Self-propelled traffic isolation robot, system and lane isolation method

Abstract

This invention relates to a self-propelled traffic isolation robot, system, and lane isolation method in the field of road traffic technology. The robot includes a robot body, a drive mechanism, extended arms, a controller, a positioning device, and a power supply. The positioning device includes a positioning module and a positioning antenna, with the antenna mounted on the top of the robot body's housing. The controller is installed inside the robot body and includes a main control module, an inertial navigation module, an obstacle perception module, and a communication module. The positioning module is electrically connected to the main control module. Two sets of extended arms are connected to opposite sides of the robot body. The drive mechanism includes a drive motor and drive wheels, with the drive wheels mounted on the bottom of the robot body. This invention, by setting two sets of extended arms on opposite sides of the robot body, not only effectively increases the speed at which the traffic isolation robot forms isolated lanes but also enables functions such as temporary lane closures through the extended arms, thus improving the control capability of traffic roads.

Description

Technical Field

[0001] This invention belongs to the field of road traffic technology, specifically relating to a self-moving traffic isolation robot, system, and lane isolation method thereof. Background Technology

[0002] With the rapid development of society and economy, residents' lives and travel patterns have undergone significant changes. Many problems, such as traffic congestion and frequent traffic accidents caused by the increasing number of vehicles, have affected urban development to some extent.

[0003] To address the waste of road resources caused by tidal traffic, traffic management departments typically employ reversible lane technology. This includes using lane lights, dedicated lane markings, and fixed signs to provide segmented guidance and control for reversible lane sections. Other methods utilize safety cones and other facilities to create dynamic physical barriers between lanes. When traffic congestion occurs on urban expressways or highways due to accidents, traffic management departments use intelligent traffic cones to create dynamic physical barriers between lanes, or have traffic officers personally direct traffic to alleviate congestion.

[0004] Traffic cones, also known as cone-shaped road signs, cone tubes, red hats, or obelisks, are a type of road traffic isolation and warning facility. However, when intelligent traffic cones create dynamic physical barriers on roads, multiple traffic cones move sequentially from their initial positions towards the target endpoint. This is not only inefficient, but also increases the probability of secondary accidents because each traffic cone creates a road obstacle during its movement, especially on highways or expressways where vehicle speeds are high.

[0005] For example, publication number CN205100129U discloses a mobile intelligent traffic cone, including a chassis and a cone body 2. The chassis houses a main control board 7, a drive motor 9 connected to the main control board 7, and a communication module 5. The drive motor 9 is connected to drive wheels 4 located below the chassis. The communication module 5 establishes a wired / wireless connection with a control device. At least one omnidirectional wheel 3 is also provided below the chassis. While this traffic cone saves on manual placement, it suffers from the aforementioned problems during use. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the purpose of this invention is to provide a self-moving traffic isolation robot, system, and lane isolation method thereof.

[0007] According to the present invention, a self-moving traffic isolation robot includes a robot body, a drive mechanism, an extension arm, a controller, a positioning device, and a power supply.

[0008] The power supply provides power to the positioning device, the controller, and the drive mechanism. The positioning device includes a positioning antenna and a positioning module. The positioning antenna is mounted on the top of the shell of the robot body.

[0009] The controller is installed inside the robot body. The controller includes a main control module, an inertial navigation module, an obstacle perception module, and a communication module. The positioning module is electrically connected to the main control module.

[0010] The arms are in two sets, and the two sets of arms are connected to opposite sides of the robot body.

[0011] The drive mechanism includes a drive motor and a drive wheel. The drive motor is installed inside the robot body, and the drive wheel is installed at the bottom of the robot body.

[0012] The main control module obtains the latitude and longitude information of the target endpoint sent from the background through the communication module. The positioning module obtains the latitude and longitude information of the robot body's current starting position through the positioning antenna and transmits it to the main control module. The main control module calculates the distance and angle between the starting position and the target endpoint based on the latitude and longitude information of the starting position and the target endpoint. The drive motor drives the drive wheels to move the robot body towards the target endpoint according to the instructions sent by the main control module. During the movement, the inertial navigation module detects the current angle information of the robot body in real time and transmits it to the main control module. The obstacle perception module obtains the position information of obstacles in front of the robot body in real time and transmits it to the main control module. The main control module sends action instructions to the drive motor based on the current angle information of the robot body and the obstacle position information, and adjusts the movement direction and speed of the drive wheels in real time. When the robot body moves to the target endpoint position, the main control module sends a rotation instruction to the drive motor according to preset requirements. The extended arm rotates with the robot body by a predetermined angle α to form a lane separation, wherein the range of angle α is 0°≤α<180°.

