Control method and system of traffic cone collecting and releasing device, storage medium and vehicle

Abstract

The application discloses a traffic cone collecting and placing device control method and system, a storage medium and a vehicle. The control method first acquires a collecting and placing control instruction, and collects and places traffic cones based on the collecting and placing control instruction. When placing, a box pushing-out mechanism pushes traffic cones out of a box to a box outlet, then a transfer mechanism transfers the traffic cones to a displacement platform of a displacement mechanism, and a collecting and placing mechanism places the traffic cones on the displacement platform to a target position on a working surface to complete the placing of the traffic cones. When collecting, the control mechanism clamps the traffic cones at the target position to the displacement platform of the displacement mechanism, the transfer mechanism transfers the traffic cones on the displacement platform to the box inlet, and the box pushing-in mechanism stores the traffic cones at the box inlet in the box to complete the collection of the traffic cones. Thus, the traffic cones can be automatically collected and placed, the operation efficiency is improved, the operation cost is reduced, and the operation danger of workers is reduced.

Description

Technical Field

[0001] This invention relates to the field of road traffic sign technology, and in particular to a control method and system for a traffic cone deployment and retraction device, a storage medium, and a vehicle. Background Technology

[0002] Traffic cones, also known as cone-shaped road signs or cones, are road facilities used for traffic management. They are used to demarcate areas during road construction or other temporary closures to prevent collisions between people or vehicles, and also to guide the separation of pedestrians and vehicles in normal road conditions.

[0003] Currently, the placement of traffic cones involves first driving engineering vehicles loaded with traffic cones to the site, with personnel on the vehicles handling or stacking the cones, and others placing or collecting them. This method, requiring manual intervention, is inefficient and dangerous. Furthermore, the frequent manual labor makes extended operation impossible, increasing operational costs. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the first objective of this invention is to provide a control method for a traffic cone deployment and retraction device, which enables fully automatic deployment and retraction of traffic cones, improving operational efficiency and reducing operating costs, while also reducing operational risks for workers.

[0005] A second objective of this invention is to provide a computer-readable storage medium.

[0006] The third objective of this invention is to provide a control system for a traffic cone deployment and retraction device.

[0007] The fourth objective of this invention is to provide a vehicle.

[0008] To achieve the above objectives, a first aspect of the present invention provides a control method for a traffic cone deployment and retraction device, wherein the deployment and retraction device includes a box ejection mechanism, a box insertion mechanism, a transfer mechanism, a shifting mechanism, and a deployment and retraction mechanism. The control method includes: acquiring a deployment and retraction control command for the traffic cone; controlling the transfer mechanism according to the deployment and retraction control command to transfer the traffic cone ejected from the box by the box ejection mechanism to the shifting platform of the shifting mechanism, and placing the traffic cone on the shifting platform to a target position on the working surface through the deployment and retraction mechanism; or controlling the deployment and retraction mechanism according to the deployment and retraction control command to clamp the traffic cone at the target position to the shifting platform of the shifting mechanism, and then transferring the traffic cone on the shifting platform to the box entrance through the transfer mechanism, and controlling the box insertion mechanism to store the traffic cone at the box entrance into the box.

[0009] In this embodiment, the control method for the traffic cone deployment and retrieval device first obtains deployment and retrieval control commands. Based on these commands, the traffic cones can be retracted and placed. In the placement command, the box ejection mechanism ejects the traffic cone from the box containing the cone to the box outlet. Then, the transfer mechanism transfers the cone to the shifting platform of the shifting mechanism, and the deployment and retrieval mechanism places the cone on the shifting platform to the target position on the work surface, thus completing the placement. In the retrieval command, the deployment and retrieval mechanism first clamps the traffic cone at the target position into the shifting platform of the shifting mechanism. Then, the transfer mechanism transfers the cone to the box inlet, and the box pushing mechanism stores the cone at the box inlet into the box, thus completing the retrieval. Therefore, the control method for the traffic cone deployment and retrieval device in this embodiment can automatically deploy and retrieval traffic cones, improving work efficiency and reducing operating costs, while also reducing the operational risks for workers.

[0010] In some embodiments of the present invention, the retraction and placement control command includes a diagonal placement control command. The retraction and placement mechanism includes a first swing arm assembly and a second swing arm assembly, which are respectively disposed at both ends of the shifting platform. In the diagonal placement control command, placing the traffic cone on the shifting platform to the target position on the working surface through the retraction and placement mechanism includes: obtaining the number of traffic cones to be placed; controlling the first swing arm assembly to place the traffic cones to the target position from a first direction to a second direction at first preset distances and first preset angles; when the angle at which the first swing arm assembly places the traffic cones is a second preset angle, or when the first swing arm assembly has placed a preset number of traffic cones, controlling the second swing arm assembly to place the remaining traffic cones to the target position from the first direction to the second direction at first preset distances and first preset angles, wherein the preset number of traffic cones is determined according to the number of traffic cones to be placed.

[0011] In some embodiments of the present invention, the number of the preset number of traffic cones is calculated according to the following formula: M = aN / b, where M is the preset number of traffic cones, N is the number of traffic cones to be placed, and a and b are both positive integers, and a is less than b.

[0012] In some embodiments of the present invention, the shifting platform is adapted to place multiple traffic cones. Before the traffic cones on the shifting platform are placed to the target position on the working surface by the take-up and put-down mechanism, the control method further includes: acquiring position information of the traffic cones on the shifting platform; and determining that the traffic cones are at a first position on the shifting platform based on the position information.

