Intelligent collecting and releasing robot for highway traffic cones

Abstract

The utility model discloses an intelligent collecting and releasing robot for highway traffic cones, which comprises an intelligent trolley, a mechanical arm grabbing device, a storage structure and an electric control system, the intelligent trolley has maneuvering capability, and the mechanical arm grabbing device, the storage structure and the electric control system are mounted on the intelligent trolley. The data receiving and transmitting module, the AI camera module, the mechanical arm grabbing control module, the intelligent trolley unmanned driving module, the Beidou navigation module, the laser radar, the infrared distance sensor, the angular displacement sensor and the speed sensor are electrically connected with the single chip microcomputer. The robot has important significance and application value for highway management departments and maintenance construction units. Intelligent equipment is used for replacing manual work, casualty accidents in maintenance operation can be reduced, the operation efficiency is improved, the highway maintenance cost can be reduced, the road traffic capacity is enhanced, and a positive promotion effect is achieved for improving the highway service level and management level.

Description

Technical Field

[0001] The utility model relates to the technical field of safe construction of expressways. Background Art

[0002] Most highway maintenance operations are carried out under semi-closed or non-closed traffic conditions, with traffic cones placed manually for cordoning off. There are certain safety hazards, especially at the beginning and end of the cordoning off. For maintenance operations on the inner side of the highway, workers need to cross the highway, and there are often problems such as inaccurate judgment of the speed of passing vehicles and misjudgment of the timing of crossing, which increases the risk of collision between people and vehicles. Summary of the invention

[0003] In order to solve the above problems, an intelligent highway traffic cone retracting and deploying robot is developed. The robot is used to replace manual placement of traffic cones in highway maintenance operations, providing an intelligent highway maintenance equipment.

[0004] The technical solution adopted by the utility model to solve its technical problems is:

[0005] The intelligent robot for releasing and retracting traffic cones on highways comprises an intelligent vehicle with mobility and a mechanical arm grasping device, a storage structure and an electric control system installed on the intelligent vehicle, and is characterized in that:

[0006] The smart car adopts a wheeled motorized structure and has the motorized movements of forward, backward and sideways movement;

[0007] The robot gripping device includes a robot arm and a robot hand. The AI ​​camera module is installed on the robot hand to collect images around the car in real time and identify traffic cones.

[0008] The storage structure has space within it for storing traffic cones;

[0009] The electronic control system is an unmanned locomotive electronic control system, which includes a single-chip microcomputer, a data transceiver module electrically connected to the single-chip microcomputer, an AI camera module, a robotic arm grasping control module, an intelligent car unmanned driving module, a Beidou navigation module, a laser radar, an infrared distance sensor, an angular displacement sensor, and a speed sensor. Among them, the infrared distance sensor determines the relative position of the obstacle and the intelligent car, the angular displacement sensor determines the relative rotation angle of the robotic arm in the robotic arm grasping device, the speed sensor detects the moving speed of the intelligent car, and the laser radar determines the distance between the intelligent car and the oncoming vehicle.

[0010] Furthermore, the manipulator comprises a mounting plate and two claw assemblies mounted on the mounting plate in pairs. The two claw assemblies are mounted on the mounting plate and have an opening and closing grasping action to achieve a grasping action for the traffic cone.

[0011] Furthermore, the claw assembly is composed of a cylinder, a Y-shaped hinged connecting rod, a linear slide rail, a slide plate, and a claw, wherein the slide plate is mounted on a mounting plate via two sets of linear slide rails, the cylinder body end of the cylinder is hingedly mounted on the mounting plate, the piston end of the cylinder is fixedly connected to a rod in the Y-shaped hinged connecting rod, the other two rods of the Y-shaped hinged connecting rod are hingedly connected to the slide plate and the mounting plate, and the pushing direction of the cylinder and the sliding direction of the slide plate are perpendicular to each other, and the claw is fixed on the slide plate.

