, a motor, a pressure sensor, an induction control module, an infrared controller, a fixed paddle and a rotating wheel shaft; the transmission shaft is connected with a torque converter; the fixed paddle is located on the output shaft of the torque converter; the output shaft is arranged horizontally; the inner wall of the delivery box is provided with a limit groove and a limit gasket for the fixed paddle to rotate; the limit gasket is provided with an induction sensor; the fixed paddle is provided with a protrusion for limiting the roadblock; the motor drives the output shaft of the torque converter and the fixed paddle to rotate until the fixed paddle contacts the limit gasket and stops;

[0010] The roadblock clamping device comprises a clamping block, a connecting rod, a clamping slide rail and a clamping hand; a pin is connected between the clamping hand and the connecting rod; a compression spring is connected to the clamping slide rail, and the clamping hand and the connecting rod move along the clamping slide rail;

[0011] A motor is provided on the clamping block, a crank and a rotating paddle are connected to the shaft of the motor, a bearing is provided between the crank and the shaft of the motor, and the rotating paddle is fixedly connected to the shaft of the motor; the crank is provided with an extension portion having an inner boss and an outer boss; the outer boss is connected to the connecting rod; the rotating paddle drives the crank to move in a circle through the inner boss, and the connecting rod moves with the outer boss;

[0012] The automatic detection module includes a weight sensor, an infrared sensor and a pressure sensor. The gravity sensor is located at the bottom of the roadblock clamping device, and the infrared sensor is located at the upper end of the fixed paddle.

[0013] A groove is arranged in the middle of the rotating wheel, and a traction rope is connected in the groove.

[0014] The upper frame of the lifting frame is embedded between the outer wall and the inner wall of the delivery box and moves up and down.

[0015] The preload plate is connected to the clamping block.

[0016] The present invention provides a roadblock lifting placement and recovery method based on a drone, which is implemented by a roadblock lifting placement and recovery system based on a drone. The method comprises the following steps:

[0017] Step (1), after receiving the work order, the drone rises to a specified height, hovers in the air, and sends the initial image and location of the scene to the management center;

[0018] Step (2), establishing a two-dimensional grid coordinate system with the work vehicle as the base point, the data processing module calculates the minimum length S of the warning zone and the length of the roadblocks in each area according to the design speed of the lane, and then generates a roadblock placement point map based on the roadblock intervals in each area;

[0019] The minimum length S of the warning zone is: S = S1 + S2 + S3

[0020] Where S1 is the distance required for the vehicle to slow down from normal driving to the final speed limit, S2 is the minimum safe distance when the vehicle reaches the end of the queue in the warning area, and S3 is the length of the vehicle queue caused by the change in driving conditions;

[0021]

[0022] Where V xq is the vehicle speed before the speed limit, V xh is the vehicle speed after the speed limit;

[0023]

[0024] In the formula, t is the driver's reaction time; φ is the longitudinal friction coefficient of the road; i is the longitudinal slope of the road, and g is the acceleration of gravity;

[0025] Step (3), after the drone flies to the designated position according to the roadblock placement point map, the trigger motor drives the rotating wheel to drive the clamping block to rise. After the automatic detection module senses the bottom of the roadblock, the trigger motor stops, the infrared sensor on the fixed paddle locks the bottom of the roadblock, the clamping block pops out under the action of the compression spring, the protrusion on the fixed paddle clamps the roadblock, and the pressure sensor detects the weight on the clamping hand; the fixed paddle under the roadblock stops and is supported by the limit gasket; the trigger motor and the rotating wheel cause the lifting wire to rotate in the opposite direction and drive the roadblock clamping device to move downward; after the automatic detection module senses that the bottom of the clamping hand touches the ground, the control module controls the trigger motor to stop running, the clamping hand compresses the compression spring through the clamping slide rail, and the roadblock falls to the target position;

[0026] Step (4), the data processing module uses a coordinate comparison method to compare whether the difference between the coordinates of the roadblock after placement and the planned coordinates is within a threshold. If it exceeds the threshold, the coordinates of the roadblock are adjusted; after the placement is completed, the drone returns to the original base point;

[0027] Step (5), after receiving the command to recycle the roadblocks, the drone recycles the roadblocks in the downstream transition zone, the working zone, the longitudinal buffer zone and the upstream transition zone; the trigger motor drives the lifting wire to rotate forward through the rotating wheel, and the clamping hand falls to the ground. After the infrared sensor determines the position of the roadblock, the clamping hand releases the compression spring through the clamping slide rail and clamps the roadblock; the trigger motor drives the lifting wire to rotate reversely through the rotating wheel, and the clamping hand clamps the roadblock upward until it is sensed by the infrared sensor on the fixed paddle of the set layer, and the control module controls the trigger motor to stop moving, and the torque converter of the set layer drives the fixed paddle to rotate to the horizontal; the compression spring drives the clamping hand to compress, and the roadblock falls on the fixed paddle;

[0028] Step (6), after the recovery operation is completed, the drone hovers and the display screen prompts that the recovery operation is completed. After receiving the return command, the drone returns to the initial base point.

[0029] In step (4), the drone collects images of the roadblocks through cameras and sensors, the image recognition module pre-processes the collected images, and the automatic detection module identifies the targets in the images.

[0030] In step (4), the positioning module locates the error position, first recovers the roadblock and then repositions it to the coordinate position.

