Traffic control robot control method, control chip and electronic device

Abstract

The application relates to a control method of a traffic control robot, a control chip and electronic equipment. The control method is applied to the traffic control robot and comprises the following steps: a control signal sensing module is used to determine whether a traffic signal lamp changes according to a sensing result; if the traffic signal lamp changes at the current moment, a video processing module is controlled to open a camera, so as to receive a road condition video shot by the camera and analyze the road condition video; a processing result of the road condition video processed by the video processing module is received, and it is determined whether there is a traffic jam at the current moment according to the processing result; if there is a traffic jam at the current moment, it is determined whether there is a jam in a forbidden traffic direction at the current moment according to the road condition video; if it is determined that there is a jam in the forbidden traffic direction at the current moment, a left mechanical arm and a right mechanical arm are controlled to make corresponding command actions according to a preset traffic control rule, so as to command vehicles in the forbidden traffic direction to drive away from a road intersection.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a traffic directing robot control method, a control chip and an electronic device. BACKGROUND

[0002] With the development of science and technology and the improvement of living standards, people's travel mode is becoming more and more diversified, such as car self-driving travel, train travel, airplane travel, ship travel, etc. Among these various travel modes, cars have become the main travel mode of people due to their reasonable price and convenient travel. Cars mainly travel on roads, and perfect traffic facilities are essential for smooth travel of cars.

[0003] At present, as the number of cars on the road is increasing, sometimes the car owner may drive very fast due to urgent matters, and may not avoid at some intersections, which may cause traffic congestion at some intersections. When traffic congestion occurs, in addition to the emergency notification of traffic police to dredge the on-site traffic road, it can only wait for the intersection to adjust slowly to dredge. In order to direct traffic, traffic directing robots are placed at the command stations of key crossroads in some areas, but such robots can only direct traffic according to traffic lights and cannot dredge when traffic congestion occurs, which leads to the need for traffic police to arrive on site to dredge when facing traffic congestion, and cannot solve traffic congestion well. SUMMARY

[0004] The present application provides a traffic directing robot control method, a control chip and an electronic device to solve the above technical problems.

[0005] In a first aspect, the present application provides a traffic directing robot control method applied to a traffic directing robot, the traffic directing robot comprising a left mechanical arm, a right mechanical arm, a camera, a video processing module and a signal sensing module, the method comprising:

[0006] controlling the signal sensing module to determine whether the sensed traffic light changes according to the sensing result;

[0007] if the traffic light changes at the current time, controlling the video processing module to turn on the camera to receive and analyze the road condition video shot by the camera;

[0008] receiving the processing result of the video processing module after processing the road condition video, and determining whether there is traffic congestion at the current time according to the processing result;

[0009] if there is traffic congestion at the current time, determining whether there is congestion in the prohibited direction of travel at the current time according to the road condition video;

[0010] If it is determined that there is congestion in the forbidden direction of travel at the current time, the left mechanical arm and the right mechanical arm are controlled to make corresponding command actions according to the preset traffic command rule to command the vehicles in the forbidden direction of travel to leave the intersection.

[0011] In the manner provided by the embodiment, the change of the traffic signal is preferentially sensed, and when the change is sensed, it is determined whether there is traffic congestion at the intersection. If there is, it is determined whether there is congestion in the forbidden direction of travel according to the road condition video. If there is, the traffic command robot is caused to command the vehicles in the forbidden direction of travel to leave the intersection according to the preset traffic command rule. In this way, the situation that the vehicles in the forbidden direction of travel cannot leave and the vehicles in the passing direction of travel cannot normally travel can be avoided. The traffic congestion can be effectively dredged, and the labor cost can be saved.

[0012] Optionally, the receiving the processing result of the video processing module after processing the road condition video, and determining whether there is traffic congestion at the current time according to the processing result, comprises:

[0013] determining the vehicle density in the shooting range at the current time according to the processing result;

[0014] comparing the vehicle density with a preset density threshold to determine whether the vehicle density is higher than the preset density threshold;

[0015] if it is determined that the vehicle density threshold is higher than the preset density threshold, it is determined that there is traffic congestion at the current time.

[0016] In the manner provided by the embodiment, the vehicle density of the current intersection can be determined through the shot road condition video, and then it is determined whether there is traffic congestion at the current time according to the vehicle density. This manner is simpler and more obvious, and because the reference is large, the change is also obvious, so the accuracy of the judgment can be improved.

[0017] Optionally, the method further comprises:

[0018] if there is no congestion in the forbidden direction of travel at the current time, it is determined whether there is congestion in the passing direction of travel at the current time according to the road condition video;

[0019] if it is determined that there is congestion in the passing direction of travel at the current time, a vehicle that has not crossed the stop line at the current time is obtained;

[0020] the left mechanical arm and the right mechanical arm are controlled to command the vehicle to stop advancing according to the preset traffic command rule.

[0021] By the manner provided in this embodiment, when there is no congestion in the prohibited direction, whether there is congestion in the passing direction can be determined according to the road condition video, if there is, a stop signal is sent to the vehicle that has not driven out of the stop line, so as to avoid too many vehicles at the intersection, which causes the vehicles to be unable to normally drive away when the traffic light changes, thereby exacerbating the congestion at the intersection.

[0022] Optionally, the method further comprises:

[0023] acquiring a latest road condition video within a preset time period after the vehicle stops advancing;

[0024] determining whether the traffic congestion disappears at the current time according to the latest road condition video;

[0025] if the traffic congestion disappears at the current time, controlling the signal sensing module to sense whether the traffic light changes;

[0026] if the traffic light does not change at the current time, controlling the left mechanical arm and the right mechanical arm to direct the vehicle to advance according to the preset traffic directing rule.

[0027] By the manner provided in this embodiment, when the traffic congestion disappears, whether the traffic light changes at the current time can be determined in time, if not, the vehicle that has not crossed the stop line can be directed in time, so that the traffic can be restored as soon as possible. Avoid the problem that the vehicle that has not crossed the stop line cannot drive out of the intersection when the traffic congestion disappears and the traffic light does not change.