[0013] In some embodiments of the present invention, the shifting mechanism includes a shifting component, and the control method further includes: when it is determined according to the position information that the traffic cone is not in the first position of the shifting platform, controlling the shifting component to work to move the traffic cone on the shifting platform to the first position; when the shifting component has worked a preset number of times and no traffic cone is placed in the first position, then continuing to control the transfer mechanism to transfer the traffic cone pushed out of the box by the box ejection mechanism to the shifting platform of the shifting mechanism.

[0014] In some embodiments of the present invention, the take-up and release control command includes a diagonal take-up control command, and the take-up and release mechanism further includes at least one guide component. Controlling the take-up and release mechanism to clamp the traffic cone at the target position to the transfer platform of the transfer mechanism according to the take-up and release control command includes: controlling the guide component to guide the traffic cone at the target position to a preset position, and clamping the traffic cone at the preset position to the transfer platform through the first swing arm component or the second swing arm component.

[0015] In some embodiments of the present invention, the shifting platform is adapted to place multiple traffic cones. Before controlling the retraction mechanism to clamp the traffic cone at the target position onto the shifting platform of the shifting mechanism according to the retraction control command, the method further includes: obtaining traffic cone position information on the shifting platform; and determining, based on the traffic cone position information, that the traffic cone is not in the first position of the shifting platform.

[0016] In some embodiments of the present invention, the shifting mechanism includes a shifting component, and the control method further includes: when the traffic cone is determined to be at a first position on the shifting platform based on the traffic cone position information, controlling the shifting component to work to move the traffic cone on the shifting platform out of the first position; when the shifting component works continuously for a preset number of times and a traffic cone is placed at the first position, then the traffic cone on the shifting platform is continued to be transferred to the box entrance by the transfer mechanism, and the box pushing mechanism is controlled to store the traffic cone at the box entrance into the box.

[0017] To achieve the above objectives, a second aspect of the present invention provides a computer-readable storage medium storing a control program for a traffic cone deployment and retraction device, wherein the control program for the traffic cone deployment and retraction device, when executed by a processor, implements the control method for the traffic cone deployment and retraction device according to any one of the above embodiments.

[0018] The computer-readable storage medium of this embodiment executes the control program of the traffic cone deployment and retraction device stored thereon through a processor, which enables fully automatic deployment and retraction of traffic cones, improving work efficiency and reducing work costs, while also reducing the operational risks to workers.

[0019] To achieve the above objectives, a third aspect of the present invention provides a control system for a traffic cone deployment and retraction device. The deployment and retraction device includes a box ejection mechanism, a box insertion mechanism, a transfer mechanism, a shifting mechanism, and a deployment and retraction mechanism. The control system includes: an acquisition module for acquiring deployment and retraction control commands for the traffic cone; and a control module for controlling the transfer mechanism to transfer the traffic cone ejected from the box by the box ejection mechanism to the shifting platform of the shifting mechanism according to the deployment and retraction control commands, and placing the traffic cone on the shifting platform to a target position on the working surface through the deployment and retraction mechanism; or controlling the deployment and retraction mechanism to clamp the traffic cone at the target position to the shifting platform of the shifting mechanism according to the deployment and retraction control commands, and then transferring the traffic cone on the shifting platform to the box entrance through the transfer mechanism, and controlling the box insertion mechanism to store the traffic cone at the box entrance into the box.

[0020] In this embodiment, the control device of the traffic cone deployment and retrieval device first acquires deployment and retrieval control commands through an acquisition module. Based on these commands, the control module can then retract and place the traffic cones. In the placement command, the control module controls the box ejection mechanism to eject the traffic cone from the box containing the cone to the box outlet. Then, it controls the transfer mechanism to transfer the cone to the shifting platform of the shifting mechanism. Finally, the deployment and retrieval mechanism places the cone on the shifting platform at the target position on the work surface, thus completing the placement. In the retrieval command, the control module first controls the deployment and retrieval mechanism to clamp the traffic cone at the target position into the shifting platform of the shifting mechanism. Then, it controls the transfer mechanism to transfer the cone to the box inlet. Finally, the box push-in mechanism stores the cone at the box inlet into the box, thus completing the retrieval of the traffic cone. Therefore, the control device of the traffic cone deployment and retrieval device in this embodiment can automatically deploy and retrieval traffic cones, improving work efficiency, reducing operating costs, and minimizing operational risks for workers.

[0021] To achieve the above objectives, a fourth aspect of the present invention provides a vehicle comprising a frame, a traffic cone deployment and retraction device disposed on the frame, and a control system for the traffic cone deployment and retraction device according to the above embodiments, the control system being used to control the traffic cone deployment and retraction device.

[0022] The vehicle in this embodiment includes a frame, a traffic cone deployment and retraction device, and a control system for the traffic cone deployment and retraction device. By controlling the traffic cone deployment and retraction device mounted on the frame through the control system, the traffic cones can be deployed and retracted automatically, which improves work efficiency and reduces work costs, while also reducing the operational risks for workers.