[0013] In some embodiments, the arm includes a support frame, a drive assembly, and an X-shaped telescopic guardrail. The support frame is connected to the side of the robot body, the drive assembly is mounted on the support frame, and the drive assembly includes a drive cylinder and a telescopic rod. The two ends of the X-shaped telescopic guardrail are a connecting end and a telescopic end, respectively, and the upper and lower fulcrums of the connecting end are connected to the telescopic rod and the support frame, respectively.

[0014] The power supply provides power to the drive cylinder, which drives the telescopic rod to extend and retract vertically according to the action command sent by the main control module, thereby causing the X-shaped telescopic guardrail to extend or retract horizontally.

[0015] In some embodiments, the arm further includes an arm shell with a wing-shaped cavity structure, one end of which is connected to the robot body, and the other end of which has an opening. The support frame and the retracted X-shaped telescopic guardrail are located inside the arm shell.

[0016] In some embodiments, a brush strip is provided on the inner side of the opening of the arm housing, and the X-shaped telescopic guardrail is automatically cleaned by the brush strip during the extension or retraction process.

[0017] In some embodiments, a warning device is also included, which includes one or more of a voice player, a strobe light, and a display.

[0018] The voice player is installed inside the robot body and is used to play warning voice messages according to the instructions of the main control module;

[0019] The strobe light is installed on the upper part of the outer side of the robot body and is used to flash warning lights according to the instructions of the main control module;

[0020] The display is installed on the front and / or back of the robot body and is used to display warning information in text and graphics according to the instructions of the main control module.

[0021] In some embodiments, a solar panel is also included, which is mounted on top of the robot body and is electrically connected to the power source for charging the power source.

[0022] The present invention also provides a self-moving traffic isolation robot system, including multiple sets of the traffic isolation robots and a charging base station. The charging base station is equipped with a charging pile, and the charging pile charges the power source by electromagnetic induction.

[0023] The present invention also provides a lane separation method using the aforementioned self-moving traffic separation robot system, the method comprising the following steps:

[0024] S1, Formation Robots: S groups of traffic isolation robots are parked at preset positions on the traffic road. The first group to the S groups are arranged side by side with intervals from the direction of vehicle travel, where S is a natural number greater than 1.

[0025] S2, Obtaining location information: The main control module of each group of traffic isolation robots obtains the latitude and longitude information of the target endpoint sent by the background through the communication module. At the same time, the positioning module locates the latitude and longitude information of the current starting position of the robot body through the positioning antenna and transmits it to the main control module. The main control module calculates the distance and angle between the starting position and the target endpoint based on the latitude and longitude information of the starting position and the target endpoint.

[0026] S3, Dynamic Lane Closure: The main control module of the first group of traffic isolation robots first sends a rotation command to the drive motor. After the drive wheel drives the robot body to rotate by a predetermined angle, the extended arm forms a predetermined angle β with the lane, where the angle β is 15°≤β≤90°. Then, the main control module sends commands to the drive motor and the drive cylinder respectively. The X-shaped telescopic guardrail extends outward as the robot body moves towards the target endpoint. The lane width between the two telescopic ends of the two sets of X-shaped telescopic guardrails of the first group of traffic isolation robots is closed.

[0027] S4, Synchronous Shift: After the robot body of the first group of traffic isolation robots completes the rotation action in step S3, the main control module of the second to S groups of traffic isolation robots sends action commands to the drive motor and the drive cylinder respectively. The second to S groups of traffic isolation robots move and extend together with the first group of traffic isolation robots towards the target endpoint in a manner that is located behind the X-shaped telescopic guardrail of the first group of traffic isolation robots. The so-called "behind" refers to the direction in which the vehicle is moving forward.

[0028] S5, Isolation Lane: After the robot bodies of the first group to the Sth group of traffic isolation robots move to the target end position, the main control module sends an action command to the drive motor. After the robot body rotates by a predetermined angle α, the robot bodies of the first group to the Sth group of traffic isolation robots form a predetermined line shape through the X-shaped telescopic guardrails extending on both sides to complete the isolation of the lane. The range of angle α is 0°≤α<180°.

[0029] S6, Return to Position: After the predetermined lane isolation time is established in step S5, the first to the Sth group of traffic isolation robots move synchronously towards the starting position in formation. During the movement, the X-shaped telescopic guardrails of the second to the Sth group of traffic isolation robots retract synchronously. After the robot bodies of the second to the Sth group of traffic isolation robots have moved to the starting position, the main control module of the first group of traffic isolation robots sends a retraction command to the drive cylinder. While the robot bodies move towards the starting position, the X-shaped telescopic guardrails retract synchronously. After the first group of traffic isolation robots returns to the starting position, the main control module sends a rotation command to the drive motor. The first group of traffic isolation robots rotates a predetermined angle and returns to its original position.