[0028] Optionally, the traffic directing robot further comprises a data feedback module, and the method further comprises:

[0029] if it is determined that there is congestion in the prohibited direction at the current time, controlling the video processing module to determine the unblocking time according to the road condition video and the traffic congestion;

[0030] controlling the data feedback module to feed back the unblocking time to adjust the time of the traffic light.

[0031] By the manner provided in this embodiment, when the congestion in the prohibited direction causes the vehicles in the passing direction to be unable to pass in time, the time of the traffic light in the passing direction can be adjusted, so that the vehicles in the passing direction can pass as much as possible.

[0032] Optionally, the method further comprises:

[0033] controlling the video processing module to process the real-time road condition video acquired by the camera; the real-time road condition video comprises real-time road conditions in the traffic directing process;

[0034] According to the processing result, it is determined whether the vehicle at the current time drives according to the command;

[0035] If any vehicle at the current time does not drive according to the command, feature extraction is performed on the real-time road condition video to determine the license plate of the vehicle that does not drive according to the command;

[0036] According to the license plate, the owner information is determined, and a penalty is given according to a preset traffic rule.

[0037] In the manner provided by the embodiment, the owner can be punished for not following the command, so as to constrain the owner to follow the command of the traffic command robot, thereby achieving the purpose of unblocking traffic congestion in a shorter time.

[0038] Optionally, the method further comprises:

[0039] obtaining a working state at the current time; the working state comprises a traffic command state and a patrol state;

[0040] If the current time is not in the traffic command state, the patrol mode is started to enter the patrol state;

[0041] In the patrol mode, the camera is started to take real-time videos, and a real-time video processing module is controlled to process the taken videos to determine whether there is a violation.

[0042] In the manner provided by the embodiment, the role of the traffic command robot can be fully played, and resource waste can be avoided.

[0043] In a second aspect, the application provides a control chip.

[0044] A signal sensing control module is configured to control a signal sensing module to determine whether the sensed traffic signal light changes according to a sensing result;

[0045] A video processing control module is configured to control the video processing module to turn on the camera to receive and analyze the road condition video taken by the camera if the traffic signal light changes at the current time;

[0046] A congestion determination module is configured to receive a processing result of the video processing module processing the road condition video, and determine whether there is a traffic congestion situation at the current time according to the processing result;

[0047] A no-entry congestion determination module is configured to determine whether there is a congestion in the no-entry direction at the current time according to the road condition video if there is a traffic congestion situation at the current time;

[0048] The mechanical arm control module is configured to, if it is determined that there is congestion in the forbidden direction of traffic at the current time, control the left mechanical arm and the right mechanical arm to make corresponding guiding actions according to a preset traffic guiding rule, so as to guide the vehicle in the forbidden direction of traffic to leave the intersection.

[0049] Optionally, the congestion determination module is specifically configured to:

[0050] determine a vehicle density in a shooting range at the current time according to the processing result;

[0051] compare the vehicle density with a preset density threshold value, and determine whether the vehicle density is higher than the preset density threshold value;

[0052] if it is determined that the vehicle density threshold value is higher than the preset density threshold value, it is determined that there is traffic congestion at the current time.

[0053] Optionally, the control chip further comprises a traffic congestion processing module, configured to:

[0054] if there is no congestion in the forbidden direction of traffic at the current time, determine whether there is congestion in the direction of traffic at the current time according to the road condition video;

[0055] if it is determined that there is congestion in the direction of traffic at the current time, acquire a vehicle that has not crossed the stop line at the current time;

[0056] control the left mechanical arm and the right mechanical arm to guide the vehicle to stop advancing according to the preset traffic guiding rule.

[0057] Optionally, the control chip further comprises a traffic vehicle recovery module, configured to:

[0058] acquire a latest road condition video in a preset time period after the vehicle stops advancing;

[0059] determine whether the traffic congestion condition disappears at the current time according to the latest road condition video;

[0060] if the traffic congestion condition disappears at the current time, control the signal sensing module to sense whether the traffic signal light changes;

[0061] if the traffic signal light does not change at the current time, control the left mechanical arm and the right mechanical arm to guide the vehicle to advance according to the preset traffic guiding rule.

[0062] Optionally, the control chip further comprises a signal light duration adjustment module, configured to:

[0063] if it is determined that there is congestion in the forbidden direction of traffic at the current time, control the video processing module to determine a dredging duration according to the road condition video and the traffic congestion condition;

[0064] The data feedback module is controlled to feed back the dredging duration to adjust the duration of the traffic signal lamp.

[0065] Optionally, the control chip further comprises a punishment module, configured to:

[0066] The video processing module is controlled to process a real-time road condition video acquired by the camera; the real-time road condition video comprises a real-time road condition in a traffic directing process;

[0067] According to the processing result, it is determined whether the vehicle being directed is driving according to the direction at the current time;

[0068] If any vehicle is not driving according to the direction at the current time, feature extraction is performed on the real-time road condition video to determine the license plate of the vehicle not driving according to the direction;

[0069] According to the license plate, the owner information is determined, and punishment is performed according to a preset traffic rule.

[0070] Optionally, the control chip further comprises a working mode adjustment module, configured to:

[0071] The working state at the current time is acquired; the working state comprises a traffic directing state and a patrol state;

[0072] If the traffic directing state is not at the current time, the patrol mode is started to enter the patrol state;

[0073] In the patrol mode, the camera is started to take real-time photos, and the real-time video processing module is controlled to process the photo video to determine whether there is a violation.

[0074] In a third aspect, the present application provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program capable of being loaded and executed by the processor to execute the method of the first aspect.

[0075] In a fourth aspect, the present application provides a computer readable storage medium, which stores a computer program capable of being loaded and executed by a processor to execute the method of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0076] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings described below are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0077] Figure 1 An application scenario schematic diagram is provided for an embodiment of the present application;

[0078] Figure 2 A flow chart of a control method of a traffic directing robot according to an embodiment of the present application is provided.

[0079] Figure 3 A structural schematic diagram of a control chip according to an embodiment of the present application is provided.

[0080] Figure 4 A structural schematic diagram of an electronic device according to an embodiment of the present application is provided. DETAILED DESCRIPTION

[0081] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0082] In addition, the term "and / or" in the present document is only used to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can mean that there are three cases of A alone, A and B together, and B alone. In addition, the character " / " in the present document generally represents an "or" relationship between the front and rear associated objects unless otherwise specified.