[0012] Furthermore, the clamping claw is composed of a square steel tube and an angle steel bar, and has a plurality of notches on the angle steel bar, wherein any two notches can complete the grasping of the traffic cone, and the notches cooperate with the anti-slip groove on the top of the traffic cone for quick grasping.

[0013] Furthermore, the AI ​​camera module is fixed at an edge of the mounting plate.

[0014] Furthermore, the electric control system is also configured with a 5G communication module.

[0015] Furthermore, the storage structure is an electrically liftable storage structure.

[0016] The beneficial effects of the utility model are:

[0017] The robot has important significance and application value for highway management departments and maintenance construction units. It uses intelligent equipment to replace manual labor, which can not only reduce casualties in maintenance operations and improve operation efficiency, but also reduce highway maintenance costs, enhance road traffic capacity, and play a positive role in improving highway service and management levels.

[0018] By further adding the Beidou navigation module, unmanned operations can be carried out, providing strong support for the future digital management of smart highway maintenance.

[0019] This intelligent traffic cone retracting and deploying robot has broad market application prospects. It can not only be used in highway maintenance operations, but also can be expanded to other occasions that require rapid deployment of traffic cones, including but not limited to traffic accident handling, road maintenance, road construction, traffic control, emergency rescue, etc. It can effectively improve construction safety, traffic safety and operation efficiency, and provide strong support for the modern maintenance of highways. With the advancement of technology and the expansion of the market, this robot is expected to become an important part of the future intelligent transportation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is the connection block diagram of the electronic control system.

[0021] Figure 2 It is a structural diagram of the utility model.

[0022] Figure 3 This is a structural diagram of the robotic arm grasping device.

[0023] Figure 4 This is a structural diagram of the robot arm.

[0024] Figure 5 It is a three-dimensional diagram of the claw assembly.

[0025] In the figure:

[0026] 00 Traffic cone, 01 Card slot,

[0027] 10 smart cars,

[0028] 20 robotic arm grasping device, 21 robotic arm, 22 robotic hand, 23 claw assembly, 231 cylinder, 232 Y-shaped hinge connecting rod, 233 linear guide rail, 234 slide plate, 235 claw, 2351 notch, 24 mounting plate, 241 AI camera module,

[0029] 30 storage structures. DETAILED DESCRIPTION

[0030] refer to Figure 2 The highway traffic cone intelligent retracting and releasing robot comprises a maneuverable intelligent vehicle 10, a mechanical arm grasping device 20, a storage structure 30 and an electric control system (not shown in the figure) installed on the intelligent vehicle.

[0031] The smart car 10 adopts a wheeled motorized structure and has motorized movements of moving forward, backward, and sideways; for example, the wheels of the car preferably adopt a McMackon wheel structure. The smart car is obtained by modifying an unmanned smart flatbed car, a motor vehicle, or an electric car, and is the installation basis for other functions, and can be unmanned or remotely controlled. This embodiment does not limit the style of the smart car, and all are within the protection scope of the utility model.