[0023] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the traffic cone deployment and retraction device in one embodiment of the present invention;

[0025] Figure 2 This is a flowchart of a control method for a traffic cone deployment and retraction device in one embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of traffic cone storage in a specific embodiment of the present invention;

[0027] Figure 4 This is a schematic diagram of the traffic cone deployment and retraction device in a specific embodiment of the present invention;

[0028] Figure 5 This is a flowchart of the control method for the traffic cone deployment and retraction device in another embodiment of the present invention;

[0029] Figure 6 This is a schematic diagram of the angle of the traffic cones placed diagonally in a specific embodiment of the present invention;

[0030] Figure 7 This is a flowchart of the control method for the traffic cone deployment and retraction device in another embodiment of the present invention;

[0031] Figure 8 This is a flowchart of the control method for the traffic cone deployment and retraction device in another embodiment of the present invention;

[0032] Figure 9 This is a flowchart of the control method for a traffic cone deployment and retraction device in a specific embodiment of the present invention;

[0033] Figure 10 This is a schematic diagram of the control system of the traffic cone deployment and retraction device in an embodiment of the present invention;

[0034] Figure 11 This is a structural block diagram of the vehicle in an embodiment of the present invention. Detailed Implementation

[0035] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0036] The control method and system, storage medium, and vehicle of the traffic cone deployment and retraction device according to embodiments of the present invention are described below with reference to the accompanying drawings.

[0037] First see Figure 1 As shown, the traffic cone deployment and retraction device of the present invention includes a box ejection mechanism 110, a box insertion mechanism 120, a transfer mechanism 130, a shifting mechanism 140, and a deployment and retraction mechanism 150. It should be noted that the LCD control screen 160, the sensing devices such as sensors 170, and the controller 100 in the figure are briefly described here. The LCD control screen 160 can provide a human-machine interface and control information, while the sensing devices such as sensors 170 can obtain the information required during the deployment and retraction of traffic cones, such as the position information and number information of traffic cones. The controller 100 is the main body for executing the control method of the traffic cone deployment and retraction device in this embodiment. The specific selection can be determined according to the actual situation and is not specifically limited here.

[0038] In this embodiment, the traffic cones are stored in a box. The box ejection mechanism 110 can push the traffic cones in the box to the box outlet so that the transfer mechanism 130 can transfer them to the transfer platform 142 of the shifting mechanism 140. Of course, the transfer mechanism 130 can also transfer the traffic cones on the shifting platform 142 to the box inlet so that the box push-in mechanism 120 can store the traffic cones at the box inlet into the box, thereby completing the retrieval of the traffic cones. The take-up and put-down mechanism 150 can place the traffic cones on the shifting platform 142 onto the working surface, or it can clamp the traffic cones on the working surface onto the shifting platform 142.

[0039] The control method for the traffic cone deployment and retraction device in this embodiment of the invention includes the following steps:

[0040] S10: Obtain the control command for the retraction and deployment of traffic cones.

[0041] S20, according to the take-up and release control command, the transfer mechanism 130 is controlled to transfer the traffic cone pushed out of the box by the box push-out mechanism 110 to the transfer platform 142 of the transfer mechanism 140, and the traffic cone on the transfer platform 142 is placed to the target position on the working surface by the take-up and release mechanism 150.

[0042] S30, according to the release control command, the release mechanism 150 is controlled to pick up the traffic cone at the target position and place it on the transfer platform 142 of the transfer mechanism 140. Then, the traffic cone on the transfer platform 142 is transferred to the entrance of the container by the transfer mechanism 130, and the container pushing mechanism 120 is controlled to store the traffic cone at the entrance of the container into the container.

[0043] Specifically, in this embodiment, the placement and retrieval control command can be sent by the operator through the LCD control screen 160. The operator can determine whether to issue the placement and retrieval control command based on the information detected by the sensor and other sensing devices 170. After the controller 100 obtains the placement and retrieval control command for the traffic cone, it can perform the placement and retrieval operations of the traffic cone. During the placement of the traffic cone, the box ejection mechanism 110 is first controlled to push the traffic cone out of the box to the box outlet. Then, the transfer mechanism 130 is used to transfer the traffic cone at the box outlet to the transfer platform 142 of the transfer mechanism 140, so that the placement and retrieval mechanism 150 can place the traffic cone on the transfer platform 142 to the target position on the work surface, thereby completing the placement of the traffic cone. During the traffic cone retrieval process, the receiving and releasing mechanism 150 first picks up the traffic cone at the target position on the working surface and places it onto the transfer platform 142 of the transfer mechanism 140. Then, the transfer mechanism 130 moves the traffic cone on the transfer platform 142 to the entrance of the box, so that the box pushing mechanism 120 can push the traffic cone at the entrance of the box into the box for storage, thereby completing the retrieval of the traffic cone.

[0044] Optionally, such as Figure 3 As shown, the housing in this embodiment includes multiple layers of storage space, capable of storing more traffic cones. More specifically, see... Figure 4In this embodiment, the box ejection mechanism 110 may include an ejection cylinder, an ejection guide rod, and an ejection drive cylinder (not shown in the figure). Similarly, the box insertion mechanism 120 may include an insertion cylinder, an insertion guide rod, and an insertion drive cylinder (not shown in the figure). When the box has two storage layers, the box ejection mechanism 110 may include a top-level ejection mechanism and a bottom-level ejection mechanism, thereby enabling the layered storage and placement of traffic cones. Specifically, by using position sensors that identify each storage layer, the transfer mechanism 130 can automatically identify the position of the traffic cones to select either top-level or bottom-level storage. The transfer mechanism 130 includes a horizontal scissor mechanism 131, a vertical scissor mechanism 132, a clamping mechanism 133, and a running trolley 134. The clamping mechanism 133 can clamp multiple cones at once, improving the efficiency of traffic cone storage and placement. The combined use of the horizontal scissor mechanism 131, the vertical scissor mechanism 132, and the running trolley 134 can act on traffic cones stored in different layers of the box, avoiding control dead zones. The shifting mechanism 140 includes a flipping platform 141 and a shifting platform 142. The flipping platform 141 can flip the traffic cone placed horizontally on the shifting platform 142 so that the traffic cone is placed vertically on the shifting platform 142. The shifting platform 142 can also move the traffic cone placed vertically on it left and right. The retrieval mechanism 150 includes a swing arm mechanism 151 and a guide mechanism 152. When performing the traffic cone retrieval operation, the guide mechanism 152 needs to be placed on the ground, the guide rod needs to be opened according to the set requirements, and then the swing arm mechanism 151 is used to clamp the traffic cone into the shifting mechanism 140. When performing the traffic cone placement operation, the guide mechanism 152 needs to be retracted to the top of the box. Through the extension and retraction of the swing arm mechanism 151, and the opening and closing of the clamps set on the swing arm mechanism 151, the traffic cone is removed from the shifting mechanism 140 and placed to the target position on the working surface.