[0030] In some implementations, during the round trip between the starting position and the target endpoint, the inertial navigation module calculates the latitude and longitude information of the inertial navigation in real time and transmits it to the main control module. The main control module sends action commands to the drive motor in real time based on the latitude and longitude information to adjust the movement direction and movement distance of the traffic isolation robot.

[0031] In some implementations, when the latitude and longitude information calculated by the inertial navigation module is consistent with the latitude and longitude information of the starting position or the target endpoint, the positioning module acquires the latitude and longitude information of the traffic isolation robot at the current position and transmits it to the main control module. The main control module calculates the degree of deviation between the latitude and longitude information of the current position and the latitude and longitude information of the starting position or the target endpoint. If the degree of deviation exceeds the error range, it sends a correction action command to the drive mechanism.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] 1. The self-moving traffic isolation robot provided by the present invention, by setting two sets of extended arms on the two sides opposite to the robot body, can not only effectively improve the speed at which the traffic isolation robot forms isolated lanes, but also implement functions such as temporary closure of lanes through the extended arms, reducing the risk of collision with vehicles during the use of the traffic isolation robot, expanding the use function of the traffic isolation robot, and improving the safety control capability of traffic roads.

[0034] 2. The self-moving traffic isolation robot provided by the present invention, by setting the arm to a telescopic structure, can keep the arm in a retracted state or extend it, which improves the adaptability of the traffic isolation robot to different scenarios and effectively reduces the storage and transportation space of the traffic isolation robot, thereby reducing storage and transportation costs.

[0035] 3. The self-moving traffic isolation robot provided by this invention improves the safety of the robot during movement and the warning effect after the isolation channel is formed by setting up a warning device. Compared with the use of traffic cones in the same scenario, it has a better safety effect.

[0036] 4. The self-propelled traffic isolation robot system provided by this invention can ensure that the traffic isolation robot has sufficient power by setting up a charging base station, adapting to the long-term use requirements of the road environment, eliminating the need for frequent manual power supply replacement and other operations, and greatly improving the system's efficiency.

[0037] 5. The lane isolation method provided by the present invention forms a dynamic closed lane through a self-moving traffic isolation robot, which enables the robot behind it to move quickly and safely, effectively improving the lane isolation formation rate while greatly enhancing the safety of the robot during movement. Attached Figure Description

[0038] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0039] Figure 1 This is a schematic diagram of the self-moving traffic isolation robot of the present invention in its extended state;

[0040] Figure 2 This is a schematic diagram of the self-moving traffic isolation robot of the present invention in its retracted state;

[0041] Figure 3 This is an enlarged schematic diagram of the upper structure of the self-moving traffic isolation robot of the present invention;

[0042] Figure 4 A schematic diagram of the extended state structure of the self-moving traffic isolation robot of the present invention, equipped with an arm shell;

[0043] Figure 5 This is an enlarged structural diagram of the lower part of the shell of the self-moving traffic isolation robot of the present invention;

[0044] Figure 6 This is a schematic diagram of the retracted state structure of the self-moving traffic isolation robot of the present invention, which is equipped with an arm shell.

[0045] Figure 7 This is a schematic diagram of one implementation method of the lane separation method of the present invention in a highway scenario;

[0046] Figure 8 This is a schematic diagram illustrating another implementation method of the lane separation method of the present invention in a highway scenario;

[0047] Figure 9 This is a schematic diagram illustrating one implementation method of the lane separation method of the present invention in a tidal road scenario;

[0048] Figure 10 This is a schematic diagram illustrating another implementation method of the lane separation method of the present invention in a tidal road scenario. Detailed Implementation

[0049] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0050] Example 1

[0051] This embodiment provides a self-moving traffic isolation robot, such as Figure 1-6As shown, the robot includes a robot body 100, a drive mechanism 200, an arm 300, a controller 400, a positioning device 500, and a power supply 600. The robot body 100 serves as the main body for mounting components such as the drive mechanism 200, the arm 300, the controller 400, the positioning device 500, and the power supply 600. It mainly includes a housing 110 and a frame 120 disposed within the housing 110. The frame 120 provides the main structural support, enabling the arm 300, the controller 400, and other components to be stably installed and used.

[0052] The drive mechanism 200 mainly includes a drive motor 210 and drive wheels 220, with the drive motor 210 drivingly connected to the drive wheels 220. The drive wheels 220 include two directional wheels 221 and one omnidirectional wheel 222, which are rotatably mounted on the bottom of the housing 110 in a triangular arrangement. In some embodiments, each directional wheel 220 is driven by a drive motor 210 via a reducer. During movement, the two sets of drive motors 210 use a PID algorithm to control their output power and control the differential speed of the two directional wheels 221 in real time to control their direction of travel, effectively preventing the robot from veering off course and facilitating free rotation of the robot. In some embodiments, the drive motor 210 is a stepper motor.