[0083] The embodiments of the present application will be described in further detail below with reference to the drawings of the specification.

[0084] As the number of cars on the road is increasing, sometimes the car owner may drive very fast because of urgent matters, and does not avoid at some intersections, which may cause traffic congestion at some intersections. When traffic congestion occurs, the effective method to dredge is to feed back through the vehicle-mounted broadcast or actively find the congestion, notify the traffic police to arrive at the scene to dredge, or when there is no management, only rely on the self-awareness of each car owner, wait for the intersection to adjust slowly to dredge. Since each car owner drives in different directions at this intersection, dredging through the self-awareness of each car owner may take a lot of time.

[0085] Currently, in order to direct traffic, some regions will place a traffic directing robot at some intersections, which can direct traffic according to traffic lights, can save the human cost of traffic police, and make the traffic police more applied to other places than directing traffic. However, when traffic congestion occurs, vehicles in the prohibited direction of travel may be blocked at the intersection, making vehicles in the passable direction unable to pass. At this time, these traffic directing robots may feed back and increase the passing time of the passable direction, but if the traffic directing robot only directs traffic according to the traffic light, the vehicles blocked at the intersection in the prohibited direction of travel may not be able to drive out, and at the same time, the vehicles in the passable direction may also be unable to pass, at which time the traffic congestion cannot be relieved, and even the traffic congestion may be aggravated. At this time, traffic police still need to arrive on the scene to dredge, and it may take more time than when there is no traffic directing robot.

[0086] Based on this, the application provides a traffic directing robot control method and device, an electronic device and a storage medium. The traffic directing robot of the application includes a left mechanical arm, a right mechanical arm, a camera, a video processing module and a signal sensing module. First, the signal sensing module of the traffic directing robot is controlled to sense whether the current traffic light changes. If it changes, the camera can be controlled to obtain the road condition video at the current time, and the video processing module is used for processing. According to the processing result, it is determined whether there is congestion at the current time, and if there is congestion, it is determined whether the congestion occurs in the prohibited direction of travel. If so, according to the preset traffic directing rule, the left mechanical arm and the right mechanical arm are controlled to make corresponding directing actions to direct the vehicles in the prohibited direction of travel to drive away from the intersection. In this way, when traffic congestion occurs, it is determined whether it is caused by vehicles in the prohibited direction of travel, and if so, the vehicles in this direction are driven away in time to avoid affecting the travel of vehicles in the passable direction. The traffic congestion is dredged in a shorter time, and the human cost is saved.

[0087] Figure 1 An application scenario is provided for the application. The traffic directing robot control method provided by the application can be applied to the control chip of any robot used for traffic directing, to control the left mechanical arm and the right mechanical arm of the traffic directing robot to make corresponding gesture signals for traffic directing, and to avoid traffic congestion. The left mechanical arm and the right mechanical arm of the traffic directing robot can be used to make corresponding directing actions according to the preset traffic directing rule. In addition, a camera can be provided to shoot the current intersection to obtain a road condition video. The traffic directing robot of the application is applicable to intersections with or without traffic congestion, and the corresponding modules in the traffic directing robot are controlled by the control chip to obtain corresponding processing results or other contents to determine the traffic condition of the current intersection, and traffic is directed according to the traffic condition.

[0088] The specific implementation can refer to the following embodiments.

[0089] Figure 2 A flowchart of a control method of a traffic directing robot is provided for an embodiment of the present application. The method of the embodiment can be applied to the control chip of the traffic directing robot in the above scenarios. As shown in the figure, the method comprises the following steps. Figure 2

[0090] S201, a control signal sensing module determines whether the sensed traffic signal light changes according to the sensing result.

[0091] The signal sensing module can be used to sense the change of the traffic signal light. The determination of whether the traffic signal light changes can be made according to the traffic signal light for the north-south traffic. For example, if the traffic signal light for the north-south traffic is red at this time, it means that the traffic signal light for the east-west traffic is green, and at this time, the vehicle traveling in the east-west direction is allowed to pass. If the traffic signal light for the north-south traffic is green, it means that the traffic signal light for the east-west traffic is red, and at this time, the vehicle traveling in the north-south direction is allowed to pass. In the specific implementation, if there are multiple directions to be indicated, multiple determinations can also be made. For example, there are two traffic signal lights for the east-west and north-south directions, i.e., straight and left turn. At this time, the determination of whether the traffic signal light changes can still be made according to the traffic signal light for the north-south traffic. If the straight traffic signal light for the north-south direction is green at this time, it means that the traffic signal light for the east-west direction is red, and at this time, the vehicle traveling in the north-south direction is allowed to pass. If the straight traffic signal light for the north-south direction is red, it is determined whether the left turn signal light is green. If it is, the vehicle traveling in the north-south direction is allowed to turn left. If it is not, it means that the vehicle traveling in the east-west direction is allowed to pass at this time. When there are multiple directions to be indicated, multiple sensing operations need to be performed. For example, the straight traffic signal light for the north-south direction is first sensed. If the straight traffic signal light for the north-south direction is red at this time, a second sensing operation is performed to sense the color of the left turn traffic signal light for the north-south direction. In addition, the straight and left turn traffic signal lights for the east-west direction are also sensed to determine how the vehicle should travel at the current time to avoid the situation that the final command is wrong due to the incorrect sensing result.

[0092] In some implementations, the positions of all traffic signal lights at the intersection can be marked so that the directions do not need to be distinguished when sensing. When a green traffic signal light is sensed, the position information of the marking can be used to know that the green traffic signal light sensed at the current time is for the straight or left turn of which direction.

[0093] ​Specifically, when the traffic control robot is conducting traffic control, the control chip in the traffic control robot can start the signal sensing module and control the signal sensing module to sense the change of the traffic signal at the current time.

[0094] S202, if the traffic signal at the current time changes, the video processing module is controlled to open the camera to receive the road condition video shot by the camera and analyze it.