[0031] In step (4), after the placement is completed, the drone hovers to a set height, the image recognition module identifies the placed roadblocks, the autonomous positioning module extracts the coordinate values ​​corresponding to the existing roadblocks, and at the same time finds the corresponding coordinate position from the starting planning position pre-stored in the two-dimensional grid coordinate map, and the data processing module compares the two position coordinates.

[0032] In step (4), the Euclidean distance between two coordinate points is calculated using the distance comparison method.

[0033] In step (4), before coordinate comparison, the data is preprocessed by first cleaning the coordinate data, then formatting it, and finally normalizing the coordinate data to the same scale.

[0034] Working principle: After receiving the work instruction, the drone-based barrier lifting placement and recovery system of the present invention first rises to the specified height and hovers in the air, and uses the image recognition module to perform real-time image acquisition and transmission, and after determining the traffic conditions in the area, sends the initial image of the scene and the operation position back to the management center as soon as possible.

[0035] Then, a two-dimensional grid coordinate diagram is established with the work vehicle as the base point 100. Specifically, the two-dimensional space is divided into several square grids, and each grid is represented by the node coordinates of its lower left corner. Assume that the horizontal coordinate range of the two-dimensional space is Xmin, Xmax, the vertical coordinate range is Ymin, Ymax, and the grid size is g. Then, each column has h = (Ymax-Ymin) / g grids, each row has v = (Xmax-Xmin) / g grids, and the total number of grids is n = h·v. Take the grid node in the lower left corner of each grid to represent the corresponding grid, and number the grids from bottom to top and from left to right. The grid node numbered k is (xk, yk).

[0036] The data processing module calculates the shortest length of the warning area 106 and the length of the roadblocks in each area according to the design speed of the lane, and then generates a roadblock placement point map according to the different roadblock spacing requirements in each area; the drone places the roadblocks according to the roadblock placement point map. The automatic detection module first detects and locates the last placed roadblock, and the distance detection module measures the distance. For example, in the upstream transition zone, the system sets the roadblock interval to 4m. After the distance is determined, the autonomous positioning module will determine the position of the next roadblock, and the drone will run to place it; after the placement is completed, the automatic detection module identifies whether the coordinate position of the roadblock is the same as the initial planned position. If it is different, it will report an error and then adjust it; the display module displays two colors, red during operation and green after placement or recovery; after the operation is completed, it hovers at a certain height again to transmit real-time images to the operator, and then returns to the original base point after receiving the return instruction.

[0037] After the drone completes the placement of the current roadblock, the autonomous positioning system first determines the drone's own position. The drone receives the coordinate information of the next roadblock position through wireless communication and calculates the path from the current drone position to the next roadblock position.

[0038] In a two-dimensional plane environment, the data processing module calculates the flight direction, distance and altitude change path parameters of the drone based on its own position, target position and surrounding environment, such as avoiding high-speed vehicles. During the flight, the drone continuously monitors its position through the positioning module and compares it with the planned path. If it deviates from the planned path due to interference from external factors, the autonomous positioning module will adjust the flight control instructions in time according to the deviation. At the same time, the drone uses the image recognition module to assist in positioning with the help of lane lines or roadblocks that have been placed, further improving navigation accuracy until it accurately reaches the next coordinate position.

[0039] Beneficial effects: Compared with the prior art, the present invention has the following advantages:

[0040] (1) Different from the common roadblock picking and placing method, the present invention uses a drone to perform the picking and placing operation, which improves the operating efficiency and avoids accidents caused by operators placing and recovering roadblocks; at the same time, the display screen is added with red and green color prompts, which provides a clear warning to the driver.

[0041] (2) The data processing module of the drone calculates and plans the length of each area and automatically generates the roadblock placement points based on the current road traffic volume, vehicle speed and national road clearance requirements; for other speed limit signs and signs, the drone positioning and hovering allows operators to accurately place them from far to near, and the drone planning undoubtedly provides great convenience and foresight for the operators' operations. The number of roadblocks placed in highway clearance and maintenance operations is relatively large, and this roadblock placement and recovery device has also been expanded accordingly to increase the internal placement space. If necessary, multiple drones can be used to operate simultaneously to maximize the placement and recovery efficiency.

[0042] (3) The management center personnel use the background operation to access the current drone's high-definition camera to observe the operator's work status and positioning information in real time, and then conduct real-time supervision. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a flow chart of the roadblock lifting placement and recovery method based on drone of the present invention;

[0044] Figure 2 It is a schematic diagram of the drone body in the drone-based roadblock lifting placement recovery system of the present invention;

[0045] Figure 3 The maintenance operation diagram of the inner lane of a four-lane expressway of the present invention;

[0046] Figure 4 This is a schematic diagram of the UAV transport structure of the present invention;

[0047] Figure 5 This is a diagram showing the internal structure of the roadblock delivery and recovery device of the present invention;

[0048] Figure 6 It is a structural diagram of the lifting device of the present invention;

[0049] Figure 7 It is a partial detail diagram of the lifting device of the present invention;

[0050] Figure 8 It is a structural diagram of the roadblock clamping device of the present invention;

[0051] Fig. 9 It is a partial enlarged view of the roadblock clamping device of the present invention;

[0052] Fig.10 It is a partial enlarged view of the crank part of the roadblock clamping device of the present invention;

[0053] Fig.11 It is a schematic diagram of the partial structure of the lifting device of the present invention. DETAILED DESCRIPTION

[0054] Figures 1 to 11 Among them, 1. UAV body; 2. delivery box; 3. lifting frame; 4. display screen; 5. connecting device; 21. battery box; 22. transmission shaft; 23. motor; 24. pressure sensor; 25. induction control module; 26. torque converter; 27. infrared sensor; 28. fixed paddle; 29. ​​limit gasket; 31. rotating wheel shaft; 32. lifting wire; 33. rotating wheel; 34. trigger motor; 301. clamping block; 302. compression spring; 303. clamping slide rail; 304. clamping hand; 305. motor; 306. crank; 307. connecting rod; 308. rotating paddle; 311. timing gear; 312. driven rack; 313. preload plate; 314. active rack; 315. longitudinal stabilizer bar.