[0045] In one specific embodiment of the present invention, the retraction and placement control command includes a diagonal placement control command. The retraction and placement mechanism 150 includes a first swing arm assembly 1511 and a second swing arm assembly 1512. The first swing arm assembly 1511 is correspondingly disposed at one end of the shifting platform 142, and the second swing arm assembly 1512 is correspondingly disposed at the other end of the shifting platform 142. In the diagonal placement control command, such as... Figure 5 As shown, the traffic cone on the transfer platform 142 is placed to the target position on the work surface by the deployment mechanism 150, including:

[0046] S401, Get the number of traffic cones to be placed.

[0047] S402, control the first swing arm assembly 1511 to place the traffic cone to the target position from the first direction to the second direction at first preset distances and first preset angles.

[0048] S403, when the angle at which the first swing arm assembly 1511 places the traffic cone is a second preset angle, or when the first swing arm assembly 1511 has placed a preset number of traffic cones, the second swing arm assembly 1512 is controlled to place the remaining traffic cones to the target position from the first direction to the second direction at a first preset distance and a first preset angle, wherein the number of preset traffic cones is determined according to the number of traffic cones to be placed.

[0049] Specifically, the number of traffic cones required varies depending on the site conditions. In this embodiment, the number of traffic cones to be placed can be obtained in advance by sensing devices such as sensors 170, thereby determining the working parameters of the box ejection mechanism 110 and controlling the box ejection mechanism 110 to gradually eject the corresponding traffic cones. The traffic cones are then transferred to the shifting platform 142 by the transfer mechanism 130. Once the traffic cone is positioned on the shifting platform 142, the first swing arm assembly 1511 is controlled to place the traffic cone at a first preset distance and a first preset angle from the first direction to the second direction to the target position. During the diagonal placement of the traffic cone, to ensure safety, the vehicle carrying the traffic cone travels at a constant speed in a straight line. The diagonal placement is achieved by changing the swing arm. Therefore, the first swing arm assembly 1511 increases the first preset angle at a first preset distance to place the traffic cone from the first direction to the second direction. When the first swing arm assembly 1511 has moved the angle to the second preset angle or has placed a preset number of traffic cones during the placement process, the second swing arm assembly 1512 takes over. The second swing arm assembly 1512 is controlled to place the remaining traffic cones at the corresponding target positions at a first preset distance and a first preset angle from the first direction to the second direction.

[0050] For example, such as Figure 6As shown, during the diagonal placement of the traffic cone, the swing arm mechanism 151 is set by default to the placement position of the first traffic cone (its offset angle is set to α), which is the outermost angle of the first swing arm assembly 1511 (this angle can be determined according to the lane width to avoid interference with other lanes or other vehicles), the zero position of the first swing arm assembly 1511, which is the position where the swing arm clamps the traffic cone on the shifting platform 142, the maximum inward position of the swing arm (its offset angle is set to β), which is the position of the 2N / 3rd traffic cone; the maximum inward position of the second swing arm assembly 1512 (the offset angle is set to β), which is the position of the (2N / 3)+1th traffic cone. Where (α+β) is the second preset angle, and N is the number of traffic cones to be placed as described in this embodiment. The preset number of traffic cones can be M = aN / b, where M is the preset number of traffic cones, a and b are both positive integers, and a is less than b, specifically 2N / 3. The first preset distance S in this embodiment can be determined based on the vehicle speed Ua, the vehicle engine speed n, the tire rolling radius R, the gear ratio I1 of the gearbox, the total reduction ratio I2 of the rear axle, and the travel time t. Specifically, it can be calculated using the formulas Ua = 0.377n*R / I1*I2 and S = Ua*t. Then, by using the distance between the two traffic cones set in the control command, the first preset angle can be obtained as arccos(S / St). In actual operation, the angle of the swing arm can be adjusted in real time according to the vehicle speed to place the traffic cones at the corresponding target positions.

[0051] In some embodiments of the present invention, the shifting platform 142 is adapted to hold a plurality of traffic cones, and the control method further includes: before the traffic cones on the shifting platform 142 are placed to the target position on the working surface by the take-up and drop mechanism 150:

[0052] Obtain the position information of the traffic cone on the displacement platform 142.

[0053] Based on the location information, the traffic cone is determined to be in the first position of the displacement platform 142.

