Road signal light interactive system and interactive control method based on distributed control

Abstract

The present invention relates to the technical field of road traffic control, and discloses a road signal light interactive system based on distributed control, comprising a control master end and a signal light end. The control master end is connected to the output terminal of the signal machine, and is used to collect and record the control information output by the signal machine to the signal light end to obtain the signal light control logic. The signal light end is communicatively connected to the control master end, and has a built-in light end processing module, which receives the signal light control logic sent by the control master end and controls the on and off output of its built-in three-color light-emitting unit according to the signal light control logic. In this way, the signal light end can store the control logic, and can continue to operate according to the stored control logic even when it is out of the control of the signal machine, without being overly dependent on the signal machine. The present invention also discloses a road signal light interactive control method.

Description

Technical Field

[0001] The present invention relates to the technical field of road traffic control, and in particular to a system and method for interactively controlling road traffic lights. Background Art

[0002] At intersections, red, yellow, and green traffic lights are displayed on all four sides. Traffic lights are internationally standardized: red means stop, green means go, and yellow means warning. At intersections, vehicles traveling in different directions converge, and whether to proceed or not depends on the instructions of the traffic lights. The traffic light control system controls the on and off durations of the lights in different directions.

[0003] There are two forms of road traffic signal light control systems in the prior art:

[0004] The first type consists of a traffic light at the intersection, a traffic light hanging on a lamppost, and a signal line laid under the road. The signal line is used to connect the traffic light and the traffic light to realize the transmission of the control signal; but in this way, each traffic light needs to correspond one-to-one with the output terminal in the traffic light output board, so a large number of lines are required for connection. From the beginning of construction to the daily operation and maintenance in the later stage, it faces the problems of low efficiency and high cost. Therefore, a second control structure has appeared on the market, that is, to establish a wireless communication connection between the traffic light and the traffic light instead of the traditional physical connection method, so that the traffic light can control the traffic lights in the four directions of southeast, northwest, and northeast through the transmission of wireless signals, reducing the physical connection between the traffic lights in the four directions and it, and changing the disadvantage of the existing technology that the traffic lights and traffic lights must be physically connected, so that the traffic lights and traffic lights only need to be set within the signal coverage range of the wireless transmission module. For example, the invention patent 202110097430.X discloses an intelligent road signal that interacts wirelessly with traffic lights.

[0005] In actual operation, any of the above methods has a basically identical control structure, that is, the signal control information is transmitted directly from the signal machine, which serves as the brain, to the signal light, which serves as the execution. That is, the signal controller divides the daily time of the signal machine into multiple time periods according to the actual situation of the intersection and the characteristics of the traffic flow. Different control schemes are implemented in different time periods. Each control scheme stipulates the duration of the lights in different directions to turn on and off. The signal machine centrally executes different control schemes, thereby achieving the control of traffic flow. However, under this structure, the entire signal light control system is overly dependent on the signal machine control output, resulting in a heavy control workload for the signal machine. In addition, once the signal machine fails or loses power, the system will be paralyzed, causing traffic chaos at the entire intersection. For this reason, there is an urgent need to propose a road signal light control system with a new transmission structure. Summary of the Invention

[0006] In view of the deficiencies in the prior art, the present invention provides a road signal light interactive system and interactive control method based on distributed control, which solves the problem in the prior art that the control of road signal lights is overly dependent on traffic lights.

[0007] According to an embodiment of the present invention, a distributed control-based road signal interaction system includes a control master terminal and a signal light terminal. The control master terminal is connected to the signal light output terminal and is configured to collect and record control information output by the signal light to the signal light terminal to obtain signal light control logic, wherein the signal light control logic includes signal light control modes and signal light control schemes under corresponding modes. The signal light terminal is communicatively connected to the control master terminal and includes a built-in light-end processing module. The light-end processing module receives the signal light control logic sent by the control master terminal and controls the on / off output of its built-in three-color light-emitting unit according to the signal light control logic.

[0008] Optionally, the control master end includes a signal acquisition module, a master end processing chip, and a master end wireless communication module; the signal acquisition module is connected to the output terminal of the signal machine, and is used to continuously collect the control information output by the signal machine to the signal light end; the master end processing chip is connected to the signal acquisition module, and is used to receive and record the control information and perform periodic learning and confirmation to obtain the signal light control logic for the signal light end; the master end wireless communication module is connected to the master end processing chip, and is used to convert the signal light control logic into a wireless signal and send it to the signal light end.