[0095] The camera can be arranged on the head or other parts of the robot for shooting or monitoring the road condition video. The traffic control robot in the application can be a rotatable robot or a fixed robot. If it is a fixed robot, due to the limited shooting range, at least two cameras can be arranged for the fixed traffic control robot to shoot or monitor the road condition video as much as possible and reduce the dead angle of shooting or monitoring. In the specific implementation process, the camera can be turned on at all times to shoot and upload the road condition video in real time, so that the traffic police can understand the road condition at each time period. Correspondingly, the camera can also be set to be turned on for a fixed period. This period can be the rush hour period, such as 7:00-9:00 am, or the off-peak period, such as 5:00-7:00 pm. Because there are many vehicles during rush hours, traffic congestion or traffic accidents are easy to occur, so the camera can be turned on at all times to obtain road condition information during these two periods.

[0096] The video processing module can be used to process the road condition video shot by the camera. Specifically, the feature of each frame of the road condition video can be extracted to determine the image feature in the frame. The vehicle density at the current time can also be analyzed according to the road condition video, such as three vehicles in a certain shooting range on this road section, which can be considered as the vehicle density at the current time being 3, and five vehicles appear next moment, which can be considered as the vehicle density at the current time being 5. In addition, the speed of a certain vehicle in a unit time can also be obtained according to the displacement change of the vehicle in the unit time. It should be noted that the above functions are examples, and the video processing module can also perform other processing on the road condition video shot by the camera, which will not be exemplified one by one.

[0097] Specifically, if it is determined according to the above step S201 that the traffic signal at the current time changes, the video processing module can be controlled to obtain the road condition video at the current time which has been shot by the camera.

[0098] S203, receiving the processing result of the video processing module after processing the road condition video, and determining whether there is traffic congestion at the current time according to the processing result.

[0099] A stay threshold value can be set, which can be used to prove whether a vehicle stays in an area for a long time. When the video processing module obtains the road condition video, a specific vehicle in the road condition video can be specified for targeted analysis. For example, the shooting range of this road condition video is the intersection part, at this time it can be determined that the vehicle appears in the road condition video for a certain time, and this time is compared with the stay threshold value. If the appearance time of the vehicle is higher than the stay threshold value, it can be considered that the vehicle may be unable to drive out of the intersection for a long time. In a specific implementation manner, in order to ensure the accuracy of the result, the stay time of a plurality of vehicles appearing in the road condition video is determined and compared, so as to determine whether there is a traffic jam at the intersection.

[0100] In addition, a displacement threshold value can also be set, which is a unit displacement that can ensure smooth driving of the vehicle when facing traffic congestion. On the basis of the above, the relative displacement of the vehicle per unit time is determined, and the relative displacement per unit time is compared with the displacement threshold value to determine whether it is lower than the displacement threshold value. If it is lower than the displacement threshold value, it can be considered that the vehicle cannot smoothly drive out of the intersection.

[0101] Specifically, the video processing module processes the road condition video, and determines whether there is a traffic jam at the current time according to the processing result. In a specific implementation manner, the video processing module can directly output a result of whether the traffic is congested after processing the road condition video, such as congestion or no congestion. In addition, Y can be set as congestion and N as no congestion. When the output is Y, it can be considered that there is a traffic jam at the current time, and when the output is N, it can be considered that there is no traffic jam at the current time. The control chip can determine whether there is a traffic jam at the current time according to the processing result of the video processing module.

[0102] S204, if there is a traffic jam at the current time, determining whether the prohibited direction exists congestion according to the road condition video.

[0103] The prohibited direction in the application can be the direction corresponding to the red light of the traffic signal.

[0104] Specifically, if it is determined through the above steps that there is traffic congestion at the current time, it is determined whether the congestion direction is a forbidden traffic direction according to the road condition video obtained above. If it is a forbidden traffic direction, if the vehicles in the forbidden traffic direction are not preferentially dredged at this time, the vehicles in the traffic direction will also be blocked by the vehicles already congested at the intersection and cannot drive out of the intersection. At this time, if the traffic light changes again, the current congestion situation may worsen again. Therefore, when traffic congestion occurs at an intersection, it is determined whether there is congestion in the forbidden traffic direction, or whether there are vehicles in the forbidden traffic direction that have not driven out of the intersection.

[0105] S205, if it is determined that there is congestion in the forbidden traffic direction at the current time, the left mechanical arm and the right mechanical arm are controlled to make corresponding command actions according to the preset traffic command rule to command the vehicles in the forbidden traffic direction to drive out of the intersection.

[0106] The preset traffic command rule can be set according to the current traffic actual situation, such as a stop signal: the left arm is straight up, the palm is forward, and the vehicles in front are not allowed to pass; a straight signal: the left arm is straight left, the palm is forward; the right arm is straight right, the palm is forward, and the left arm and the palm are straight forward, the palm is right, and the vehicles are allowed to turn left, and can make a U-turn without hindering the vehicles passing; a left turn signal: the left arm is straight left, the palm is forward; the left arm and the palm are straight down, and the vehicles in the left direction are allowed to enter the intersection, approach the intersection center along the left turn driving direction, and wait for the left turn signal.

[0107] Specifically, if it is determined that there is congestion in the forbidden traffic direction at the current time, the left mechanical arm and the right mechanical arm can be controlled to make corresponding command actions according to the preset traffic command rule to command the vehicles in the forbidden traffic direction to drive out of the intersection. In a specific implementation manner, the turning light opening condition of the vehicles currently in the forbidden traffic direction but having driven out of the stop line can be captured by a camera, and these vehicles are commanded one by one according to this condition, such as the first vehicle in the forbidden traffic direction that has not driven out opens the left turning light, at this time it can be determined that this vehicle plans to turn left, therefore a stop signal can be sent to the vehicles in the traffic direction, and then a left turn signal is sent to the vehicle with the left turning light opened. All vehicles in the forbidden traffic direction are commanded in turn to drive out of the intersection, and a straight signal can be sent to the vehicles in the traffic direction so that the vehicles in the traffic direction can normally drive.

[0108] By the manner provided in this embodiment, the change of the traffic signal lamp is preferentially sensed, and when the change is sensed, it is determined whether there is traffic congestion at the intersection, if there is, it is determined whether there is congestion in the prohibited direction of travel according to the road condition video, if there is, the traffic directing robot is caused to direct the vehicles in the prohibited direction of travel to drive away from the intersection according to the preset traffic directing rule. In this way, the situation that the vehicles in the prohibited direction of travel cannot drive away and the vehicles in the passing direction of travel cannot normally drive can be avoided. The traffic congestion situation can be effectively improved to improve the dredging efficiency and save the labor cost.