[0054] Specifically, to improve deployment and retrieval efficiency, the shifting platform 142 can simultaneously hold multiple traffic cones. To ensure that the deployment and retrieval mechanism 150 can easily and smoothly place all traffic cones from the shifting platform 142 onto the working surface, this embodiment also implements movement control for the traffic cones on the shifting platform 142. This allows traffic cones at different positions on the shifting platform 142 to accurately move to a first position for control by the deployment and retrieval mechanism 150. Specifically, the position information of each traffic cone on the shifting platform 142 can be detected by a detection device (such as a photoelectric sensor). Based on this position information, it can be determined whether a traffic cone is placed at the first position. If so, placement control can be performed; otherwise, shifting control is performed first, followed by placement control. Optionally, the shifting platform 142 is suitable for holding four traffic cones.

[0055] In this embodiment, the shifting mechanism 140 includes shifting components, such as... Figure 7 As shown, the control method also includes:

[0056] S601, when it is determined from the location information that the traffic cone is not in the first position of the shifting platform 142, the shifting component is controlled to work to move the traffic cone on the shifting platform 142 to the first position.

[0057] S602, when the shifting component has worked a preset number of times and no traffic cone is placed at the first position, the transfer mechanism 130 is controlled to transfer the traffic cone pushed out of the box by the box ejection mechanism 110 to the shifting platform 142 of the shifting mechanism 140.

[0058] Specifically, during the placement of traffic cones, after the traffic cone in the first position is placed to the target position on the work surface, no traffic cone is placed in the first position of the shifting platform 142. To facilitate the gripping of the traffic cone by the receiving and placing mechanism 150, this embodiment also uses a shifting component to move the traffic cone that is not in the first position to the first position, so that the receiving and placing mechanism 150 can accurately grip the traffic cone from the first position for placement. After the shifting component has operated a preset number of times, if it is detected that no traffic cone is placed in the first position, it means that all the traffic cones currently placed on the shifting platform 142 have been placed. Therefore, the transfer mechanism 130 can be controlled to transfer the traffic cone pushed out of the box by the box ejection mechanism 110 to the shifting platform 142. The box ejection mechanism 110 can be completed in advance, so that even if no traffic cone is placed on the shifting platform 142, the transfer mechanism 130 can be directly controlled to perform the transfer operation. It is understood that the preset number of times the shifting component works in this embodiment can be determined according to the number of traffic cones that the shifting platform 142 can place. For example, if the shifting platform 142 is suitable for placing four traffic cones, then the preset number of times the shifting component works is three; if the shifting platform 142 is suitable for placing five traffic cones, then the preset number of times the shifting component works is four.

[0059] In one embodiment of the present invention, the take-up and release control command includes a diagonal take-up control command. The take-up and release mechanism 150 also includes at least one guide component. According to the take-up and release control command, the take-up and release mechanism 150 is controlled to clamp the traffic cone at the target position to the transfer platform 142 of the transfer mechanism 140. This includes: controlling the guide component to guide the traffic cone at the target position to a preset position, and clamping the traffic cone at the preset position to the transfer platform 142 through the first swing arm component 1511 or the second swing arm component 1512.

[0060] Specifically, during the traffic cone retrieval process, the guide component in the retrieval mechanism 150 needs to be lowered. The guide component can guide the traffic cone at the target position to a preset position, so that the first swing arm component 1511 or the second swing arm component 1512 in the retrieval mechanism 150 can clamp the traffic cone from the preset position to the transfer platform 142. It can be understood that two guide components can also be provided in this embodiment, with two guide components corresponding to two swing arm components. The traffic cone guided to the preset position by the first guide component is clamped to the transfer platform 142 by the first swing arm component 1511, and the traffic cone guided to the preset position by the second guide component is clamped to the transfer platform 142 by the second swing arm component 1512.

[0061] In this embodiment, the shifting platform 142 is adapted to hold multiple traffic cones. Before the retraction mechanism 150 is controlled according to the retraction control command to clamp the traffic cone at the target position onto the shifting platform 142 of the shifting mechanism 140, the following is also included:

[0062] Obtain the position information of the traffic cones on the relocation platform 142.

[0063] Based on the traffic cone location information, it is determined that the traffic cone is not in the first position of the displacement platform 142.

[0064] Specifically, in this embodiment, when the receiving and placing mechanism 150 picks up the traffic cone and places it onto the transfer platform 142, it can place the traffic cone at a fixed position, such as a first position, to improve the retrieval efficiency and reduce control difficulty. Therefore, before the swing arm assembly picks up the traffic cone and places it onto the transfer platform 142, it is necessary to first determine whether a traffic cone is placed at the first position. Specifically, this can be done by detecting the position information of each traffic cone on the transfer platform 142 using a detection device, and then determining whether a traffic cone is placed at the first position. Alternatively, it can be done by only detecting whether a traffic cone exists at the first position.

[0065] In this embodiment, the shifting mechanism 140 includes shifting components, such as... Figure 8 As shown, the control method also includes:

[0066] S701, when the traffic cone is determined to be in the first position of the shifting platform 142 based on the traffic cone position information, the shifting component is controlled to work to move the traffic cone on the shifting platform 142 out of the first position.

[0067] S702, when the shifting component has worked continuously for a preset number of times and a traffic cone is placed at the first position, the traffic cone on the shifting platform 142 is transferred to the box entrance by the transfer mechanism 130, and the box pushing mechanism 120 is controlled to store the traffic cone at the box entrance into the box.