[0032] refer to Figure 3 The robot gripping device 20 includes a robot arm 21 and a robot hand 22, wherein the robot arm is a multi-joint robot arm, and the movement of the multi-joint robot arm is based on the control of the electric control system and moves in 3D space. The AI ​​camera module is installed at the robot hand to collect images around the car in real time and identify traffic cones; and the robot hand adopts a clamping design, and a corresponding card slot 01 is designed on the top of the traffic cone 00 to facilitate grasping, forming an anti-slip structure. Specifically, the robot hand is a pneumatically controlled structure, refer to Figure 4, including a left claw assembly and a right claw assembly, the two claw assemblies 23 are mounted on a mounting plate 24 and perform an opening and closing grabbing action. The mounting plate 24 is fixed at the wrist joint of the robot arm and can move with the movement of the wrist. The structures of the two claw assemblies are the same, and one is selected for description. Figure 5 The claw assembly 23 is composed of a cylinder 231, a Y-shaped hinged connecting rod 232, a linear slide 233, a slide plate 234, and a claw 235, wherein the slide plate 234 is mounted on the mounting plate 24 through two sets of the above-mentioned linear slides, that is, the slide plate 234 has a sliding action, and the two slide plates in the above-mentioned two claw assemblies are synchronously moved in the same or opposite manner to achieve opening and closing. Further, the cylinder end of the cylinder 231 is mounted on the mounting plate 24 through a transition block in a hinged manner, and is fixedly connected with the piston end of the cylinder and a rod of the Y-shaped hinged connecting rod, and the other two connecting rod ends of the Y-shaped hinged connecting rod 232 are respectively hingedly connected to the slide plate and the mounting plate. After installation, the pushing direction of the cylinder 231 is perpendicular to the sliding direction of the slide plate. Through the pushing of the cylinder, the sliding of the slide plate can be controlled, and through the action of the Y-shaped hinged connecting rod 232, the position of the slide plate can be locked. The claw 235 is a composite structure composed of a square steel tube and an angle steel bar. Specifically, the square steel tube is fixed to the edge of the above-mentioned slide plate by bolts, and an angle steel bar is welded and fixed on one side of the square steel tube. Six notches 2351 are designed on the angle steel bar. The notches are used to cooperate with the anti-slip groove at the top of the traffic cone, that is, the groove of the fixed part of the traffic cone is grasped by opening and closing the angle steel bars in the two claw assemblies. The purpose of designing multiple notches is to reduce the difficulty of operation, that is, any notch can achieve the above-mentioned quick grasping purpose after cooperating with the above-mentioned groove.

[0033] Furthermore, an AI camera module 241 is arranged at the edge of the mounting plate 24, and the angle of the AI ​​camera module can be adjusted as the position of the manipulator changes.

[0034] A quick grabbing structure is used between the manipulator and the top of the traffic cone to achieve accurate and quick grabbing and placement of the traffic cone.

[0035] The storage structure has space to store traffic cones;

[0036] refer to Figure 1The electronic control system is an unmanned locomotive electronic control system, which includes a single-chip microcomputer, and an AI camera module electrically connected to the single-chip microcomputer, a robotic arm grasping control module, an intelligent car unmanned driving module, a Beidou navigation module, a laser radar, an infrared distance sensor, an angular displacement sensor, and a speed sensor. Among them, the infrared distance sensor determines the relative position of the obstacle and the intelligent car, the angular displacement sensor determines the relative rotation angle of the robotic arm in the robotic arm grasping device, the speed sensor detects the moving speed of the intelligent car, and the laser radar determines the distance to the oncoming vehicle.

[0037] The above-mentioned lidar and various sensors can perceive the surrounding environment (including oncoming vehicles, guardrails, and lane markings) in the highway lanes, and combine with Beidou navigation technology for positioning and obstacle avoidance, ensuring that the robot can avoid obstacles and operate stably in complex highway environments.

[0038] Furthermore, the smart car uses the SLAM algorithm of lidar and combines it with Beidou navigation to achieve autonomous navigation and positioning of the robot.

[0039] Furthermore, the laser radar is used to sense whether there are obstacles around the vehicle and is installed at a high point in the smart car.

[0040] Furthermore, the electronic control system in the smart car is an unmanned locomotive electronic control system, and is equipped with a Beidou navigation module, which uses Beidou navigation technology for unmanned driving.

[0041] Furthermore, the AI ​​camera module is installed on the manipulator and adjusts its position according to the movement of the manipulator to collect images of the vehicle's surroundings in real time; it is used to identify traffic cones and provide visual assistance for the grasping and releasing of traffic cones.

[0042] The AI ​​camera module converts the road image information into a dark image, and the traffic cone image into an enhanced effect image, forming a contrast between the two, and separates the traffic cone from the road image. At the same time, the lane marking is also converted into an enhanced effect image. This technical means can be achieved through Gaussian filtering, image segmentation and image contrast. Specifically, taking the collection of traffic cones as an example, in the process of scanning the road surface, a standard image in the road surface area is obtained, and each pixel in the standard image is identified to identify the corresponding traffic cone pixel point. Specifically, since the traffic cone has a fluorescent characteristic, the grayscale value of the fluorescent pixel point in the standard image can be marked as H, the grayscale value of the asphalt ground can be marked as L, and the grayscale value of the lane marking can be marked as M; that is, the recognition of the traffic cone is realized.