[0009] Optionally, the signal acquisition module includes an optocoupler module and a high-voltage input terminal connecting the optocoupler module to the output terminal of the signal machine. The optocoupler module is used to continuously collect the control information output by the signal machine to the signal light end, and output the control information to the main end processing chip after optically isolating the control information.

[0010] Optionally, the lamp-end processing module includes a lamp-end wireless communication module, a lamp-end processing chip, and a lamp-end output module; the lamp-end wireless communication module is connected to the lamp-end processing chip, and can receive the signal light control logic sent by the control master end through the master-end wireless communication module and output it to the lamp-end processing chip; the lamp-end processing chip is connected to the lamp-end output module, and is used to obtain a control signal for controlling the on and off output of the three-color light-emitting unit according to the signal light control logic, and output it to the lamp-end output module; the lamp-end output module is used to control the on and off output of its built-in three-color light-emitting unit.

[0011] Optionally, the lamp end processing module further has a built-in memory, and the memory stores the basic control logic for the on and off operation of the three-color light-emitting unit of the signal lamp end.

[0012] Optionally, the control master end also includes an emergency button, which is connected to the master end processing chip. When the emergency button is activated in an emergency scenario, the master end processing chip sends the yellow flashing, all red, or all off signal light control logic to the signal light end through the master end wireless communication module.

[0013] Optionally, the signal light end further includes a power supply; the power supply is a power battery, which can be charged by solar energy or street lights and is used to power the light end processing module.

[0014] Optionally, the system also includes a host computer module; the host computer module is connected to the control master end, and is used to configure the control master end and the signal light end, receive the signal light control logic uploaded by the control master end, detect the communication quality between the control master end and the signal light end, and receive the lamp fault signal fed back by the control master end.

[0015] On the other hand, according to an embodiment of the present invention, a method for interactive control of road traffic lights is also provided, which is performed using any of the systems described above and includes the following steps: enabling a control master end to receive control information output by a signal machine for a traffic light end to obtain traffic light control logic; enabling the control master end to send the traffic light control logic to the traffic light end and confirm the receiving status of the traffic light end; enabling the traffic light end to control the on and off of the traffic light according to the traffic light control logic.

[0016] Optionally, enabling the control master end to send the signal light control logic to the signal light end includes: sending the signal light control logic to a pre-designated relay signal light end; enabling the relay signal light end to forward the signal light control logic to the remaining signal light ends; the remaining signal light ends are all signal light ends within the control range of the system except the relay signal light end.

[0017] Optionally, the method for the control master end to confirm the reception status of the signal light end for the signal light control logic includes: pre-configuring a unique identification identifier for all signal light ends within the control range of the system; when the signal light end receives the signal light control logic, it parses and obtains the corresponding execution plan and feeds back a response signal to the control master end according to its own identification identifier, and the feedback method is to collect the feedback through the relay signal light end and forward it to the control master end; the control master end confirms and determines whether all signal light ends have replied according to the fed-back response signal, and if the reply is complete, sends an execution command to the signal light end, and if the reply is incomplete, resends the signal light control logic to the signal light end.

[0018] Optionally, the method further includes: the signal light terminal controlling the signal light according to a pre-stored signal light basic control logic.

[0019] The technical principle of the present invention is: the signal light control logic is obtained by collecting and recording the control information output by the signal machine to the signal light end through the control master end. The signal light control logic includes the signal light control mode and the signal light control scheme under the corresponding mode, and sends it to the signal light end. The signal light control logic will be stored in the signal light end for the signal light end to call. When the control master end sends new signal light control logic to the signal light end, the signal light control logic stored in the signal light end will be updated. When the control master end does not send new signal light control logic, the signal light end will always control the on and off output of its built-in three-color light-emitting unit according to the stored signal light control logic.