[0068] Specifically, during the traffic cone retrieval process, after a traffic cone at the target location is placed in the first position, to facilitate retrieval by the receiving and placing mechanism 150, this embodiment also uses a shifting component to move the traffic cone in the first position to other positions. This allows the receiving and placing mechanism 150 to then pick up other traffic cones from the working surface and place them in the first position. After the shifting component has operated a preset number of times, if a traffic cone is detected in the first position, it indicates that the shifting platform 142 is now full of traffic cones. Therefore, the transfer mechanism 130 can continue to move the traffic cones on the shifting platform 142 to the entrance of the container, and then the container pushing mechanism 120 pushes the traffic cones into the container for storage. It is understood that the preset number of times the shifting component operates in this embodiment can be determined based on the number of traffic cones that the shifting platform 142 can hold. For example, if the shifting platform 142 is suitable for holding four traffic cones, the preset number of times the shifting component operates is three; if the shifting platform 142 is suitable for holding five traffic cones, the preset number of times the shifting component operates is four.

[0069] In one specific embodiment of the present invention, such as Figure 9 As shown, firstly, the number N of diagonally placed buckets is displayed on the LCD control screen 160. Then, the first swing arm assembly 1511 is extended, and the presence of a traffic cone at the first position of the shifting platform 142 is detected. If a traffic cone is present, it is picked up. If not, the top cone cylinder and the shifting cylinder work together to move traffic cones from other positions to the first position. If a traffic cone is present, it is picked up. Then, the first swing arm assembly 1511 is retracted, and it is determined whether the first swing arm assembly 1511 has retracted into place. If it has, the servo motor is started to rotate, and the traffic cone is released when the servo motor rotates to the preset position to place the traffic cone. Then, the servo motor returns to the zero position, and it is determined whether the number of diagonally placed buckets is less than 2N / 3. If so, the above steps are repeated. Otherwise, the second swing arm assembly 1512 is started to pick up the buckets and shift them. The working process of the second swing arm assembly 1512 can be referred to the working process of the first swing arm assembly 1511 described above, and will not be repeated here. After controlling the top cone cylinder and the shifting cylinder to work, this example also determines whether the shifting cylinder has worked three times. If so, it further determines whether the number of diagonally placed buckets is less than 2N / 3. If so, it waits for the transfer mechanism 130 to send the cone buckets to the shifting platform 142 to continue controlling the first swing arm assembly 1511 to place traffic cones. If the shifting cylinder has not worked three times, it continues to control the first swing arm assembly 1511 to place traffic cones. However, if the number of diagonally placed buckets is not less than 2N / 3, it starts the second swing arm assembly 1512 to pick up the buckets and shift them.

[0070] In summary, the control method of the traffic cone deployment and retraction device in this embodiment of the invention can automatically deploy and retract traffic cones, improving work efficiency and reducing work costs, while also reducing the operational risks for workers.

[0071] Furthermore, the present invention proposes a computer-readable storage medium storing a control program for a traffic cone deployment and retraction device, wherein the control program for the traffic cone deployment and retraction device, when executed by a processor, implements a control method for the traffic cone deployment and retraction device according to any of the above embodiments.

[0072] The computer-readable storage medium of this embodiment executes the control program of the traffic cone deployment and retraction device stored thereon through a processor, which enables fully automatic deployment and retraction of traffic cones, improving work efficiency and reducing work costs, while also reducing the operational risks to workers.

[0073] Figure 10 This is a schematic diagram of the control system of the traffic cone deployment and retraction device in an embodiment of the present invention.

[0074] Furthermore, such as Figure 10As shown, the present invention also proposes a control system 200 for a traffic cone deployment and retraction device, wherein the deployment and retraction device includes a box ejection mechanism, a box insertion mechanism, a transfer mechanism, a shifting mechanism, and a deployment and retraction mechanism, and the control system 200 includes an acquisition module 201 and a control module 202.

[0075] The acquisition module 201 is used to acquire the traffic cone retraction and release control command; the control module 202 is used to control the transfer mechanism to transfer the traffic cone pushed out of the box by the box ejection mechanism to the transfer platform of the shifting mechanism according to the retraction and release control command, and to place the traffic cone on the transfer platform to the target position on the working surface through the retraction and release mechanism; or to control the retraction and release mechanism to clamp the traffic cone at the target position to the transfer platform of the shifting mechanism according to the retraction and release control command, and then to transfer the traffic cone on the transfer platform to the box entrance through the transfer mechanism, and to control the box pushing mechanism to store the traffic cone at the box entrance into the box.

[0076] In some embodiments of the present invention, the deployment and retraction control command includes a diagonal placement control command. The deployment and retraction mechanism includes a first swing arm assembly and a second swing arm assembly, which are respectively disposed at both ends of the shifting platform. In the diagonal placement control command, the control module 202 places the traffic cones on the shifting platform to the target position on the working surface through the deployment and retraction mechanism, including: obtaining the number of traffic cones to be placed; controlling the first swing arm assembly to place the traffic cones to the target position from a first direction to a second direction at a first preset distance and a first preset angle; when the angle at which the first swing arm assembly places the traffic cones is a second preset angle, or when the first swing arm assembly has placed a preset number of traffic cones, controlling the second swing arm assembly to place the remaining traffic cones to the target position from the first direction to the second direction at a first preset distance and a first preset angle, wherein the preset number of traffic cones is determined according to the number of traffic cones to be placed.

[0077] In some embodiments of the present invention, the number of traffic cones is calculated according to the following formula: M = aN / b, where M is the number of traffic cones, N is the number of traffic cones to be placed, and a and b are both positive integers, and a is less than b.