[0055] The present invention discloses a roadblock lifting placement and recovery system based on a drone, which includes a drone body, a connection device and a roadblock placement and recovery device. The drone body includes a distance detection module, a data processing module, a mobile control module, an automatic detection module, a display module, an image recognition module, an autonomous positioning module and a real-time information interaction module.

[0056] The roadblock delivery and recovery device comprises a roadblock storage device, a roadblock clamping device, an automatic detection module, a mobile control module and a lifting device.

[0057] Reference Figure 6 and Figure 7The lifting device includes a lifting wire 32, a rotating wheel 33, a trigger motor 34 and a longitudinal stabilizer bar 315. One end of the lifting wire 32 is vertically fixed on the lower curved plate of the active rack 314, and the other end is fixed on the lower curved plate of the preload plate 313. The lifting and lowering of the roadblock is achieved by squeezing and relaxing the lifting wire 32. The active rack 314 and the driven rack 312 are both limited by the rectangular holes on the upper end surface of the lifting frame 3 and can move up and down. The trigger motor 34 is inverted on the upper plane of the lifting frame 3 and is connected to the spur gear 311 through an axis. The longitudinal stabilizer bar 315 is divided into two sections, the upper end surface of one section is fixed on the lower curved baffle of the active rack 314, and the lower end surface of the other section is fixed on the lower curved baffle 3131 of the preload plate 313. Both sections are covered by the lifting wire 32, which plays a role in stabilizing the lateral swing during the lifting process. The preload plate 313 is slidably connected to the clamping block 301, and the clamping block 301 constrains the movement of the preload plate 313, thereby solving the problem of lateral instability of the preload plate 313 during the lifting process. The rotating wheel 33 runs through the rotating wheel shaft 31 and is driven by the trigger motor 34. The middle groove of the rotating wheel 33 is connected by a driving rope, and the other part of the driving rope is connected to another set of driving wheels at the upper end of the delivery box 2. The lifting work is completed by the up and down traction of the driving wheel and the compression and relaxation of the lifting wire.

[0058] When the lifting device receives the descending signal, the trigger motor 34 starts to run, and the rotating wheel 33 starts to run through the internal shaft system. At the same time, the spur gear 311 rotates, thereby driving the active rack 314 to move upward along the square hole track on the upper part of the lifting frame 3. When the active rack 314 rises, the longitudinal stabilizer bar 315 also rises with it, and the upper end of the lifting wire 32 is also stretched, making the lifting wire longer overall. Because it is externally meshed with the spur gear 311, when the active rack 314 moves upward, the driven rack 312 starts to descend. When it contacts 313, it generates extrusion and pre-tightening force, causing the pre-tightening plate 313 to move downward together with the lower end of the lifting wire 32, and the two ends of the lifting wire 32 are stretched. The traction rope pulls the lower end rotating wheel 33 down, thereby completing the descending work.

[0059] The roadblock storage device is a rectangular semi-enclosed structure, which is connected to the drone body 1 through a connecting device 3. The roadblock storage device includes a delivery box 2, a battery box 21, a transmission shaft 22, a motor 23, a pressure sensor 24, an induction control module 25, a torque converter 26, an infrared controller 27, a fixed paddle 28, a limit washer 29, a lifting frame 3, and a rotating wheel shaft 31. An induction sensor is provided inside the limit washer 29, which can control the current on and off through contact.

[0060] Reference Figure 5 and Figure 6, the roadblocks are put in from the top of the delivery box 2 in sequence; the fixed paddles 28 are located inside the two sides of the delivery box 2, and are arranged in sequence up and down at a fixed distance. Each layer of the inner wall of the delivery box 2 is provided with a rectangular limit groove and a limit gasket 29 for the fixed paddle 28 to rotate, which rotates synchronously with the transmission shaft 22. A torque converter 26 is connected to the end of each layer of the transmission shaft 22, and the internal gear set is meshed with the transmission shaft 22. The output shaft of the torque converter 26 is arranged horizontally, and a row of fixed paddles 28 are welded on it at intervals. When an electrical signal is received, it moves with the torque converter 26. The lifting device on the lifting frame 3 is cross-stepped with the fixed paddles 28 to prevent interference, and the upper frame of the lifting frame 3 is embedded between the outer wall and the inner wall of the delivery box 2, and then moves up and down.

[0061] When used to carry a roadblock, the fixed paddle 28 on the output shaft of the torque converter 26 is located in a horizontal position and is limited by the upper edge of the rectangular limiting groove on the inner wall of the delivery box 2. After the limit, the motor 23 receives a signal and the power is cut off; there is a raised part on the fixed paddle 28, which is close to the edge of the roadblock to limit the position, thereby stabilizing the lateral movement of the roadblock and improving the stability of transportation.