[0053] Two sets of extendable arms 300 are connected to opposite sides of the robot body 100, serving as the two arms of the traffic isolation robot for isolating passageways on traffic roads. The extendable arms 300 are telescopic guardrail structures, including a support frame 310, a drive assembly 320, and an X-shaped telescopic guardrail 330. The support frame 310 is a C-shaped frame structure, fixedly connected to the side of the robot body 100. The outer wall of the support frame 310 is provided with a sliding groove, which is arranged along the height direction of the robot body 100. The drive assembly 320 mainly includes a drive cylinder 321 and a telescopic rod 322. The drive cylinder 321 is mounted on the bottom platform of the support frame 310. The telescopic rod 322 is located inside the support frame 310 and is positioned close to the outer wall of the support frame 310. The telescopic rod 322 is a pneumatic or hydraulic rod capable of axial extension and retraction. The bottom end of the telescopic rod 322 is driven by the drive cylinder 321, which drives the telescopic rod 322 to extend and retract axially. The X-type telescopic guardrail 330 is an axially telescopic guardrail formed by sequentially hinged X-shaped hinged rods. The two ends of the X-type telescopic guardrail 330 are a connecting end 331 and a telescopic end 332, respectively. The upper support point 3311 of the connecting end 331 is connected to the top of the telescopic rod 332 via a slider, which is slidably connected within a groove on the outer wall frame of the support frame 310. The lower support point 3312 of the connecting end 331 is fixedly connected to the support frame 310. The drive cylinder 321 drives the telescopic rod 322 to extend and retract vertically, thereby causing the X-type telescopic guardrail 330 to extend and retract horizontally via the telescopic rod 322.

[0054] In some embodiments, the arm 300 further includes an arm shell 340 with an airfoil cavity structure. One end of the arm shell 340 is fixedly connected to the housing 110, and the other end is an opening 341. Two sets of arm shells 340 are symmetrically distributed on both sides of the housing 110, forming the two wings of the robot body 100. The support frame 310 and the retracted X-shaped telescopic guardrail 330 are located inside the arm shell 340. The arm shell 340 can provide effective protection for the X-shaped telescopic guardrail 330, while also improving the overall aesthetics of the robot. Furthermore, a brush strip 350 is provided inside the opening 341 of the arm shell 340, which can automatically clean the X-shaped telescopic guardrail 330 during its extension or retraction.

[0055] The controller 400 includes a main control module 410, an inertial navigation module 420, an obstacle perception module 430, and a communication module 440. The inertial navigation module 420 is electrically connected to the main control module 410 and is used to detect and acquire the current angle information of the robot body in real time and transmit it to the main control module 410. In some embodiments, the inertial navigation module 420 is integrated with the main control module 410. In some embodiments, the inertial navigation module 420 is optimized using a Q-learning algorithm, that is, the output results of the inertial navigation module 420 are trained through machine learning to achieve high-precision inertial navigation in specific motion scenarios. The obstacle perception module 430 is mounted on the housing 110. A transparent window is provided on the housing 110 in front of the obstacle perception module 430 to improve the accuracy of the obstacle perception module 430 in detecting obstacles in front. The main control module 410 is electrically connected to the communication module 440. The main control module 410 obtains the latitude and longitude information of the target endpoint below the main control module through the communication module 440. The drive motor 210 and the drive cylinder 321 are electrically connected to the main control module 410. The main control module 410 sends action commands to the drive motor 210 and the drive cylinder 321 respectively.

[0056] The positioning device 500 includes a positioning antenna 510 and a positioning module 520. The positioning antenna 510 is mounted on the outside of the housing 110, and the positioning module 520 is mounted inside the housing of the robot body 100. The positioning antenna 510 is electrically connected to the positioning module 520, and the positioning module 520 is electrically connected to the main control module 410. The positioning module 520 acquires the latitude and longitude information of the robot's current position through the positioning antenna 510 and transmits it to the main control module 410. In some embodiments, the positioning module 520 is a PTK positioning module, which effectively improves positioning accuracy.

[0057] The power supply 600 is a lithium battery, preferably a lithium iron phosphate battery. The power supply 600 supplies power to the drive mechanism 200, the extender arm 300, and the controller 400. In some embodiments, a solar panel 800 is also included, which is mounted on the outer top of the housing 110. The solar panel 800 converts solar energy into electrical energy to charge the power supply 600, improving the robot's adaptability and working time. The installation height of the solar panel 800 is lower than the installation height of the positioning antenna 510 to prevent the solar panel 800 from affecting the positioning accuracy of the positioning antenna 510.