[0078] In some embodiments of the present invention, the shifting platform is adapted to place multiple traffic cones. Before the traffic cones on the shifting platform are placed to the target position on the working surface by the take-up and take-down mechanism, the control module 202 is further configured to: obtain the position information of the traffic cones on the shifting platform; and determine the first position of the traffic cones on the shifting platform based on the position information.

[0079] In some embodiments of the present invention, the shifting mechanism includes a shifting component, and the control module 202 is further configured to: when it is determined from the position information that the traffic cone is not in the first position of the shifting platform, control the shifting component to work to move the traffic cone on the shifting platform to the first position; when the shifting component has worked a preset number of times and no traffic cone is placed in the first position, continue to control the transfer mechanism to transfer the traffic cone pushed out of the box by the box push-out mechanism to the shifting platform of the shifting mechanism.

[0080] In some embodiments of the present invention, the take-up and release control command includes a diagonal take-up control command, and the take-up and release mechanism further includes at least one guide component. The control module 202 controls the take-up and release mechanism to clamp the traffic cone at the target position to the transfer platform of the transfer mechanism according to the take-up and release control command, including: controlling the guide component to guide the traffic cone at the target position to a preset position, and clamping the traffic cone at the preset position to the transfer platform through the first swing arm component or the second swing arm component.

[0081] In some embodiments of the present invention, the shifting platform is adapted to place multiple traffic cones. Before the control module 202 controls the retraction mechanism to pick up the traffic cone at the target position to the shifting platform of the shifting mechanism according to the retraction control command, it is also used to: obtain the position information of the traffic cone on the shifting platform; and determine that the traffic cone is not in the first position of the shifting platform according to the position information of the traffic cone.

[0082] In some embodiments of the present invention, the shifting mechanism includes a shifting component, and the control module 202 is further configured to: when the traffic cone is determined to be in the first position of the shifting platform according to the traffic cone position information, control the shifting component to work to move the traffic cone on the shifting platform out of the first position; when the shifting component works continuously for a preset number of times and a traffic cone is placed in the first position, then continue to transfer the traffic cone in the shifting platform to the box entrance through the transfer mechanism, and control the box pushing mechanism to store the traffic cone at the box entrance into the box.

[0083] It should be noted that the specific implementation of the control system of the traffic cone deployment and retraction device in the embodiments of the present invention can be found in the control method of the traffic cone deployment and retraction device in the above embodiments. To avoid redundancy, it will not be described again here.

[0084] In summary, the control system of the traffic cone deployment and retraction device in this embodiment of the invention can automatically deploy and retract traffic cones, improving work efficiency and reducing work costs, while also reducing the operational risks for workers.

[0085] Figure 11 This is a structural block diagram of the vehicle in an embodiment of the present invention.

[0086] Furthermore, such as Figure 11As shown, the present invention proposes a vehicle 300, which includes a frame 301, a traffic cone retraction device 302 disposed on the frame 301, and a control system 200 for the traffic cone retraction device according to the above embodiment. The control system 200 is used to control the traffic cone retraction device 302.

[0087] The vehicle in this embodiment includes a frame, a traffic cone deployment and retraction device, and a control system for the traffic cone deployment and retraction device. By controlling the traffic cone deployment and retraction device mounted on the frame through the control system, the traffic cones can be deployed and retracted automatically, which improves work efficiency and reduces work costs, while also reducing the operational risks for workers.

[0088] Furthermore, other components and functions of the vehicle in the embodiments of the present invention are known to those skilled in the art, and will not be described in detail here to reduce redundancy.

[0089] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0090] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0091] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0092] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to 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 invention.

[0093] Furthermore, the terms "first," "second," etc., used in the embodiments of this invention are for descriptive purposes only and should not be construed as indicating or implying relative importance, or implicitly specifying the number of technical features indicated in this embodiment. Therefore, features defined with terms such as "first" and "second" in the embodiments of this invention can explicitly or implicitly indicate that the embodiment includes at least one of those features. In the description of this invention, the word "multiple" means at least two or more, such as two, three, four, etc., unless otherwise explicitly specified in the embodiments.

[0094] In this invention, unless otherwise explicitly specified or limited in the embodiments, the terms "installation," "connection," "joining," and "fixing" appearing in the embodiments should be interpreted broadly. For example, a connection can be a fixed connection, a detachable connection, or an integral part; it can also be a mechanical connection, an electrical connection, etc. Of course, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components, or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific implementation.

[0095] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0096] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A control method for a traffic cone deployment and retraction device, characterized in that, The loading and unloading device includes a container ejection mechanism, a container insertion mechanism, a transfer mechanism, a shifting mechanism, and a loading and unloading mechanism; the control method includes: Obtain the retraction and extension control command for the traffic cone; According to the take-up and release control command, the transfer mechanism is controlled to transfer the traffic cone pushed out of the box by the box ejection mechanism to the transfer platform of the shifting mechanism, and the traffic cone on the shifting platform is placed to the target position on the working surface by the take-up and release mechanism. or According to the release and take-up control command, the release and take-up mechanism is controlled to clamp the traffic cone at the target position to the transfer platform of the transfer mechanism, and then the transfer mechanism is used to transfer the traffic cone on the transfer platform to the entrance of the box, and the box pushing mechanism is controlled to store the traffic cone at the entrance of the box into the box. The deployment and retraction control command includes a diagonal placement control command. The deployment and retraction mechanism includes a first swing arm assembly and a second swing arm assembly, which are respectively disposed at both ends of the transfer platform. In the diagonal placement control command, the deployment and retraction mechanism places the traffic cone on the transfer platform to the target position on the working surface, including: Obtain the number of traffic cones to be placed; The first swing arm assembly is controlled to place the traffic cone at the target position from the first direction to the second direction at first preset distances and first preset angles; When the first swing arm assembly places the traffic cone at a second preset angle, or when the first swing arm assembly has placed a preset number of traffic cones, the second swing arm assembly is controlled to place the remaining traffic cones at the target position from the first direction to the second direction at a first preset distance and a first preset angle, wherein the number of the preset number of traffic cones is determined according to the number of traffic cones to be placed.