[0062] The limit gasket 29 is provided with an induction sensor inside, which can control the current on and off through contact. When used to place a roadblock, the motor 23 drives the output shaft of the torque converter 26 to rotate downward, and the fixed paddle 28 also rotates downward. When the fixed paddle 28 contacts the limit gasket 29 on the inner wall of the delivery box 2, the motor 23 also receives a power-off signal and stops working, and the roadblock falls to the ground, completing the delivery operation.

[0063] The roadblock clamping device includes a clamping block 301 , a compression spring 302 , a clamping slide rail 303 , a clamping hand 304 , a motor 305 , a crank 306 , a connecting rod 307 and a rotating paddle 308 .

[0064] The clamping hand 304 in the roadblock clamping device clamps the two sides of the bottom of the roadblock, and the clamping device is provided with a compression spring 302, a clamping slide rail 303, a clamping hand 304, a motor 305, a crank 306, a connecting rod 307, and a rotating paddle 308. The clamping device is usually in a clamping state, which can ensure the stable clamping of the roadblock.

[0065] like Figures 8 to 11 As shown, when placing, the motor 305 fixed to the inner wall of the clamping block 301 starts to rotate, and the shaft of the motor 305 is connected with a crank 306 and a rotating paddle 308. A bearing is arranged between the crank 306 and the shaft of the motor 305, and the rotation of the motor 305 has no effect on the crank 306. The rotating paddle 308 is stacked with the crank 306, and the rotating paddle 308 is fixed to the shaft of the motor 305, such as by welding, so that the rotating paddle 308 and the shaft of the motor 305 can rotate synchronously. The crank 306 has an extended portion, on which two cylindrical bosses are arranged.

[0066] When the delivery is performed, when one end of the rotating paddle 308 is rotated to a horizontal position close to the side of the internal boss of the crank 306, it interferes with the cylindrical boss at a point inside the crank 306. The rotating end of the paddle 306 will produce downward pressure on the inner boss, and the crank 306 makes a circular motion, and the boss connected to the connecting rod 307 also makes a circular motion. At this time, one end of the connecting rod 307 makes a circular motion along the boss on the outside of the crank 306. Since the other end of the connecting rod 307 is connected to one side of the clamping hand 304 through a pin shaft, the end of the connecting rod 307 connected to the clamping hand makes a horizontal motion, causing the clamping hand 304 to move along the cylindrical clamping slide rail 303 in the direction of overcoming the spring force of the compression spring 302. The relaxation time of the clamping hand 304 is determined by the pressure time of the rotating paddle 308 on the boss on the inner end of the crank 306. When the rotating paddle 308 returns to the horizontal position, the pressure will disappear. Therefore, before it rotates to the horizontal position again, the motor 305 stops working, and the rotating paddle 308 positions the crank 306, that is, the clamping hand is positioned, and the delivery work is completed at this time.

[0067] When the clamping work is performed, the motor 305 receives the signal and continues to work, driving the rotating paddle 308 to rotate to a horizontal position, so that the pressure on the boss at the inner end of the crank 306 disappears, so that the compression spring 302 is no longer affected by resistance and is reset, and then drives the clamping hand 304 to move horizontally outward along the cylindrical clamping slide rail 303 again. At the same time, the connecting rod 307 connected to one end of the clamping hand 304 moves horizontally, and the other end of the connecting rod 307 makes a circular motion to reset the crank 306. At this time, the clamping work is completed.

[0068] The connecting device 5 serves to connect and stabilize the drone body 1 and the roadblock delivery box 2, and is fixed by the grooves on both sides of the delivery box 2 of the roadblock delivery and recovery device, making it easy to take and put.

[0069] The automatic detection module includes a weight sensor, an infrared sensor and a pressure sensor. The weight sensor is installed at the bottom of the roadblock clamping device in order to accurately sense whether the roadblock is accurately placed on the device. The pressure sensor is used to sense whether the pressure at the bottom of the clamping roadblock can achieve the placement and recovery of the roadblock. The infrared sensor is set at the upper end of the fixed paddle to detect the position of the movement of the roadblock. For example, when the lowest end of the roadblock exceeds the fixed paddle during the clamping rise, the sensor will issue a command, and the fixed paddle that was originally vertical downward will rebound to a horizontal state, and the clamping device will also stop rising. The pressure sensor will reduce the clamping pressure, and the clamping device will drop to the initial problem. The roadblock will fall on the fixed paddles at both ends to complete the recovery of the roadblock.

[0070] The mobile control module makes corresponding instructions after sensing the automatic detection module. For example, in the process of placing roadblocks, the clamping device senses the nearest roadblock and rises to a height where the roadblock is located to clamp it. After the automatic detection module senses the position of the clamping device, the fixed paddle will be moved to a vertical state, and the control module controls the clamping device to move downward with the roadblock until the roadblock is placed at the specified position to complete the placement of the roadblock.

[0071] The display module includes a display screen which displays two colors, red during operation and green after placement or recycling. After the operation is completed, it will hover at a certain height again to transmit real-time images to the operator, and then return to the original base point after receiving the return command.

[0072] Example:

[0073] The present invention provides a roadblock lifting placement and recovery method based on an unmanned aerial vehicle, comprising the following steps:

[0074] Step (1): After receiving the work instruction from the staff, the drone first rises to the specified height and hovers in the air, and uses a high-definition camera to collect and transmit real-time images, determine the traffic conditions in the area, perform information processing, and send the initial image of the site and the work location and data back to the management center as soon as possible.