[0109] In some embodiments, the vehicle density in the shooting range can be determined through the processing result of the video processing module, and compared with the preset density threshold value, if higher than the preset density threshold value, it is determined that there is traffic congestion at the current time. Specifically, it can include: determining the vehicle density in the shooting range at the current time according to the processing result; comparing the vehicle density with the preset density threshold value to determine whether the vehicle density is higher than the preset density threshold value; if it is determined that the vehicle density threshold value is higher than the preset density threshold value, it is determined that there is traffic congestion at the current time.

[0110] The preset density threshold value can be represented by the number of vehicles in the current intersection under the smooth driving state, which can be adjusted and set according to the length of the intersection. For example, when three vehicles appear in the intersection for a period of time without causing the above-mentioned traffic congestion, but if four vehicles appear in the intersection for a period of time and cause the above-mentioned traffic congestion, it can be explained that if four or more vehicles appear in the intersection at the same time, the congestion may occur, therefore the preset density threshold value of the intersection can be 3, and when the preset density threshold value is exceeded, it can be considered that there is traffic congestion at the current intersection.

[0111] Specifically, according to the processing result of the video processing module on the road condition video, the vehicle density in the shooting range at the current time is determined, and the vehicle density is compared with the preset density threshold value, if the vehicle density is higher than the preset density threshold value, it can be determined that there is traffic congestion at the current time.

[0112] In the specific implementation manner, in order to ensure that there is indeed traffic congestion at the current time, the vehicle density in the unit time of the road condition video at the current time can be confirmed. By comparing the vehicle density in the unit time with the preset density threshold value, it is determined whether the vehicle density in the unit time is higher than the preset density threshold value, if the vehicle density in the unit time is higher than the preset density threshold value for 90% of the time length of the current road condition video, it can be determined that there is traffic congestion at the current time.

[0113] It should be noted that the above-mentioned numbers are all examples, and the method provided by the present application is not limited. The numerical values involved in determining whether there is a traffic jam in the vehicle density and unit time can be adjusted according to the length of the actual intersection and the number of vehicles passing through.

[0114] In the manner provided by the present embodiment, the vehicle density at the current intersection can be determined through the photographed road condition video, and then it is determined whether there is a traffic jam according to the vehicle density. This manner is simpler and more obvious, and because the reference is large, the change is also obvious, which can improve the accuracy of judgment.

[0115] In some embodiments, when there is no traffic jam in the prohibited direction at the current time, it can also be determined whether the traffic direction is congested. If it is congested, the vehicles that have not crossed the stop line at the current time can be obtained, and according to the preset traffic control rule, the corresponding control signal is sent to the left mechanical arm and the right mechanical arm to make these vehicles stop advancing. Specifically, if there is no congestion in the prohibited direction at the current time, it can be determined whether there is congestion in the traffic direction according to the road condition video. If it is determined that there is congestion in the traffic direction at the current time, the vehicles that have not crossed the stop line at the current time are obtained. According to the preset traffic control rule, the left mechanical arm and the right mechanical arm are controlled to guide the vehicles to stop advancing.

[0116] The vehicle that has not crossed the stop line can be understood as a vehicle whose rear wheels have not yet driven out of the stop line at the current time.

[0117] Specifically, after it is determined that there is no congestion in the prohibited direction through the above-mentioned embodiments, it can be determined whether there is congestion in the traffic direction through the road condition video. If the current traffic jam is caused by the vehicles in the traffic direction, traffic control can be performed in time to the vehicles that have not crossed the stop line, that is, the left mechanical arm and the right mechanical arm are controlled to send a stop signal to make these vehicles stop advancing. In this way, the intersection will not be occupied by too many vehicles. And when the traffic signal light changes, the intersection will not be congested by too many vehicles.

[0118] In the manner provided by the present embodiment, when there is no congestion in the prohibited direction, it can be determined whether there is congestion in the traffic direction according to the road condition video. If there is, a stop signal is sent to the vehicles that have not driven out of the stop line, so as to avoid too many vehicles in the intersection, which cannot normally drive away when the traffic signal light changes, thereby aggravating the congestion at the intersection.

[0119] In some embodiments, after the vehicles that have not crossed the stop line stop, the road condition video in a preset time period can be acquired, and whether the traffic jam disappears can be determined according to the road condition video. If the traffic jam disappears, the control signal sensing module is determined whether the current traffic signal light changes, if not, the left mechanical arm and the right mechanical arm are controlled to guide according to the preset traffic guiding rules, so that the vehicles can normally drive. Specifically, it can include: acquiring the latest road condition video in a preset time period after the vehicles stop; determining whether the traffic jam at the current time disappears according to the latest road condition video; if the traffic jam at the current time disappears, the control signal sensing module is used to sense whether the traffic signal light changes; if the traffic signal light at the current time does not change, the left mechanical arm and the right mechanical arm are controlled to guide the vehicle to advance according to the preset traffic guiding rules.

[0120] The preset time period can be 10 seconds or 20 seconds, or can be set according to the change time of the traffic signal light, such as the change time of the traffic signal light is 60 seconds, that is, after 60 seconds, the traffic signal light will change, for example, from red to green. At this time, the preset time period can be one third of the change time, that is, 20 seconds. It should be noted that the above-mentioned numbers are examples and do not limit the implementation of the embodiment, and the preset time period can also be set according to the specific situation of the intersection, such as fixed at 10 seconds, or fixed at one third of the change time.

[0121] The latest road condition video can be understood as the road condition video taken after the vehicles in the direction of travel stop.

[0122] Specifically, if the vehicles that have not crossed the stop line are stopped by sending a stop signal through the left mechanical arm and the right mechanical arm, the road condition video in a preset time period after the vehicles stop can be acquired, and whether the current traffic jam disappears can be determined according to the road condition video. For example, whether the traffic jam disappears can be determined by the above-mentioned method of determining the traffic jam at the current time according to the vehicle density. The unit displacement or the stay time can also be used to determine whether the traffic jam disappears. If the traffic jam in the direction of travel has disappeared at the current time, the current traffic signal light can be determined whether it changes through the control signal sensing module, if not, the left mechanical arm and the right mechanical arm are controlled to send the signal corresponding to the traffic signal light to the vehicles that have not driven out of the stop line, so that these vehicles can drive out of the intersection.