[0020] Compared with the existing technology, the present invention has the following beneficial effects: the present invention adds an intermediate control node, namely the control master terminal, to the traditional centralized control structure of traffic lights, allowing the control master terminal to replace the signal machine and the traffic light for interactive control. On the basis of realizing distributed control, it also achieves the purpose of reducing the workload of the traffic light. In addition, by improving the internal design of the traditional traffic light so that it has a processing brain, the traffic light is no longer a traditional on and off actuator, thereby ensuring that the traffic light can operate normally according to the internally stored traffic light control logic under special conditions such as just starting up, front-end power failure, etc. Therefore, the system described in the present invention upgrades the traditional centralized control structure of the traffic light to a distributed control structure through the addition of the control master terminal and the hardware optimization of the traffic light, greatly increasing the reliability of road traffic control. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A diagram of a road signal light interactive system based on distributed control according to an embodiment of the present invention;

[0022] Figure 2 A diagram of a road signal light interactive system based on distributed control according to another embodiment of the present invention;

[0023] Figure 3 A diagram of a road signal light interactive system based on distributed control according to another embodiment of the present invention;

[0024] Figure 4 A diagram of a road signal light interactive system based on distributed control according to another embodiment of the present invention;

[0025] Figure 5 A road signal light interactive control method according to an embodiment of the present invention;

[0026] Figure 6 This is another road signal light interactive control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The technical solutions of the present invention are further described below with reference to the accompanying drawings and embodiments.

[0028] like Figure 1 As shown, an embodiment of the present invention proposes a road signal light interaction system based on distributed control, including a traffic light 100, a control host 200, a traffic light terminal 300, a light terminal processing module 400, and a three-color light-emitting unit 500. The detailed working process of this embodiment is that the control host 200 collects and records the control information output by the traffic light 100 to the traffic light terminal 300, obtains the traffic light control logic through periodic learning, and the traffic light control logic includes a traffic light control mode and a traffic light control scheme under the corresponding mode. The traffic light control logic is sent to the light terminal processing module 400. After the light terminal processing module 400 receives the traffic light control logic, the traffic light control logic is stored in the traffic light terminal 300 for access by the traffic light terminal 300. The traffic light terminal 300 controls the on / off output of its built-in three-color light-emitting unit 500 according to the traffic light control logic. By adding a control host and optimizing the traffic light hardware, the traditional centralized traffic light control structure is upgraded to a distributed control structure, greatly improving the reliability of road traffic control.

[0029] like Figure 2 As shown, according to another embodiment of the present invention, a road signal light interactive system based on distributed control further includes a signal acquisition module 201, a host-side processing chip 202, a host-side wireless communication module 203, a light-side wireless communication module 401, a light-side processing chip 402, a light-side output module 403, and a three-color light-emitting unit 500. The detailed working process of this embodiment is as follows: the signal acquisition module 201 continuously acquires control information for the signal light end output by the signal machine and outputs it to the host-side processing chip 202. The host-side processing chip 202 receives and records the control information and periodically learns and confirms the signal light control logic for the signal light end. The host-side wireless communication module 203 converts the signal light control logic into a wireless signal and transmits it to the light-side wireless communication module 401. The light-side wireless communication module outputs the signal light control logic to the light-side processing chip 402 and stores the signal light control logic. According to the signal light control logic, a control signal for controlling the on / off output of the three-color light-emitting unit is obtained and output to the light-side output module 403. The light-side output module controls the on / off output of the three-color light-emitting unit 500. Based on the above further improvements, due to the change in wireless signal control method, it not only saves the construction cost of the intersection signal control system, which can be reduced by about 1 / 3, but also improves the operation and maintenance efficiency of the signal control system.

[0030] In some embodiments, the signal acquisition module uses an optocoupler module to perform optical isolation on the collected signal before outputting it to the main-end processing chip, or continuously collects control information for the signal light end output by the signal machine through a transmission protocol. The main-end processing chip uses an ATMEGA64L chip, and the main-end wireless communication module uses a CC2530F256RHAR-ZIGBEE chip that uses the ZigBee protocol for transmission. The light-end processing chip also uses an ATMEGA64L chip, and the light-end wireless communication module also uses a CC2530F256RHAR-ZIGBEE chip. The PF interface and PA0-PA3 interfaces of the main-end ATMEGA64L chip are connected to the signal acquisition module, and the PD2 and PD3 interfaces are connected to the main-end CC2530F256RHAR-ZIGBEE chip. PD2 serves as a receiving interface, PD3 as a transmitting interface, and PE0 and PE1 serve as interfaces for communicating with the 485 bus, with PE0 serving as a receiving interface and PE1 as a transmitting interface. The CC2530F256RHAR-Zigbee chip on the master side uses P0_2 as the receiving interface and P0_3 as the transmitting interface. The ATMEGA64L chip on the light side is similar to the CC2530F256RHAR-Zigbee chip.