[0058] The working principle of the self-moving traffic isolation robot provided in this embodiment is as follows: The backend transmits the latitude and longitude information of the target destination location to the main control module 410 through the communication module 440. The positioning module 520 obtains the latitude and longitude information of the current starting position of the robot body 100 through the positioning antenna 510 and transmits it to the main control module 410. The main control module 410 calculates the distance and angle information between the starting position and the target destination based on the latitude and longitude information of the target destination and the starting position. Based on the distance and angle information between the starting position and the target destination, the main control module 410 sends an action command to the drive motor 210, which drives the two directional wheels 221 to move the robot body 100 in a preset direction. During the movement, the inertial navigation module 420 detects and obtains the current angle information of the robot body 100 in real time and transmits it to the main control module 410. The main control module 410 sends action commands to the drive motor 210 in real time to adjust the direction of movement based on the current angle information, thereby improving the accuracy of the robot body 100 reaching the target destination. The main control module 410 sends turning and circling commands to the drive motor 210 based on the obstacle information detected in real time in front of the robot body 100 by the obstacle perception module 430, so as to achieve the purpose of effective obstacle avoidance.

[0059] The deployment of the X-shaped telescopic barrier 330 can be completed during the movement of the robot body 100 from the starting position to the target endpoint, or it can be deployed after the robot body 100 reaches the target endpoint. When the deployment of the X-shaped telescopic barrier 330 is synchronized with the movement of the robot body 100, the X-shaped telescopic barrier 330 is fully deployed when the robot body 100 reaches the target endpoint. After reaching the target endpoint, the main control module 410 sends a rotation command to the drive motor 210, and the X-shaped telescopic barrier 330 rotates with the robot body 100 by a predetermined angle α to form a lane isolation. When the deployment of the X-shaped telescopic barrier 330 is carried out after the robot body 100 has reached the target endpoint, the main control module 410 first sends an action command to the drive cylinder 321, which drives the telescopic rod 322 to retract, thereby extending the X-shaped telescopic barrier 330 into place. In this case, the rotation of the robot body 100 after reaching the target endpoint can be performed before the X-shaped telescopic guardrail 330 extends, or it can be performed after the X-shaped telescopic guardrail 330 has extended into place.

[0060] The self-propelled traffic isolation robot provided in this embodiment, by setting two sets of extended arms on opposite sides of the robot body, can not only effectively improve the speed at which the traffic isolation robot forms isolated lanes, but also perform functions such as temporary lane closures through the extended arms, expanding the functionality of the traffic isolation robot, reducing the risk of collisions with vehicles during use, and improving the ability to control traffic. Furthermore, by setting the extended arms as a telescopic structure, the arms can remain in a retracted state or extend, improving the adaptability of the traffic isolation robot to different scenarios and effectively reducing the storage and transportation space of the traffic isolation robot, thus reducing storage and transportation costs.

[0061] Example 2

[0062] This embodiment 2 is based on embodiment 1, and improves the safety of the robot during movement and the warning effect after the isolation channel is formed by setting up a warning device. Specifically:

[0063] like Figure 1-6 As shown, the warning device 700 includes one or more combinations of a voice player 710, a strobe light 720, and a display 730, and a power supply 600 supplies power to the warning device 700.

[0064] A voice player 710 is installed inside the housing 110 and electrically connected to the main control module 410. The voice player 710 broadcasts warning messages in the form of sound according to the instructions of the main control module 410. A strobe light 720 is installed on the upper outer surface of the housing 110. Preferably, there are multiple strobe lights 720, distributed on multiple sides of the housing 110. For example, if the housing structure of the robot body 100 is rectangular, there are four strobe lights 720, respectively located on the four top sides, enabling light signal warnings in different directions. The strobe lights 720 are electrically connected to the main control module 410 and are turned on or off according to the instructions of the main control module 410. A display 730 is installed on the front side and / or rear side of the housing 110. The display 730 is electrically connected to the main control module 410 and displays text or corresponding graphic symbols such as "No Entry" or "Temporary Closure" according to the instructions of the main control module 410.

[0065] In some embodiments, the warning device 700 further includes a light strip embedded in a groove 111 in the housing 110. Preferably, the groove 111 is arranged along the periphery of the housing 110 and has a ring-shaped structure.

[0066] Example 3

[0067] This embodiment 2 is a self-moving traffic isolation robot system developed based on embodiment 1 or embodiment 2, such as... Figure 1-8 As shown, the system includes multiple self-moving traffic isolation robots as described in Embodiment 1 or Embodiment 2, and also includes a charging base station 900. A charging pile 910 is installed within the charging base station 900. A transmitting coil is installed on the charging pile 910, and a receiving coil is correspondingly installed at an appropriate position on the robot body 100. The charging pile 910 and the power supply 600 located within the housing 110 are charged through an electromagnetic induction coil. By setting up a charging base station, it is possible to ensure that the traffic isolation robots have sufficient power, adapting to the long-term use requirements of road environments, eliminating the need for frequent manual power supply replacements, and greatly improving the system's efficiency.