[0075] Step (2): A two-dimensional grid coordinate is established with the work vehicle as the base point, and the data processing module calculates the minimum length of the warning area 106 and the length of the roadblocks in each area according to the design speed of the lane;

[0076] The formula for calculating the length of the roadblocks in the upstream transition zone is:

[0077] a 2 +b 2 =c 2

[0078] The two right-angled sides are a and b, the hypotenuse is c, a is the minimum length of the upstream transition zone, and b is the width of a single lane.

[0079] The calculation formula for the length of roadblocks in the downstream transition zone is the same as that in the upstream transition zone, where a is the length of the two-lane minus the length of the reserved lane, and b is the length of the downstream transition zone.

[0080] According to the Highway Maintenance Safety Operation Regulations: Taking the design speed of a two-way four-lane road of 120km / h as an example, the speed limit corresponding to the design speed of highway maintenance operations is 80km / h. When the downhill slope is less than or equal to 3%, the minimum length of the longitudinal buffer zone is 120m; when the downhill slope is greater than 3%, the minimum length is 150m.

[0081] Except for maintenance work on expressways and first-class highways that use the opposite lane, the maximum length of the work area should not exceed 4km. The length of the termination area should not be less than 30m. Then generate a roadblock placement point map based on the different roadblock spacing requirements in each area. The steps are as follows:

[0082] (2.1) The maintenance work on the highway is divided into six areas, from bottom to top, namely the warning area 106, the upstream transition area 105, the longitudinal buffer area 104, the working area 103, the downstream transition area 102 and the termination area. The placement of roadblocks is mainly concentrated in the four middle areas. The maintenance work on the highway is concentrated in the four middle areas. The warning area 106 is undoubtedly the most important area as the first area seen by the driver. The drone first calculates the minimum length of the warning area.

[0083] (2.2) After receiving the flight command, the drone positioning module instructs the drone to fly to the specified location and hover at a certain height. At this time, the drone display screen shows red to serve as a warning to oncoming vehicles.

[0084] (2.3) The staff drove to the hovering position and immediately placed a construction length 101 sign. After seeing the first construction length sign, the driver began to notice that there was a maintenance work area ahead and began to slow down and prepare to change lanes.

[0085] Maintenance work on the highway is divided into six areas, from bottom to top, namely warning area 106, upstream transition area 105, longitudinal buffer area 104, working area 103, downstream transition area 102 and termination area. The placement of roadblocks is mainly concentrated in the four middle areas. Warning area 106 is undoubtedly crucial as the first area seen by the driver. After the drone calculates the minimum length of the warning area, the positioning module instructs the drone to fly to the specified position and hover at a certain height. At this moment, the drone display screen shows red to warn oncoming vehicles. The staff drove to the hovering position as soon as possible and placed the construction length 101 sign as soon as possible. After seeing the first construction length sign, the driver began to notice the existence of a maintenance operation area ahead, so he began to slow down and prepare for changing lanes.

[0086] like Figure 3 As shown, various large road signs that are difficult to place are also positioned by hovering drones, and then staff drive to place them in order.

[0087] The minimum length of the warning zone is determined based on the highway grade, design speed and traffic volume Q, where the traffic volume Q is calculated by dividing the peak hour traffic volume of the section when the maintenance work section is working on the non-maintenance section by the number of lanes remaining for maintenance work. The formula for calculating the peak hour traffic volume of the section is as follows:

[0088] Qg=Q×Ag

[0089] Where: Qg is the peak hour traffic volume (veh / h); Q is the predicted 24-hour traffic volume (veh / day); Ag is the peak hour coefficient, which is 0.09.

[0090] The minimum length of the warning area 106 is as follows:

[0091] S=S1+S2+S3

[0092] Where S is the minimum length of the warning zone (m), S1 is the distance required for the vehicle to slow down from normal driving to the final speed limit, S2 is the minimum safe distance when the vehicle reaches the tail of the queue in the warning zone, and S3 is the length of the vehicle queue caused by closed lanes, reduced number of lanes, and changed driving conditions (m).

[0093]

[0094] Where V xq is the vehicle speed before the speed limit (km / h), V xh is the vehicle speed after speed limit (km / h).

[0095]

[0096] Where t is the driver's reaction time, which is 2.5s; φ is the longitudinal friction coefficient of the road, which ranges from 0.29 to 0.44; i is the longitudinal slope of the road, and g is the acceleration of gravity, which is 9.8m / s 2 .

[0097] S3 is the queue length caused by vehicle congestion and is related to traffic volume.

[0098] The minimum length of the warning zone under different road grades, traffic volumes, and speed limits is calculated based on S1, S2, and S3, so that operators can immediately determine the minimum length and place construction length signs for subsequent roadblock placement.

[0099] Taking the design speed of 120km / h for a two-way four-lane road as an example, the speed limit corresponding to the design speed of highway maintenance operation is 80km / h, and the speed before the speed limit measured by the drone is 130km / h. The traffic volume is calculated by dividing the peak hourly traffic volume of the maintenance section when there is no maintenance operation by the number of remaining lanes for maintenance operation. The calculated road traffic volume Q = 1500. From the relationship between queue length, traffic flow and speed limit value in Tables 1 and 2, it can be seen that S1 = 500m, S2 = 139m, and S3 = 1000m. According to regulations, the speed limit should be reduced by 10km / h every 100 meters. The calculated length of the warning zone is 1639m. The final speed limit is 80km / h, corresponding to the minimum length of the upstream transition zone of the closed lane, which is 190m and 3.75m wide. If the downhill slope is less than or equal to 3%, the length of the longitudinal buffer zone is 120m. If it is greater than 3%, the length of the longitudinal buffer zone is 150m. The length of the working area is 500m, and the length of the downstream transition zone is 60m. The width of the downstream transition zone is 3.75m, which is the length of the dual lane 7.5m minus the length of the reserved lane 3.75m.

