| 路锥投收自动控制系统的研制 |
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| 引用本文： | 黄珍,舒心,唐文龙,项焱华,李小伟.路锥投收自动控制系统的研制[J].交通信息与安全,2017,35(2):48-58. |
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| 作者姓名： | 黄珍 舒心 唐文龙 项焱华 李小伟 |
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| 作者单位： | 武汉理工大学自动化学院 武汉 430070 |
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| 摘 要： | 针对高速公路交通事故现场快速隔离、警示和防护等日益增强的需求,提出一种新型路锥自动投收装置的系统设计方案.针对传统大型路锥投收装置费用高、结构复杂的弊端,利用虚拟样机技术开展紧凑型路锥自动铺设、回收一体化装置的机械结构的设计,包括路锥的叠置、拾取、传送、放置等机构.并利用Pro/E、ADMAS等仿真软件进行仿真测试.基于ARM提出嵌入式的系统总体设计方案:以uCOS-II操作系统为平台,以STM32系列单片机为CPU,完成控制器的软硬件设计,并采用"S"型加减速控制曲线策略实现电机的平滑控制.基于Android开发了操作方便、友好的人机交互接口,以"蓝牙"作为上下位机的通信桥梁,以RSA算法作为上下位机数据交互中的安全的保障.实车测试结果表明,该设计方案的路锥投放与回收成功率均达到95%,基本符合要求.但高、低速时路锥投放、回收的成功率差异较大(6%),此外,路锥的倒伏率达到5%,该单项指标基本不满足设计要求.
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| 关 键 词： | 交通安全 路锥投收 嵌入式技术 人机接口 RSA算法 |
Development of an Automatic Control System for Delivery and Recovery of Road Cones |
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| Abstract: | In order to meet the growing need of rapid isolation, warning and protection in traffic accident scene on expressways, a new design scheme of automatic control system for the delivery and recovery of road cones is developed.In view of the disadvantages of traditional delivery and recovery devices of road cones including high cost and complex structure, virtual prototype technology is used to carry out a new design of mechanical structure of a automatic integration device that can compactly and deliver and recover road cones, including superposition, picking, transfer, placement, and other institutions.Then, simulation tests are launched on the platforms of Pro/E, ADMAS, etc.An overall design scheme of embedded system based on ARM is proposed with uCOS-II operating system as the platform, and the STM32 Series MCU as the CPU.Hardware and software of the controller are designed.The control strategy of "S" type is used to achieve the smooth control of the motor.Based on Android platform, an convenient operation and friendly man-machine interface is developed, which uses "Bluetooth" as the communication bridge between the upper and lower computer, and RSA algorithm is used to ensure the security of data exchange.The test results show that the success rate of delivery and recovery of road cones is 95%, which basically meets the requirements.However, there is a great difference of the success rate (6%) between high and low speed when placing and recycling road cones.In addition, the lodging rate of road cones reaches to 5%, and the single index can't meet the design requirements. |
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