[0068] Example 4

[0069] This embodiment 4 provides a traffic lane isolation method, which employs the self-moving traffic isolation robot system described in embodiment 3 to implement and form lane isolation. The placement of the self-moving traffic isolation robots varies slightly in different scenarios. Taking a frequently accident-prone section of a highway as an example, multiple sets of self-moving traffic isolation robots are placed side-by-side on the outside of the emergency lane of a pre-defined road section, such as... Figure 1-10 As shown, the formation of lane separation mainly includes the following steps:

[0070] S1, Robot Formation: S groups of self-moving traffic isolation robots are parked on the outside of the emergency lane, with the first group to the S groups arranged side by side at intervals in the direction of vehicle travel.

[0071] S2, Obtaining Location Information: The main control module 410 of each group of self-propelled traffic isolation robots obtains the latitude and longitude information of the target endpoint location sent from the background through the communication module 440. Simultaneously, it locates the latitude and longitude information of the current starting point location of the robot body 100 through the positioning antenna 510, and transmits this information to the main control module 410 via the positioning module 520. The main control module 410 calculates the distance and angle between the starting point and the target endpoint based on the latitude and longitude information of the current starting point and the target endpoint.

[0072] S3, Dynamic Lane Closure: The main control module 410 of the first group of self-moving traffic isolation robots first sends an action command to the drive motor 210, which drives the robot body 100 to rotate 90° via the drive wheels 220. The warning device 700 emits audible, visual, and visual warnings according to the command of the main control module 410. Next, after the robot body 100 rotates 90°, the main control module 410 of the first group sends a movement command to the drive motor 210, which drives the robot body 100 to move towards the target endpoint via the drive wheels 220. Simultaneously, the drive cylinder 321 drives the X-shaped telescopic guardrail 330 to extend outward synchronously according to the action command of the main control module 410. During the movement, the first group of self-moving traffic isolation robots gradually achieves dynamic lane closure, with the lane closure width being the width between the two free ends 332 of the two sets of X-shaped telescopic guardrails 330.

[0073] S4, Synchronous Shift: After the robot body 100 of the first group of traffic isolation robots completes its rotation in step S3, the main control module 410 of the second to S groups of traffic isolation robots sends action commands to the drive motor 210 and the drive cylinder 321 respectively. The second to S groups of traffic isolation robots move and extend towards the target endpoint together with the first group of traffic isolation robots, positioned behind the X-shaped telescopic guardrail 330 of the first group of traffic isolation robots. "Behind" refers to the direction of vehicle travel. When the self-propelled traffic isolation robots of the first to S groups reach the target endpoint, the X-shaped telescopic guardrail 330 of the self-propelled traffic isolation robots of the first to S groups completes its extension action.

[0074] S5, Isolation Lane: After the robot bodies 100 of the first to the Sth groups move to the target end position, the main control modules 410 of the first to the Sth groups send rotation commands to the drive motors 210. Under the drive of the drive wheels 220, the robot bodies 100 rotate by a predetermined angle α. The robot bodies 100 of the first to the Sth groups form a lane isolation barrier of a predetermined line through the X-shaped telescopic guardrails extending from both sides, thus completing the lane isolation. The range of angle α is 0°≤α<180°.

[0075] S6, Return to Position: After the predetermined time for establishing the isolation lane in step S5, i.e., after the accident on the highway section has been handled, the main control modules 410 of groups 1 to S send movement commands to the drive motors 210. The self-moving traffic isolation robots of groups 1 to S move synchronously towards the starting position in formation. During the movement, the main control modules 410 of groups 2 to S send commands to the drive cylinders 321, and their X-shaped telescopic guardrails 330 retract synchronously. After the robot bodies 100 of groups 2 to S move to the starting position, the main control module 410 of group 1 sends a retraction command to the drive cylinders. While the robot bodies 100 of group 1 continue to move towards the starting position, their X-shaped telescopic guardrails 330 retract synchronously. After the robot bodies of group 1 move back to the starting position, the main control module 410 sends a rotation command to the drive motors 210. The robot bodies 100 of group 1 rotate a predetermined angle and return to the initial position. In the program where the first to S groups of self-moving traffic isolation robots move synchronously toward the starting position in formation, when the first group of self-moving traffic isolation robots is close to the starting position, the first group of self-moving traffic isolation robots does not move initially, but only keeps the X-shaped telescopic guardrails 330 on both sides in the deployed state to form lane closure, ensuring the safety of the second to S groups of self-moving traffic isolation robots during their movement. After the second to S groups of self-moving traffic isolation robots move to the starting position, the first group of self-moving traffic isolation robots returns to their original position after the guardrail retraction action and rotation action.

[0076] In the above steps, during the round trip between the starting position and the target endpoint of the robot body 100, the inertial navigation module 420 calculates the latitude and longitude information of the inertial navigation in real time and transmits it to the main control module 410. The main control module 410 sends action commands to the drive motor 210 in real time according to the latitude and longitude information to adjust the movement direction and movement distance of the traffic isolation robot.