[0123] Through the method provided in the embodiment, after the traffic jam disappears, whether the current traffic signal light changes can be determined in time, if not, the vehicles that have not crossed the stop line can be guided in time, so that the traffic can be restored as soon as possible. Avoid the problem that the vehicles that have not crossed the stop line cannot drive out of the intersection under the premise that the traffic signal light does not change after the traffic jam disappears.

[0124] In some embodiments, a data feedback module can also be provided for the traffic control robot of the present application. When there is congestion in the current time in the prohibited direction, the video processing module can be controlled to analyze the road condition video to determine the traffic relief time. The video processing module can send the traffic relief time to the data feedback module, and the data feedback module can feed back after receiving the traffic relief time, so that the traffic signal time can be adjusted according to the traffic relief time. Specifically, if it is determined that there is congestion in the prohibited direction at the current time, the video processing module can be controlled to determine the traffic relief time according to the road condition video and the traffic congestion. The data feedback module can be controlled to feed back the traffic relief time to adjust the traffic signal time.

[0125] The data feedback module can feed back data to the traffic control center. The data can be pictures, videos, numbers, and texts, etc. For example, the traffic control center can be fed back the traffic congestion of some intersections, the photos of illegal parking taken by the monitoring camera, the time when the traffic congestion occurs at some intersections, the photos and time of the traffic accident at some road sections, etc.

[0126] The video processing module can analyze and determine the vehicle density or the vehicle stay time, and can also determine the traffic relief time from the traffic congestion to the disappearance of the traffic congestion. For example, the time when the traffic congestion occurs and the time when the traffic congestion disappears can be determined according to the time of the road condition video, so as to determine how long the traffic relief takes.

[0127] Specifically, when there is congestion in the prohibited direction at the current time, the video processing module can be controlled to determine the traffic relief time according to the traffic congestion and the road condition video. Then, the data feedback module can be controlled to feed back the traffic relief time, so that the traffic signal time can be adjusted according to the traffic relief time.

[0128] In the specific implementation mode, if the congestion in the prohibited direction causes the vehicles in several directions to be unable to pass through in time, the traffic relief time can be fed back to the traffic control center or other platform that can control the change of the traffic signal time, so that the platform can adjust the change of the traffic signal time in the corresponding direction according to the traffic relief time after receiving the feedback of the traffic relief time, to ensure that the vehicles can pass through the intersection.

[0129] Through the method provided in the embodiment, when the congestion in the prohibited direction causes the vehicles in several directions to be unable to pass through in time, the traffic signal time in the corresponding direction can be adjusted, so that the vehicles in the corresponding direction can pass through as much as possible.

[0130] In some embodiments, whether a vehicle is driving according to the command can be determined by real-time traffic video. If a vehicle is not driving according to the command, the license plate of the vehicle is determined according to the real-time traffic video, and the owner information corresponding to the vehicle is determined, and a penalty is made according to the preset traffic rules. Specifically, it can include: controlling the video processing module to process the real-time traffic video obtained by the camera; the real-time traffic video includes the real-time traffic in the traffic command process; according to the processing result, it is determined whether the vehicle being commanded at the current time is driving according to the command; if there is any vehicle not driving according to the command at the current time, the real-time traffic video is feature extracted to determine the license plate of the vehicle not driving according to the command; according to the license plate, the owner information is determined, and a penalty is made according to the preset traffic rules.

[0131] The preset traffic rules can be some regulations for restricting the owner, such as not obeying the command, fine of 20-200 yuan; not passing according to the traffic signal light, three points, fine of 20-200 yuan, etc. The preset traffic rules can be set according to the actual situation, and the fine and the deduction points can be adjusted.

[0132] The real-time traffic video is the current traffic video, and the camera can obtain the real-time traffic video during traffic command and upload it to the video processing module.

[0133] Specifically, the video processing module can be controlled to process the real-time traffic video obtained by the camera while the traffic command is being made. According to the processing result of the video processing module, it is determined whether the vehicle being commanded is driving according to the gesture signal made by the traffic command robot. If there is any vehicle not driving according to the gesture signal made by the traffic command robot, the video processing module can be controlled to feature extract the picture of the vehicle, thereby determining the license plate number of the vehicle, determining the owner information according to the license plate number, and making a penalty to the owner according to the preset traffic rules.

[0134] In some implementations, a third-party software platform can be set up, and each owner can determine whether his or her vehicle is subject to a penalty on the platform. In this way, the traffic command robot does not need to intercept, but can determine the owner information corresponding to the license plate number after the license plate number is extracted, make a penalty according to the preset traffic rules, and generate a penalty information to be displayed on the third-party software platform logged in by the owner.

[0135] For example, the traffic control robot sends a stop signal to the vehicle that has not crossed the stop line in the direction of traffic in the case of traffic congestion, at which time all vehicles that have not crossed the stop line should stop. If a vehicle ignores the stop signal and continues to drive, the video processing module of the traffic control robot can process the road condition video at this time, then perform feature extraction based on the road condition video, determine the license plate number of the vehicle, and then punish the vehicle owner in the above manner.

[0136] In the specific implementation process, some features of the license plate can be pre-set, such as color, the license plate color of an electric vehicle or a hybrid vehicle is green, the license plate color of a fuel vehicle is blue, numbers, letters, and the like. In this way, after feature extraction, matching can be performed based on the pre-set features of the license plate to determine which parts are the license plate and which numbers and / or letters constitute the license plate number of the license plate.

[0137] In the manner provided by the embodiment, the vehicle owner can be punished for not following the command, thereby constraining the vehicle owner to follow the command of the traffic control robot, so as to achieve the purpose of unblocking traffic congestion in a shorter time.

[0138] In some embodiments, the above method can further include: obtaining a working state at the current time; the working state includes a traffic control state and a patrol state; if the current time is not in the traffic control state, starting the patrol mode; in the patrol mode, starting the camera to perform real-time shooting, and controlling the video processing module to process the shooting video to determine whether there is a violation.