[0031] In some embodiments, the master-side processing chip receives and records control information output by the signal controller for the signal light terminals, and the control logic is derived using existing technology. The master control terminal detects changes in the signal output from the signal controller's output terminals and uses an established learning model to determine the signal controller's control mode: special control, timed control, adaptive control, and the control scheme for each group of lamps. Special control includes flashing yellow, all red, and all off; timed control includes fixed phase lengths; and adaptive control includes variable phase lengths. The control mode and scheme are transmitted to the corresponding lamp terminals via a custom-designed Zigbee wireless communication module.

[0032] Preferably, the control mode is determined after learning two lamp state change cycles, and after learning the third cycle, the control mode is determined, the number of stages and the lamp state and duration in each stage are obtained, and the control scheme is obtained.

[0033] In some embodiments, when the reliability of communication between the master terminal and the relay light terminal cannot be guaranteed under special circumstances, the control master terminal and the signal light terminal can communicate using a 485 bus.

[0034] In some embodiments, the signal light end further includes a power supply, which is a power supply battery. The power supply battery can be charged by solar energy or street lights and is used to power the light end processing module.

[0035] like Figure 3As shown, according to another embodiment of the present invention, the road signal light interaction system based on distributed control further includes an emergency button 1. The detailed working process of this embodiment is that when the emergency button 1 is activated in an emergency scenario, the main-end processing chip 3 sends the signal light control logic of yellow flashing, full red, or full off to the light-end wireless communication module 5 through the main-end wireless communication module 4. The light-end wireless communication module 5 sends it to the light-end processing chip 6. After processing, the light-end processing chip 6 sends the control signal to the light-end output module 7. The light-end output module 7 then controls the three-color light-emitting unit 8 to output on and off. Since the emergency button is added to the control main end, the signal light can be specially controlled when the emergency button is activated. It also produces the effect that when the traffic police need to deal with some emergency situations, they can control the signal light to a special state by activating the emergency button, thereby being able to deal with emergency accidents.

[0036] like Figure 4 As shown, according to another embodiment of the present invention, the road signal light interactive system based on distributed control further includes a host computer 9. The detailed working process of this embodiment is that the host computer is connected between the main end processing chip, can communicate with the control main end, and then can also establish communication with the signal light end through the control main end, can configure the control main end and the signal light end, receive the signal light control logic uploaded by the control main end, detect the communication quality between the control main end and the signal light end, receive the lamp fault signal fed back by the control main end, and also produce the effect of facilitating the configuration of the control main end and the signal light end, facilitating the setting of the relay light end, and monitoring the operating status of the signal light end and signal light faults, so as to facilitate timely handling of faults.

[0037] In some embodiments, the control host terminal and the host computer are connected via a 485 bus.

[0038] like Figure 5 As shown, on the other hand, an embodiment of the present invention further provides a road signal light interactive control method, which includes the following steps:

[0039] S501, the control master receives control information for the signal light end output by the signal machine.

[0040] S502: The control host terminal obtains the signal light control logic according to the control information output by the signal machine to the signal light terminal.

[0041] S503: The control master sends the signal light control logic to the signal light terminal.

[0042] S504, the control master end confirms whether all signal light ends have received the signal light control logic. If all signal light ends have received the signal light control logic, step S405 is executed. If not all signal light ends have received the signal light control logic, step S503 is executed.

[0043] S505: When the signal light end receives all the signal light control logics, the signal light end controls the on / off of the signal light according to the signal light control logics.

[0044] By adopting the interactive control method of road traffic lights provided by the embodiment of the present disclosure, the control master end sends the control logic to the traffic light end, and confirms whether all traffic light ends have received the traffic light control logic, and then controls the traffic light. In this way, it can be ensured that all traffic light ends can receive the traffic light control logic, thereby further ensuring that the traffic lights can maintain synchronous operation and ensure the normal operation of traffic.