[0100] As shown in Table 1, the traffic cones are placed in four areas. The data processing module of the drone performs data processing in different areas. In Ls, the data processing module plans it into a right triangle with two sides of 190m and 3.75m respectively. The Pythagorean theorem shows that the length of the third side of the traffic cone is 192m, and the interval is 4m, which means that 48 traffic cones are needed. Similarly, the calculation shows that the longitudinal buffer area requires 30 traffic cones, the work area requires 125 traffic cones, and the downstream transition area requires 15 traffic cones, which means that a total of 218 traffic cones are needed for this operation.

[0101] Table 1 S2 calculation table

[0102] Vehicle speed (km / h) 80 70 60 40 20 <![CDATA[S2(m)]]> 139 113 90 50 20

[0103] Table 2S3 Calculation table

[0104]

[0105] Step (3): The drone places the roadblocks according to the coordinate point map. The positioning module first flies to the designated location, such as Figure 5 As shown, after the delivery command is issued, the fixed paddle 28 of the roadblock delivery device 2 becomes vertical, and the roadblock clamping devices on both sides clamp the bottom of the roadblock and translate downward to the accurate delivery position.

[0106] Among them, after the drone arrives at the designated position, the center of the dropped roadblock is in a straight line with the center of the coordinate position, the trigger motor 34 starts to drive the rotating wheel 33 to work, and the clamping block 301 makes an upward movement. After the automatic detection module senses the bottom position of the roadblock, the trigger motor 34 will stop moving, and the infrared sensor 27 above the fixed paddle 28 will scan and lock the bottom of the roadblock. The clamping block pops up under the elastic force of the compression spring 302, and the protrusion on the fixed paddle 28 will clamp the position of the roadblock. The pressure sensor detects the weight on the clamping hand 304 to ensure that the roadblock is clamped normally. After the clamping action is completed, the fixed paddle 28 under the roadblock will be in a non-working state at this moment. Figure 5 The paddle is shown in a semi-vertical state supported by the limit gasket 29, the trigger motor 34 continues to work, the rotating wheel 33 makes the lifting wire 32 rotate in the opposite direction and drives the clamping device to move downward synchronously. When the automatic detection module senses that the bottom of the clamping hand 304 touches the ground, the control module stops the trigger motor, and the clamping hand 304 in the clamping block 301 compresses the compression spring 303 inward through the clamping slide rail 304. After the roadblock loses the bottom support and clamping, it will fall to the accurate target position to complete the placement of the roadblock. Whenever the roadblock is placed, the corresponding limit switch 26 of each layer is in the power-off state, so the corresponding fixed paddle 28 will remain in the downward state to ensure that the upper roadblock is not blocked and moves downward.

[0107] For the horizontal and downward states of the fixed paddle 28, after receiving the operating command, the generator 23 starts to operate and drives the transmission shaft 22 to operate. The transmission shaft 22 controls the torque converter 26 of each layer. After receiving the command, the torque converter of each layer drives the fixed paddle shaft of the corresponding layer to rotate. The paddle shaft then drives the fixed paddle to rotate downward until it stops on the limit gasket 29 to play a limit protection role.

[0108] Step (4): After the placement operation is completed, the drone rises to a certain height and the image recognition module identifies the placed roadblocks to see if their coordinate positions are the same as the initially planned positions. The drone first collects images of the roadblocks through the onboard camera and sensor. The image recognition module then pre-processes the collected images, including image enhancement and denoising operations, to improve the image quality and reduce the impact of environmental factors on the recognition effect. The automatic detection module identifies the target in the image through the training model. If there is a problem, an error is reported and the positioning module locates the error position. The roadblocks are first recovered and then re-placed until the coordinate position is correct. After all placements are completed, the drone will return to the original base point.

[0109] After placement is completed, the drone hovers at a certain height, and the high-definition camera shoots real-time video to observe the target position. The image recognition module identifies the placed roadblocks, and the autonomous positioning module extracts the corresponding coordinate values ​​of the existing roadblock positions. At the same time, the corresponding coordinate position is found from the starting planned position data pre-stored in the starting two-dimensional grid coordinate map. The data processing module compares the two position coordinates to see if the error is within an acceptable range.

[0110] In terms of coordinate comparison and judgment, the data processing module uses the coordinate comparison method to compare the coordinate values ​​of the two. Before coordinate comparison, the data is preprocessed to ensure the format and quality of the data. First, the coordinate data is cleaned to remove invalid or erroneous coordinate data, then formatted to make all coordinate data formats consistent, and finally the coordinate data is normalized to the same scale for comparison. The reasonable error value of roadblock placement is set to ±0.1 meters, and the distance comparison method is used to calculate the Euclidean distance between two coordinate points. If the coordinate difference between the roadblock identification coordinate position and the starting planning position is within this threshold, it is determined that the two are the same, and the drone ends the placement operation; conversely, if the coordinate difference exceeds the threshold, it is determined that the two are different, indicating that there is a difference between the actual location of the roadblock and the pre-planned situation. Based on this difference, the cause is further analyzed, such as whether the planning is inaccurate or the roadblock is knocked down, and the subsequent flight planning and task handling are adjusted accordingly.