[0139] The patrol mode can be understood as a kind of patrol on the surrounding road, for example, the traffic control robot can walk around the surrounding road after starting the patrol mode, start the camera to shoot the road condition video during the walking process, and use the video processing module to determine whether there is a vehicle with a violation, illegal parking, and the like.

[0140] Specifically, the working state of the traffic control robot at the current time is obtained, and if the traffic control robot is not in the traffic control state, the patrol mode of the traffic control robot can be started. After starting the patrol mode, the traffic control robot can start the camera to perform real-time shooting, and the video processing module processes the real-time shooting video to determine whether there is a violation vehicle.

[0141] In the specific implementation manner, a number of possible violation phenomena and illegal parking phenomena can be input into the video processing module, including the photos corresponding to the above phenomena, to train the video processing module to have the function of determining whether there is a violation or illegal parking phenomenon by recognizing the pictures. At this time, after receiving the video shot by the camera, each frame of the video can be recognized to determine whether there is a violation phenomenon and an illegal parking phenomenon in the video.

[0142] By the manner provided by the embodiment, the traffic command robot can be fully utilized, and resource waste can be avoided.

[0143] Figure 3 A structural schematic diagram of a control chip provided by an embodiment of the application is shown in the figure, and the control chip 300 of the embodiment includes a signal sensing control module 301, a video processing control module 302, a congestion determination module 303, a no-entry congestion determination module 304, and a mechanical arm control module 305. Figure 3

[0144] The signal sensing control module 301 is configured to control a signal sensing module, and determine whether a traffic signal lamp changes according to a sensing result;

[0145] The video processing control module 302 is configured to, if the traffic signal lamp changes at a current time, control the video processing module to turn on the camera, receive a road condition video captured by the camera, and analyze the road condition video;

[0146] The congestion determination module 303 is configured to receive a processing result of the video processing module after processing the road condition video, and determine whether there is a traffic congestion situation at the current time according to the processing result;

[0147] The no-entry congestion determination module 304 is configured to, if there is a traffic congestion situation at the current time, determine whether there is congestion in a no-entry direction at the current time according to the road condition video;

[0148] The mechanical arm control module 305 is configured to, if it is determined that there is congestion in the no-entry direction at the current time, control the left mechanical arm and the right mechanical arm to make corresponding command actions according to a preset traffic command rule, to command a vehicle in the no-entry direction to drive away from the intersection.

[0149] Optionally, the congestion determination module 303 is specifically configured to:

[0150] determine a vehicle density in a shooting range at the current time according to the processing result;

[0151] compare the vehicle density with a preset density threshold value, and determine whether the vehicle density is higher than the preset density threshold value;

[0152] if it is determined that the vehicle density threshold value is higher than the preset density threshold value, it is determined that there is a traffic congestion situation at the current time.

[0153] Optionally, the control chip further includes a traffic congestion processing module 306, configured to:

[0154] ​if the forbidden direction does not exist congestion at the current time, determining whether the traffic direction exists congestion at the current time according to the road condition video;

[0155] if it is determined that the traffic direction exists congestion at the current time, obtaining a vehicle which does not cross the stop line at the current time;

[0156] controlling the left mechanical arm and the right mechanical arm to command the vehicle to stop according to the preset traffic command rule.

[0157] Optionally, the control chip further comprises a passing vehicle recovery module 307, configured to:

[0158] obtaining the latest road condition video in a preset time period after the vehicle stops;

[0159] determining whether the traffic congestion disappears at the current time according to the latest road condition video;

[0160] if the traffic congestion disappears at the current time, controlling the signal sensing module to sense whether the traffic signal light changes;

[0161] if the traffic signal light does not change at the current time, controlling the left mechanical arm and the right mechanical arm to command the vehicle to advance according to the preset traffic command rule.

[0162] Optionally, the control chip further comprises a signal light duration adjustment module 308, configured to:

[0163] if it is determined that the forbidden direction exists congestion at the current time, controlling the video processing module to determine the dredging duration according to the road condition video and the traffic congestion;

[0164] controlling the data feedback module to feed back the dredging duration to adjust the duration of the traffic signal light.

[0165] Optionally, the control chip further comprises a penalty module 309, configured to:

[0166] controlling the video processing module to process the real-time road condition video obtained by the camera; the real-time road condition video comprises real-time road conditions in the traffic command process;

[0167] determining whether the commanded vehicle travels according to the command at the current time according to the processing result;

[0168] if any vehicle does not travel according to the command at the current time, performing feature extraction on the real-time road condition video to determine the license plate of the vehicle which does not travel according to the command;

[0169] determining the owner information according to the license plate and performing penalty according to the preset traffic rule.

[0170] Optionally, the control chip further comprises a working mode adjusting module 310, configured to:

[0171] acquire a working state at a current time; the working state comprises a traffic control state and a patrol state;

[0172] if the current time is not in the traffic control state, start the patrol mode to enter the patrol state;

[0173] in the patrol mode, start the camera to take real-time photos, and control the real-time video processing module to process the photographed video to determine whether there is a violation.

[0174] The device of the embodiment can be used to execute the method of any of the above embodiments, and has similar implementation principles and technical effects, which will not be described here.

[0175] Figure 4 A structural schematic diagram of an electronic device provided in an embodiment of the present application is shown in FIG. 4, which shows that the electronic device 400 of the embodiment can comprise a memory 401 and a processor 402. Figure 4

[0176] The memory 401 stores a computer program capable of being loaded and executed by the processor 402 to execute the method in the above embodiments.

[0177] The processor 402 is connected to the memory 401, for example, through a bus.

[0178] Optionally, the electronic device 400 can further comprise a transceiver. It should be noted that the transceiver in actual application is not limited to one, and the structure of the electronic device 400 does not constitute a limitation on the embodiments of the present application.

[0179] The processor 402 can be a CPU (Central Processing Unit, central processor), a general-purpose processor, a DSP (Digital Signal Processor, data signal processor), an ASIC (Application Specific Integrated Circuit, application specific integrated circuit), an FPGA (Field Programmable Gate Array, field programmable gate array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logical blocks, modules and circuits described in combination with the disclosure of the present application. The processor 402 can also be a combination of computing functions, such as one or more microprocessor combinations, combinations of DSP and microprocessor, etc.