[0077] In some implementations, when the latitude and longitude information calculated by the inertial navigation module 420 is consistent with the latitude and longitude information of the starting position or the target endpoint, the positioning module 520 acquires the latitude and longitude information of the traffic isolation robot at the current position and transmits it to the main control module 410. The main control module 410 calculates the degree of deviation between the latitude and longitude information of the current position and the latitude and longitude information of the starting position or the target endpoint. If the degree of deviation exceeds the error range, it sends a correction action command to the drive mechanism 210.

[0078] The above-mentioned implementation scenario is a section of highway where accidents frequently occur. Compared with the scenario of tidal flow roads in the city, the main difference is the placement of the self-moving traffic isolation robot, while other adjustment methods are basically the same.

[0079] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0080] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A self-moving traffic barrier robot, characterized by, The robot body (100), a driving mechanism (200), an arm (300), a controller (400), a positioning device (500) and a power supply (600) are included. The power supply (600) supplies power to the positioning device (500), the controller (400) and the driving mechanism (200), and the positioning device (500) includes a positioning antenna (510) and a positioning module (520), and the positioning antenna (510) is installed on the top of the shell of the robot body (100). The controller (400) is installed in the robot body (100), and the controller (400) includes a master control module (410), an inertial navigation module (420), an obstacle perception module (430) and a communication module (440), and the positioning module (520) is electrically connected with the master control module (410). The arm (300) is two groups, and the two groups of arms (300) are connected to the opposite sides of the robot body (100). The driving mechanism (200) includes a driving motor (210) and a driving wheel (220), the driving motor (210) is installed in the robot body (100), and the driving wheel (220) is installed at the bottom of the robot body (100). The master control module (410) obtains the latitude and longitude information of the target endpoint sent by the background through the communication module (440), the positioning module (520) obtains the latitude and longitude information of the current starting point position of the robot body (100) through the positioning antenna (510) and transmits it to the master control module (410), the master control module (410) calculates the distance and angle between the starting point position and the target endpoint according to the latitude and longitude information of the starting point position and the target endpoint, and the driving motor (210) drives the driving wheel (220) to drive the robot body (100) to move towards the target endpoint according to the instruction sent by the master control module (410); during the movement, the inertial navigation module (420) detects the current angle information of the robot body (100) in real time and transmits it to the master control module (410), the obstacle perception module (430) obtains the position information of the obstacles in front of the robot body (100) in real time and transmits it to the master control module (410), and the master control module (410) sends action instructions to the driving motor (210) according to the current angle information of the robot body (100) and the position information of the obstacles, and adjusts the moving direction and speed of the driving wheel (220) in real time, when the robot body (100) moves to the target endpoint position, the master control module (410) sends a rotation instruction to the driving motor (210) according to the preset requirement, and the arm (300) rotates with the robot body (100) by a predetermined angle α to form a lane isolation, wherein the angle α is in the range of 0°≤α<180°.

2. The self-moving traffic barrier robot of claim 1, wherein, The arm (300) includes a support frame (310), a drive assembly (320) and an X-shaped telescopic guardrail (330), the support frame (310) is connected to the side of the robot body (100), the drive assembly (320) is installed on the support frame (310), the drive assembly (320) includes a drive cylinder (321) and a telescopic rod (322), and the two ends of the X-shaped telescopic guardrail (330) are a connecting end (331) and a telescopic end (332) respectively, and the upper and lower fulcrums of the connecting end (331) are connected with the telescopic end (332) and the support frame (310) respectively. The power supply (600) supplies power to the drive cylinder (321), and the drive cylinder (321) drives the telescopic rod (322) to extend or retract in the vertical direction according to the action instruction sent by the main control module (410), so as to drive the X-shaped telescopic guardrail (330) to extend or retract in the horizontal direction.

3. The self-moving traffic barrier robot of claim 2, wherein, The arm (300) further includes an arm shell (340) in a wing-shaped cavity structure, one end of the arm shell (340) is connected with the robot body (100), the other end of the arm shell (340) has an open mouth (341), and the support frame (310) and the X-shaped telescopic guardrail (330) in the retracted state are located in the arm shell (340).

4. The self-moving traffic barrier robot of claim 3, wherein, The inside of the open mouth (341) of the arm shell (340) is provided with a brush strip (350), and the X-shaped telescopic guardrail (330) is automatically cleaned by the brush strip (350) during extension or retraction.