[0111] Step (5): After receiving the command to recover the roadblock, the drone takes off and starts the recovery operation.

[0112] After receiving the command to recover the roadblock, the UAV will prioritize dividing the area and prioritize the work vehicle as the original coordinate. Figure 3 The roadblock is recovered in the downstream transition zone Lx. Considering the energy saving and recovery efficiency of the drone, the autonomous positioning module first recovers the farthest data coordinates and recovers them in sequence to shorten the operation path and time. The recovery order is the downstream transition zone, the working area, the longitudinal buffer zone and finally the upstream transition zone.

[0113] In step (5), the drone flies to the air above the roadblock to be recovered according to the positioning detection module, and the fixed paddles 28 in the recovered state are all in the downward state. The automatic detection module ensures that the center of the roadblock and the center of the coordinate data are on a vertical straight line. Figure 6For example, at this time there are still two roadblocks left in the box, the trigger motor 34 starts working, the rotating wheel 33 drives the lifting wire 32 to rotate forward, and the clamping hand 304 also moves downward accordingly until it falls to the ground and stops moving. After the infrared sensor 27 senses the roadblock to determine the position, the clamping hand 304 in the clamping block 301 will release the pressure of the compression spring outward through the clamping slide rail 304, and the outermost rectangular surface of the clamping hand clamps the position of the bottom of the roadblock, and the trigger motor 34 starts to operate, the rotating wheel 33 drives the lifting wire to rotate in the opposite direction, and the clamping hand 304 now clamps the roadblock and moves upward; when it is sensed by the infrared sensor at the upper end of the third paddle, the control module controls the trigger motor 34 to stop moving. At this time, the position of the bottom of the roadblock is consistent with the height of the infrared sensor, and the torque converter 26 of the third layer drives the paddle shaft of the third layer to rotate, and the corresponding fixed paddles at both ends rotate to a horizontal state. The compression spring will compress and drive the clamping hand 304 to compress inwards, and the roadblock will fall steadily onto the fixed paddle after losing the clamping force, completing the recovery operation of this roadblock. The recovery sequence is implemented from top to bottom in the above steps.

[0114] There is a protrusion in the middle of the fixed paddle to prevent the instability of the drone during flight from causing the roadblock to slide and become inconvenient for picking up and placing, and it serves as a limit.

[0115] Step (6): After the recovery operation is completed, the drone hovers at a certain height, and the display screen shows a green pattern to prompt the operator that the recovery operation has been completed. After receiving the return command, the drone positioning module will automatically return to the initial base point.

Claims

1. A roadblock lifting placement and recovery system based on drones, characterized by: It includes the drone body, the connection device and the roadblock delivery and recovery device; The drone body includes a distance detection module, a data processing module, a mobile control module, an automatic detection module, a display module, an image recognition module, an autonomous positioning module and a real-time information interaction module; The roadblock delivery and recovery device comprises a roadblock storage device, a roadblock clamping device, an automatic detection module, a mobile control module and a lifting device; the roadblock storage device is connected to the drone body through a connecting device; The lifting device comprises a lifting frame (3), a longitudinal stabilizing rod (315) with a lifting wire (32), a rotating wheel (33), a trigger motor (34), an active rack (314), a driven rack (312), a pre-tightening plate (313), a spur gear (311), a clamping block (301) and a rotating wheel shaft (31); a rotating wheel (33) passes through the rotating wheel shaft (31), and the rotating wheel (33) is driven by the trigger motor (34); the trigger motor (34) is inverted on the lifting frame (3) and connected to the spur gear (311) through a shaft; one end of the longitudinal stabilizing rod (315) is fixed to the lower end baffle of the active rack (314), and the other end is fixed to the lower end baffle of the pre-tightening plate (313); the pre-tightening plate (313) is connected to the clamping block (301); and a traction rope is connected to the rotating wheel (33); The roadblock storage device comprises a delivery box (2), a transmission shaft (22), a motor (23), a pressure sensor (24), an induction control module (25), an infrared controller (27), a fixed paddle (28) and a rotating wheel shaft (31); the transmission shaft (22) is connected to a torque converter (26); the fixed paddle (28) is located on the output shaft of the torque converter (26); the output shaft is arranged horizontally; the inner wall of the delivery box (2) is provided with a limit groove and a limit gasket (29) for the fixed paddle (28) to rotate; the limit gasket (29) is provided with an induction sensor; the fixed paddle (28) is provided with a protrusion for limiting the roadblock; the motor (23) drives the output shaft of the torque converter (26) and the fixed paddle (28) to rotate until the fixed paddle (28) contacts the limit gasket (29) and stops; The roadblock clamping device comprises a clamping block (301), a connecting rod (307), a clamping slide rail (303) and a clamping hand (304); a pin is connected between the clamping hand (304) and the connecting rod (307); a compression spring (302) is connected to the clamping slide rail (303), and the clamping hand (304) and the connecting rod (307) move along the clamping slide rail (303); The clamping block (301) is provided with a motor (305), the shaft of the motor (305) is connected with a crank (306) and a rotating paddle (308), a bearing is provided between the crank (306) and the shaft of the motor (305), and the rotating paddle (308) is fixedly connected to the shaft of the motor (305); the crank (306) is provided with an extension portion with an inner boss and an outer boss; the outer boss is connected to a connecting rod (307); the rotating paddle (308) drives the crank (306) to move in a circle through the inner boss, and the connecting rod (307) moves with the outer boss; The automatic detection module comprises a weight sensor, an infrared sensor and a pressure sensor. The gravity sensor is located at the bottom of the roadblock clamping device, and the infrared sensor is located at the upper end of the fixed paddle.