[0045] Optionally, the control master terminal sends the signal light control logic to the signal light terminal, including: sending the signal light control logic to a pre-designated relay signal light terminal; and causing the relay signal light terminal to forward the signal light control logic to the remaining signal light terminals; the remaining signal light terminals are all signal light terminals within the system control range except the relay signal light terminal. In this way, when the control master terminal and the signal light terminal communicate wirelessly, the relay light terminal receives the no signal sent by the control master terminal and then forwards it to the remaining signal light terminals. Since the signal light terminals are basically at the same height, forwarding the signal to the remaining signal light terminals via the relay light terminal can avoid vehicle obstruction when the control master terminal sends wireless signals from a relatively low position to a relatively high position of the signal light terminal, thereby improving the quality of wireless communication.

[0046] Optionally, the method for the control master end to confirm the reception status of the signal light control logic by the signal light end includes: pre-configuring a unique identification identifier for all signal light ends within the system control range; when the signal light end receives the signal light control logic, it parses and obtains the corresponding execution plan and feeds back a response signal to the control master end according to its own identification identifier, and the feedback method is to collect the feedback through the relay signal light end and forward it to the control master end; the control master end confirms whether all signal light ends have responded according to the feedback response signal, and if the response is complete, sends an execution command to the signal light end; if the response is incomplete, resends the signal light control logic to the signal light end. In this way, the signal light end feeds back a response signal confirming the receipt of the signal light control logic to the control master end, and when the control master end confirms that all signal light ends have received the signal control logic according to the response signal, it sends an execution command to the signal light end. The signal light end controls the signal light according to the execution instruction and the signal light control logic, which can ensure that all signal light ends operate synchronously, thereby ensuring the normal operation of road traffic.

[0047] Optionally, the signal light terminal controls the signal light according to a pre-stored basic signal light control logic. Thus, when the system starts operating and the control master terminal begins to learn the control logic from the control information output by the signal machine to the signal light terminal, the signal light has not yet received any control logic. At this time, the signal light terminal can first operate according to the pre-stored basic control logic until the control master terminal sends new control logic, at which point it can operate according to the new control logic. Alternatively, if the control master terminal fails and is unable to send control logic, the signal light terminal can operate according to the pre-stored basic control logic. This allows the signal light to continue operating normally even when the control master terminal does not send control logic, thereby ensuring normal road traffic operation.

[0048] like Figure 6 As shown, an embodiment of the present invention further provides another method for interactively controlling a road signal light, which includes the following steps:

[0049] S601, the control master receives control information for the signal light end output by the signal machine.

[0050] S602: When the control master receives the control information, the control master obtains the signal light control logic according to the control information output by the signal machine to the signal light end.

[0051] S603: The control master sends the signal light control logic to the pre-designated relay signal light terminal.

[0052] S604: When the relay signal light terminal receives the signal light control logic, it forwards the signal light control logic to the remaining signal light terminals.

[0053] S605: Upon receiving the signal light control logic, the relay signal light terminal parses and obtains the corresponding execution plan.

[0054] S606: Upon receiving the signal light control logic, the remaining signal light terminals parse and obtain corresponding execution solutions.

[0055] S607: The remaining signal light terminals feed back response signals to the relay signal light terminals according to their own identification identifiers.

[0056] S608: The relay signal light terminal collects the data and forwards it to the control master terminal.

[0057] S609: The control master terminal determines whether all signal light terminals have responded according to the feedback response signal.

[0058] S610: When the signal light end receives all the signal light control logic, an execution command is sent to the relay signal light end.

[0059] S611: When the relay signal light terminal receives the execution command, it forwards the execution command to the remaining signal light terminals.

[0060] S612: The relay signal light terminal controls the on / off of the signal light according to the signal light control logic and the execution command.

[0061] S613: The remaining signal light terminals control the on and off of the signal lights according to the signal light control logic and the execution command.