2. The control method for the traffic cone deployment and retraction device according to claim 1, characterized in that, The number of the preset traffic cones is calculated using the following formula: M=aN / b Where M is the number of the preset traffic cones, N is the number of traffic cones to be placed, and a and b are both positive integers, with a being less than b.

3. The control method for the traffic cone deployment and retraction device according to claim 1, characterized in that, The shifting platform is adapted to hold multiple traffic cones. Before the traffic cones on the shifting platform are placed to the target position on the work surface by the take-up and drop mechanism, the control method further includes: Obtain the position information of the traffic cone on the displacement platform; Based on the location information, the traffic cone is determined to be in the first position of the displacement platform.

4. The control method for the traffic cone deployment and retraction device according to claim 3, characterized in that, The shifting mechanism includes a shifting component, and the control method further includes: When it is determined based on the location information that the traffic cone is not in the first position of the shifting platform, the shifting component is controlled to move the traffic cone on the shifting platform to the first position; If the shifting component has worked a preset number of times and no traffic cone is placed at the first position, then the transfer mechanism is controlled to transfer the traffic cone pushed out of the box by the box ejection mechanism to the shifting platform of the shifting mechanism.

5. The control method for the traffic cone deployment and retraction device according to claim 1, characterized in that, The deployment and retraction control command includes a diagonal bucket deployment control command. The deployment and retraction mechanism further includes at least one guide component. According to the deployment and retraction control command, the deployment and retraction mechanism is controlled to clamp the traffic cone at the target location onto the shifting platform of the shifting mechanism, including: The guide assembly is controlled to guide the traffic cone at the target position to a preset position, and the traffic cone at the preset position is clamped onto the shifting platform by the first swing arm assembly or the second swing arm assembly.

6. The control method for the traffic cone deployment and retraction device according to claim 5, characterized in that, The shifting platform is adapted to hold multiple traffic cones. Before controlling the retraction mechanism to clamp the traffic cone at the target position onto the shifting platform of the shifting mechanism according to the retraction control command, the platform further includes: Obtain the position information of the traffic cones on the displacement platform; Based on the traffic cone position information, it is determined that the traffic cone is not in the first position of the displacement platform.

7. The control method for the traffic cone deployment and retraction device according to claim 6, characterized in that, The shifting mechanism includes a shifting component, and the control method further includes: When the traffic cone is determined to be in the first position of the shifting platform based on the traffic cone position information, the shifting component is controlled to move the traffic cone off the shifting platform from the first position. When the shifting component operates continuously for a preset number of times and a traffic cone is placed at the first position, the traffic cone on the shifting platform is transferred to the box entrance by the transfer mechanism, and the box pushing mechanism is controlled to store the traffic cone at the box entrance into the box.

8. A computer-readable storage medium, characterized in that, It stores a control program for a traffic cone deployment and retraction device, which, when executed by a processor, implements the control method for a traffic cone deployment and retraction device according to any one of claims 1-7.

9. A control system for a traffic cone deployment and retraction device, characterized in that, The loading and unloading device includes a container ejection mechanism, a container insertion mechanism, a transfer mechanism, a shifting mechanism, and a loading and unloading mechanism; the control system includes: The acquisition module is used to acquire the control commands for the retraction and deployment of the traffic cones; The control module is configured to control the transfer mechanism to transfer the traffic cone pushed out of the box by the box ejection mechanism to the transfer platform of the shifting mechanism according to the release control command, and place the traffic cone on the transfer platform to the target position on the working surface through the release mechanism; or to control the release mechanism to clamp the traffic cone at the target position to the transfer platform of the shifting mechanism according to the release control command, and then transfer the traffic cone on the transfer platform to the box entrance through the transfer mechanism, and control the box pushing mechanism to store the traffic cone at the box entrance into the box; The retraction and placement control command includes a diagonal placement control command. The retraction and placement mechanism includes a first swing arm assembly and a second swing arm assembly, which are respectively disposed at both ends of the shifting platform. In the diagonal placement control command, the control module places the traffic cone on the shifting platform to the target position on the working surface through the retraction and placement mechanism, including: obtaining the number of traffic cones to be placed; controlling the first swing arm assembly to place the traffic cones to the target position from a first direction to a second direction at a first preset distance and a first preset angle; when the angle at which the first swing arm assembly places the traffic cones is a second preset angle, or when the first swing arm assembly has placed a preset number of traffic cones, controlling the second swing arm assembly to place the remaining traffic cones to the target position from the first direction to the second direction at a first preset distance and a first preset angle, wherein the preset number of traffic cones is determined according to the number of traffic cones to be placed.

10. A vehicle, characterized in that, The vehicles include: Frame; Traffic cone retraction device provided on the vehicle frame; The control system for the traffic cone deployment and retraction device according to claim 9, wherein the control system is used to control the traffic cone deployment and retraction device.

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