2. The unmanned aerial vehicle-based roadblock lifting placement and recovery system according to claim 1 is characterized in that: A groove is provided in the middle of the rotating wheel (33), and a traction rope is connected in the groove.

3. The unmanned aerial vehicle-based roadblock lifting placement and recovery system according to claim 1 is characterized in that: The upper frame of the lifting frame (3) is embedded between the outer wall and the inner wall of the delivery box (2) and moves up and down.

4. The unmanned aerial vehicle-based roadblock lifting placement and recovery system according to claim 1 is characterized in that: The pre-tightening plate (313) is connected to the clamping block (301).

5. A method for collecting and placing roadblocks by lifting and lowering method based on drone, characterized in that: The method is implemented by the drone-based roadblock lifting placement and recovery system according to claim 1, and the method comprises the following steps: Step (1), after receiving the work order, the drone rises to a specified height, hovers in the air, and sends the initial image and location of the scene to the management center; Step (2), establishing a two-dimensional grid coordinate system with the work vehicle as the base point, the data processing module calculates the minimum length S of the warning zone and the length of the roadblocks in each area according to the design speed of the lane, and then generates a roadblock placement point map based on the roadblock intervals in each area; The minimum length S of the warning zone is: S = S1 + S2 + S3 Where S1 is the distance required for the vehicle to slow down from normal driving to the final speed limit, S2 is the minimum safe distance when the vehicle reaches the end of the queue in the warning area, and S3 is the length of the vehicle queue caused by the change in driving conditions; Where V xq is the vehicle speed before the speed limit, V xh is the vehicle speed after the speed limit; In the formula, t is the driver's reaction time; φ is the longitudinal friction coefficient of the road; i is the longitudinal slope of the road, and g is the acceleration of gravity; Step (3), after the drone flies to the designated position according to the roadblock placement point diagram, the trigger motor (34) drives the rotating wheel (33) to drive the clamping block (301) to rise, and after the automatic detection module senses the bottom of the roadblock, the trigger motor (34) stops, the infrared sensor (27) on the fixed paddle (28) locks the bottom of the roadblock, the clamping block pops out under the action of the compression spring, the protrusion on the fixed paddle (28) clamps the roadblock, and the pressure sensor detects the weight on the clamping hand (304); the fixed paddle (28) under the roadblock stops and is supported by the limit gasket (29); the trigger motor (34) and the rotating wheel (33) cause the lifting wire (32) to rotate in the opposite direction and drive the roadblock clamping device to move downward; after the automatic detection module senses that the bottom of the clamping hand (304) touches the ground, the control module controls the trigger motor to stop running, the clamping hand (304) compresses the compression spring (303) through the clamping slide rail (303), and the roadblock falls to the target position; Step (4), the data processing module uses a coordinate comparison method to compare whether the difference between the coordinates of the roadblock after placement and the planned coordinates is within a threshold. If it exceeds the threshold, the coordinates of the roadblock are adjusted; after the placement is completed, the drone returns to the original base point; Step (5), after receiving the command to recycle the roadblocks, the UAV recycles the roadblocks in the downstream transition zone, the working zone, the longitudinal buffer zone and the upstream transition zone; the trigger motor (34) drives the lifting wire (32) to rotate forward through the rotating wheel (33), and the clamping hand (304) falls to the ground. After the infrared sensor (27) determines the position of the roadblock, the clamping hand (304) releases the compression spring and clamps the roadblock through the clamping slide rail (304); the trigger motor (34) drives the lifting wire to rotate in the opposite direction through the rotating wheel (33), and the clamping hand (304) clamps the roadblock upward until the infrared sensor on the fixed paddle of the set layer senses it, and the control module controls the trigger motor (34) to stop moving, and the torque converter (26) of the set layer drives the fixed paddle to rotate to the horizontal; the compression spring drives the clamping hand (304) to compress, and the roadblock falls on the fixed paddle; Step (6), after the recovery operation is completed, the drone hovers and the display screen prompts that the recovery operation is completed. After receiving the return command, the drone returns to the initial base point.

6. The method for raising and lowering roadblocks for recycling based on drones according to claim 5 is characterized in that: In step (4), the drone collects images of the roadblocks through cameras and sensors, the image recognition module pre-processes the collected images, and the automatic detection module identifies the targets in the images.

7. The method for raising and lowering roadblocks for recycling based on drones according to claim 5 is characterized in that: In step (4), the positioning module locates the error position, first recovers the roadblock and then repositions it to the coordinate position.

8. The method for raising and lowering roadblocks for recycling based on drones according to claim 5 is characterized in that: In step (4), after the placement is completed, the drone hovers to a set height, the image recognition module identifies the placed roadblocks, the autonomous positioning module extracts the coordinate values ​​corresponding to the existing roadblocks, and at the same time finds the corresponding coordinate position from the starting planning position pre-stored in the two-dimensional grid coordinate map, and the data processing module compares the two position coordinates.

9. The method for raising and lowering roadblocks for placement and recovery based on drones according to claim 8, characterized in that: In step (4), the Euclidean distance between two coordinate points is calculated using the distance comparison method.

10. The method for raising and lowering roadblocks for recycling based on drones according to claim 8, characterized in that: In step (4), before coordinate comparison, the data is preprocessed by first cleaning the coordinate data, then formatting it, and finally normalizing the coordinate data to the same scale.

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