5. The self-moving traffic barrier robot of claim 1, wherein, Further comprising a warning device (700), the warning device (700) includes any one or more of a voice player (710), a flashing light (720) and a display (730); The voice player (710) is installed in the robot body (100) and is used to broadcast warning voice according to the instruction of the main control module (410); The flashing light (720) is installed on the upper part of the outer side of the robot body (100) and is used to flash warning according to the instruction of the main control module (410); The display (730) is installed on the front and / or back of the robot body (100) and is used to display warning information in the form of pictures and texts according to the instruction of the main control module (410).

6. The self-moving traffic barrier robot of claim 1, wherein, Further comprising a solar panel (800), the solar panel (800) is installed on the top of the robot body (100), the solar panel (800) is electrically connected with the power supply (600) and is used to charge the power supply (600).

7. A self-moving traffic barrier robot system, characterized by A plurality of traffic isolation robots as claimed in any one of claims 2-4 and a charging base station (900) are included, the charging base station (900) is provided with a charging pile (910), and the charging pile (910) charges the power supply (600) in the form of electromagnetic induction.

8. A method of lane separation, characterized by, The self-moving traffic isolation robot system as claimed in claim 7, the method comprises the following steps: S1, the formation robot: parking S group of traffic isolation robots at the preset position of the traffic road, the first group to the S group are arranged side by side and spaced from each other in the direction of the vehicle, wherein S is a natural number greater than 1; S2, obtaining position information: the main control module (410) of each group of traffic isolation robots obtains the latitude and longitude information of the target terminal sent by the background through the communication module (440), at the same time, the positioning module (520) locates the latitude and longitude information of the current starting point position of the robot body (100) through the positioning antenna (510) and transmits it to the main control module (410), and the main control module (410) calculates the distance and angle between the starting point position and the target terminal according to the latitude and longitude information of the starting point position and the target terminal; S3, dynamically closing the lane: the main control module (410) of the first group of traffic isolation robots first sends a rotating action instruction to the driving motor (210), the driving wheel (220) drives the robot body (100) to rotate by a predetermined angle, and then the main control module (410) sends instructions to the driving motor (210) and the driving cylinder (321), respectively, the X-shaped telescopic guardrail (330) is stretched outward while the robot body (100) moves towards the target terminal, and the lane between the two telescopic ends (332) of the two X-shaped telescopic guardrails (330) of the first group of traffic isolation robots is closed; S4, synchronous displacement: after the robot body (100) of the first group of traffic isolation robots completes the rotating action in step S3, the main control module (410) of the second group to the S group of traffic isolation robots sends action instructions to the driving motor (210) and the driving cylinder (321), respectively, and the second to the S group of traffic isolation robots move towards the target terminal together with the first group of traffic isolation robots in the manner of being located behind the X-shaped telescopic guardrail (330) of the first group of traffic isolation robots, and the so-called behind refers to the direction of the vehicle forward movement; S5, isolating the lane: after the robot body (100) of the first group to the S group of traffic isolation robots moves to the target terminal position, the main control module (410) sends an action instruction to the driving motor (210), and the robot body (100) rotates by a predetermined angle α, and then the robot body (100) of the first group to the S group of traffic isolation robots forms a predetermined line type through the X-shaped telescopic guardrail (330) stretched on both sides, and the isolation of the lane is completed, wherein the angle α ranges from 0° to less than 180°. S6, back: after the lane isolation is formed for a predetermined time through step S5, the first group to the S group of traffic isolation robots move towards the starting point position in a formation, and in the moving process, the X-shaped telescopic guardrails (330) of the second group to the S group of traffic isolation robots are folded synchronously; after the robot body (100) of the second group to the S group of traffic isolation robots is displaced to the starting point position, the main control module (410) of the first group of traffic isolation robots sends a folding instruction to the driving cylinder (321), and the robot body (100) moves towards the starting point position while the X-shaped telescopic guardrails (330) are folded synchronously; after the first group of traffic isolation robots is moved back to the starting point position, the main control module (410) sends a rotating instruction to the driving motor (210), and the first group of traffic isolation robots rotates by a predetermined angle and then returns to the original position.

9. The lane separation method of claim 8, wherein, During the back-and-forth movement of the robot body (100) between the starting point position and the target end point, the inertial navigation module (420) calculates the latitude and longitude information of the inertial navigation in real time and transmits it to the main control module (410), and the main control module (410) sends action instructions to the driving motor (210) in real time according to the latitude and longitude information to adjust the moving direction and distance of the traffic isolation robot.

10. The lane separation method of claim 9, wherein, When the latitude and longitude information calculated by the inertial navigation module (420) is consistent with the latitude and longitude information of the starting point position or the target end point, the positioning module (520) obtains the latitude and longitude information of the traffic isolation robot at the current position and transmits it to the main control module (410), and the main control module (410) calculates the deviation degree of the latitude and longitude information of the current position from the latitude and longitude information of the starting point position or the target end point, and sends a deviation correction action instruction to the driving motor (210) if the deviation degree exceeds the error range.

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