[0180] ​The bus can include a path over which the above-described components transmit information. The bus can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For convenience of representation, only one thick line is shown in the drawing, but this does not mean that there is only one bus or only one type of bus.

[0181] The memory 401 can be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, a magnetic disk storage medium or other magnetic storage device, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto.

[0182] The memory 401 is used to store application program codes for implementing the scheme of the present application, and is controlled by the processor 402 to execute. The processor 402 is used to execute the application program codes stored in the memory 401 to realize the content shown in the foregoing method embodiments.

[0183] The electronic device includes, but is not limited to, a mobile terminal such as a mobile phone, a notebook computer, a digital broadcast receiver, a PDA (Personal Digital Assistant), a PAD (Tablet Personal Computer), a PMP (Portable Multimedia Player), a car terminal (for example, a car navigation terminal), and the like, and a fixed terminal such as a digital TV, a desktop computer, and the like. It can also be a server, etc. Figure 4 The electronic device shown is only an example, and should not bring any limitation to the function and use range of the embodiments of the present application.

[0184] The electronic device of the present embodiment can be used to execute the method of any one of the foregoing embodiments, and has similar implementation principles and technical effects, which will not be described here again.

[0185] The application further provides a computer readable storage medium, which stores a computer program capable of being loaded and executed by a processor to perform the method in the above embodiment.

[0186] Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware. The foregoing program can be stored in a computer readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the foregoing storage medium includes various media capable of storing program codes, such as ROM, RAM, magnetic disk or optical disk.

Claims

1. A control method of a traffic directing robot, characterized by, The application is applied to a traffic control robot, and the traffic control robot comprises a left mechanical arm, a right mechanical arm, a camera, a video processing module and a signal sensing module. The signal sensing module is controlled to determine whether the traffic signal changes according to the sensing result; If the traffic signal changes at the current time, the video processing module is controlled to turn on the camera to receive a road condition video captured by the camera and analyze the road condition video; The processing result of the video processing module after processing the road condition video is received, and it is determined whether there is traffic congestion at the current time according to the processing result; If there is traffic congestion at the current time, it is determined whether there is congestion in the forbidden direction of travel at the current time according to the road condition video; If it is determined that there is congestion in the forbidden direction of travel at the current time, the left mechanical arm and the right mechanical arm are controlled to make corresponding command actions according to the preset traffic control rules to command the vehicles in the forbidden direction of travel to leave the intersection; The traffic control robot further comprises a data feedback module, and the method further comprises: If it is determined that there is congestion in the forbidden direction of travel at the current time, the video processing module is controlled to determine the unblocking time according to the road condition video and the traffic congestion; The data feedback module is controlled to feed back the unblocking time to adjust the time of the traffic signal; The video processing module is controlled to process the real-time road condition video obtained by the camera; the real-time road condition video comprises a real-time road condition in a traffic control process; According to the processing result, it is determined whether the commanded vehicle travels according to the command at the current time; If any vehicle does not travel according to the command at the current time, the real-time road condition video is feature-extracted to determine the license plate of the vehicle that does not travel according to the command; According to the license plate, the owner information is determined, and a penalty is given according to the preset traffic rules.

2. The method of claim 1, wherein, The receiving of the processing result of the video processing module after processing the road condition video and the determination of whether there is traffic congestion at the current time according to the processing result comprise: According to the processing result, the vehicle density in the shooting range at the current time is determined; The vehicle density is compared with a preset density threshold to determine whether the vehicle density is higher than the preset density threshold; If it is determined that the vehicle density threshold is higher than the preset density threshold, it is determined that there is traffic congestion at the current time.

3. The method of claim 1, wherein, Further comprising: If there is no congestion in the forbidden direction of travel at the current time, it is determined whether there is congestion in the direction of travel at the current time according to the road condition video; If it is determined that there is congestion in the direction of travel at the current time, the vehicle that does not cross the stop line at the current time is obtained; According to the preset traffic control rules, the left mechanical arm and the right mechanical arm are controlled to command the vehicle to stop advancing.

4. The method of claim 3, wherein, Further comprising: The latest road condition video in a preset period after the vehicle stops advancing is obtained; According to the latest road condition video, it is determined whether the traffic congestion disappears at the current time; If the traffic congestion disappears at the current time, the signal sensing module is controlled to sense whether the traffic signal changes. If the traffic signal at the current time does not change, the left mechanical arm and the right mechanical arm are controlled to direct the vehicle to move forward according to the preset traffic directing rule.

5. The method of claim 1, wherein, The method further comprises: acquiring a working state at the current time; the working state comprises a traffic directing state and a patrol state; if the current time is not in the traffic directing state, starting a patrol mode to enter the patrol state; in the patrol mode, starting the camera to take real-time photos, and controlling a real-time video processing module to process the photographed video to determine whether there is a violation.

6. A control chip, characterized by The control method of the traffic directing robot according to any one of claims 1-5 comprises: a signal sensing control module for controlling the signal sensing module to determine whether the sensed traffic signal changes according to the sensing result; a video processing control module for, if the traffic signal at the current time changes, controlling the video processing module to turn on the camera to receive and analyze the road condition video photographed by the camera; a congestion determining module for receiving the processing result of the video processing module after processing the road condition video, and determining whether there is traffic congestion at the current time according to the processing result; a no-entry congestion determining module for, if there is traffic congestion at the current time, determining whether there is congestion in the no-entry direction at the current time according to the road condition video; a mechanical arm control module for, if it is determined that there is congestion in the no-entry direction at the current time, controlling the left mechanical arm and the right mechanical arm to make corresponding directing actions to direct the vehicle in the no-entry direction to leave the intersection according to the preset traffic directing rule.

7. An electronic device, comprising: comprise: a memory and a processor; the memory is configured to store program instructions; the processor is configured to call and execute the program instructions in the memory to execute the control method of the traffic directing robot according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program; when the computer program is executed by the processor, the control method of the traffic directing robot according to any one of claims 1-5 is implemented. The computer readable storage medium stores a computer program; when the computer program is executed by the processor, the control method of the traffic directing robot according to any one of claims 1-5 is implemented.

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