[0043] The above-mentioned mechanical arm adopts an articulated mechanical arm, and the servo motor in the mechanical arm is connected to the single-chip microcomputer in the electric control system through the control circuit, and the action of the mechanical arm is controlled by the electric control system. The manipulator is located at the end of the mechanical arm, which is also an electric manipulator and is used to grab traffic cones.

[0044] The electronic control system is also equipped with a 5G communication module, through which a remote control system is established to achieve real-time monitoring and operation of the robot.

[0045] In summary, the robot technology of this embodiment can, firstly, solve the safety problem of manual enclosure in highway maintenance operations. Secondly, it can solve the problem of high cost and high labor intensity of manually placing traffic cones. Thirdly, it can solve the problem of low efficiency of enclosure in maintenance operations, which affects the road traffic capacity.

[0046] The embodiments described above are merely descriptions of preferred implementations of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements to the present invention by relevant technical personnel in the field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. An intelligent robot for releasing and retracting traffic cones on highways, comprising an intelligent vehicle with mobility and a mechanical arm grasping device, a storage structure and an electric control system installed on the intelligent vehicle, characterized in that: The smart car adopts a wheeled motorized structure and has the motorized movements of forward, backward and sideways movement; The robotic gripping device includes a robotic arm and a manipulator. The AI ​​camera module is installed on the manipulator to collect images around the car in real time and identify traffic cones. The storage structure has space to store traffic cones; The electronic control system is an unmanned locomotive electronic control system, which includes a single-chip microcomputer, a data transceiver module electrically connected to the single-chip microcomputer, an AI camera module, a robotic arm grasping control module, an intelligent car unmanned driving module, a Beidou navigation module, a laser radar, an infrared distance sensor, an angular displacement sensor, and a speed sensor. Among them, the infrared distance sensor determines the relative position of the obstacle and the intelligent car, the angular displacement sensor determines the relative rotation angle of the robotic arm in the robotic arm grasping device, the speed sensor detects the moving speed of the intelligent car, and the laser radar determines the distance between the intelligent car and the oncoming vehicle.

2. The intelligent highway traffic cone retracting and deploying robot according to claim 1 is characterized in that: The manipulator comprises a mounting plate and two clamping claw assemblies mounted on the mounting plate in pairs. The two clamping claw assemblies are mounted on the mounting plate and have an opening and closing grasping action.

3. The intelligent highway traffic cone retracting and deploying robot according to claim 2 is characterized in that: The clamping claw assembly is composed of a cylinder, a Y-shaped hinged connecting rod, a linear slide rail, a slide plate, and a clamping claw, wherein the slide plate is mounted on a mounting plate via two sets of linear slide rails, the cylinder body end of the cylinder is hingedly mounted on the mounting plate, the piston end of the cylinder is fixedly connected to a rod in the Y-shaped hinged connecting rod, the other two rods of the Y-shaped hinged connecting rod are hingedly connected to the slide plate and the mounting plate, and the pushing direction of the cylinder and the sliding direction of the slide plate are perpendicular to each other, and the clamping claw is fixed on the slide plate.

4. The intelligent highway traffic cone retracting and deploying robot according to claim 3 is characterized in that: The clamping claw is composed of a square steel tube and an angle steel bar, and a plurality of notches are arranged on the angle steel bar, and the notches are quickly engaged with the anti-skid clamping grooves on the top of the traffic cone.

5. The intelligent highway traffic cone retracting and deploying robot according to claim 4 is characterized in that: The AI ​​camera module is fixed at the edge of the mounting plate.

6. The intelligent highway traffic cone retracting and deploying robot according to claim 1, characterized in that: The electric control system is also equipped with a 5G communication module.

7. The intelligent highway traffic cone retracting and deploying robot according to claim 1, characterized in that: The storage structure is an electrically-operated liftable storage structure.

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