[0062] By adopting the interactive control method of road traffic lights provided by the embodiment of the present disclosure, the signal light control logic sent by the control master end is forwarded to the remaining signal light ends through the relay signal light end, thereby improving the quality of wireless communication, and the signal light end feeds back a response signal to the control master end, and the control master end then sends an execution command to the signal light end according to the response signal. The signal light end controls the signal light according to the execution command and the control logic, so that the signal lights can run synchronously, thereby ensuring the normal operation of road traffic.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A road signal light interactive system based on distributed control, comprising a signal light having an output terminal, characterized in that: It also includes the control main end and the signal light end; among them, The control master terminal is connected to the signal machine output terminal and is used to collect and record the control information output by the signal machine to the signal light terminal to obtain the signal light control logic, wherein the signal light control logic includes the signal light control mode and the signal light control scheme under the corresponding mode; The signal light end is in communication connection with the control main end and has a built-in light end processing module. The light end processing module receives the signal light control logic sent by the control main end and controls the on and off output of its built-in three-color light-emitting unit according to the signal light control logic; The lamp end processing module also has a built-in memory, and the memory stores the basic control logic for the on and off operation of the three-color light-emitting unit of the signal lamp end.

2. The road signal light interactive system based on distributed control according to claim 1, characterized in that: The control master end includes a signal acquisition module, a master end processing chip, and a master end wireless communication module; The signal acquisition module is connected to the output terminal of the signal machine and is used to continuously acquire the control information output by the signal machine to the signal light end; The master-side processing chip is connected to the signal acquisition module, and is used to receive and record the control information and perform periodic learning and confirmation to obtain the signal light control logic for the signal light end; The master-end wireless communication module is connected to the master-end processing chip, and is used to convert the signal light control logic into a wireless signal and send the wireless signal to the signal light end.

3. The road signal light interactive system based on distributed control according to claim 2, characterized in that: The lamp end processing module includes a lamp end wireless communication module, a lamp end processing chip, and a lamp end output module; The lamp-end wireless communication module is connected to the lamp-end processing chip, and can receive the signal light control logic sent by the control master end through the master-end wireless communication module and output it to the lamp-end processing chip; The lamp-end processing chip is connected to the lamp-end output module and is used to obtain a control signal for controlling the on / off output of the three-color light-emitting unit according to the signal light control logic, and output the control signal to the lamp-end output module; The lamp end output module is used to control the on and off output of its built-in three-color light-emitting unit.

4. The road signal light interactive system based on distributed control according to claim 2, characterized in that: The control master end also includes an emergency button, which is connected to the master end processing chip. When the emergency button is activated in an emergency scenario, the master end processing chip sends the yellow flashing, all red or all off signal light control logic to the signal light end through the master end wireless communication module.

5. The road signal light interactive system based on distributed control according to any one of claims 1 to 4, characterized in that: It also includes a host computer module; the host computer module is connected to the control master end, and is used to configure the control master end and the signal light end, receive the signal light control logic uploaded by the control master end, detect the communication quality between the control master end and the signal light end, and receive the lamp fault signal fed back by the control master end.

6. A method for interactively controlling a road signal light, performed using the system according to any one of claims 1 to 5, characterized in that: include: The control master receives the control information for the signal light end output by the signal machine and obtains the signal light control logic; The control host sends the signal light control logic to the signal light terminal and confirms the receiving status of the signal light terminal; The signal light end is enabled to control the on and off of the signal light according to the signal light control logic.

7. The method according to claim 6, characterized in that The step of causing the control host end to send the signal light control logic to the signal light end includes: Sending the signal light control logic to a pre-designated relay signal light terminal; The relay signal light terminal forwards the signal light control logic to the remaining signal light terminals; the remaining signal light terminals are all signal light terminals within the control range of the system except the relay signal light terminal.

8. The method according to claim 7, characterized in that The method for the control master end to confirm the signal light end's reception status of the signal light control logic includes: Pre-configure unique identification marks for all signal light terminals within the control range of the system; When the signal light terminal receives the signal light control logic, it parses and obtains the corresponding execution plan and feeds back a response signal to the control master terminal according to its own identification. The feedback method is to collect the feedback through the relay signal light terminal and forward it to the control master terminal. The control master end confirms and determines whether all signal light ends have replied according to the feedback response signal. If the reply is complete, the execution command is sent to the signal light end. If the reply is incomplete, the signal light control logic is resent to the signal light end.

9. The method according to claim 8, characterized in that Also includes: The signal light terminal controls the signal light according to the pre-stored signal light basic control logic.

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