Dynamic queue control and walking method based on traffic walking control unit

Abstract

The invention belongs to the technical field of intelligent traffic control, and provides a dynamic queue control and walking method based on a traffic walking control unit, and the method comprises the steps: S1, carrying out the queue initialization of the traffic walking control unit; s2, carrying out self-calibration on the traffic walking control unit; s3, controlling a traffic walking control unit queue; s4, correcting the walking distance of the traffic walking control unit; s5, false operation of the traffic walking control unit is eliminated; and S6, carrying out operation protection on the traffic walking control unit. According to the method, by calculating the accumulated walking distance in real time and comparing the accumulated walking distance with a preset value, when it is found that an accumulated error exceeds a set threshold value, a deviation correction mechanism can be triggered immediately, and a set route distance issued by a main control unit is corrected. The dynamic adjustment process ensures that the robot team can continuously advance along a correct path, the walking precision of the system is greatly improved, and efficient operation can be kept even in a complex and changeable environment.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent traffic control, and relates to a dynamic queue control and walking method based on a traffic walking control unit. Background Art

[0002] With the development of science and technology, the application of robot technology in various fields is becoming more and more extensive. Especially in the field of transportation, the application of robots can not only improve traffic efficiency, but also reduce accidents caused by human errors. Team walking robots that need to be applied in teams, such as tidal robots controlling tidal lanes, queue robots protecting students, and traffic signal control robots, are becoming more and more common. However, the existing robot team walking technology still has some problems, such as poor synchronization and inaccurate positioning. These problems may cause the entire row of robots to fall over, affecting traffic safety and efficiency.

[0003] First, in the existing robot team walking technology, the mechanical connection structure between each unit generally uses metal links. Although this structure can ensure the close connection between the robots, due to the high rigidity of the metal link, when a robot has an error, it may cause the error accumulation of the entire queue, causing the entire row of robots to fall. In addition, the metal link structure is also prone to increase friction between robots, further affecting the walking speed and stability of the robots.

[0004] Secondly, in the existing robot team walking technology, the change in power of each unit motor may also cause walking speed errors. When the robot works for a long time, the battery power will gradually decrease, which will cause the robot's walking speed to slow down, thus affecting the synchronization and stability of the entire team. At the same time, the difference in motor parameters will also produce cumulative errors, further affecting the robot's positioning accuracy and walking stability.

[0005] Thirdly, in the existing robot team walking technology, in addition to factors such as mechanical connections and motor parameters, environmental factors also have a significant impact on the stability and walking accuracy of the robot queue. Specifically, the wear of the moving parts, the unevenness of the ground, the change of the ground friction coefficient, the natural wind resistance, and the changes in the array when facing different wind directions will lead to problems such as poor walking synchronization and error accumulation between robots. In addition, under complex climatic conditions such as rain and snow, the slippery, temperature changes, and humidity fluctuations of the robot during walking will interfere with the robot's movement performance, further affecting the stability and walking accuracy of the queue. The variability of these environmental factors makes it more difficult to guarantee the synchronization and positioning accuracy of the robot queue.

[0006] Moreover, in the existing robot team walking technology, the communication between each unit usually adopts wireless communication. Although wireless communication has the advantages of easy installation and low cost, its communication distance is limited and it is easily affected by external interference, resulting in unstable communication. In addition, wireless communication also needs to occupy a certain amount of spectrum resources and may conflict with other devices. Moreover, the walking correction between each unit often relies on the unified instructions of the central control system, which limits the independence of each unit to a certain extent. When an error or failure occurs in a unit, the entire queue may need to stop walking for adjustment, or even need to wait for the next correction cycle to make adjustments, which undoubtedly reduces the flexibility of the system and increases the risk of the system. Summary of the invention

[0007] In view of the above problems, the present invention proposes a dynamic queue control and walking method based on a traffic walking control unit, aiming to improve the synchronization and stability of robot team walking. By setting the master control unit to control the slave unit in a bus connection mode, each slave unit can realize independent walking correction and deviation correction, which effectively solves the problems of insufficient walking correction independence, poor communication reliability and limited correction cycle in the existing robot team walking technology, and improves the synchronization and stability of robot team walking.

[0008] The technical solution of the present invention is achieved in this way: A dynamic queue control and walking method based on a traffic walking control unit, comprising: S1: Traffic control unit queue initialization; S11: confirm the master control unit and the slave unit in the traffic travel control unit queue; The driven unit includes a first control encoder, a second control encoder and a third control encoder, and the traffic walking device includes a first driving wheel, a second driving wheel and a first calibration wheel; wherein the first driving wheel and the second driving wheel are universal wheels, which can control the traffic walking control unit to perform walking, turning and U-turning actions; The first control encoder is used to control the first driving wheel, the second control encoder is used to control the second driving wheel, and the third control encoder is used to control the first calibration wheel.

[0009] S12: The master control unit is connected to the plurality of slave units via a bus, and confirms that the communication is normal; S13: configuring initial parameters of the master control unit and the slave unit; S14: The master control unit sends control information to the slave unit, and the slave unit is used to receive instructions from the master control unit to control the movement of the traffic walking equipment; the control information includes the queue walking distance, start instruction and stop instruction.

[0010] S2: Traffic travel control unit self-calibration; For any first control encoder, second control encoder and third control encoder, multiple sampling is performed in each valid level signal cycle, the number of sampling is set to n, and the result of each sampling is si, where i represents the i-th sampling, si=1 represents high level, and si=0 represents low level. For n consecutive samplings, there exists 1≤j≤n-m+1, satisfying , it is considered to be a valid level, otherwise, it is considered to be an interference signal, which is filtered out and re-sampled and calculated; Among them, m represents the number of times that consecutive samples are high level, n represents the total number of samples set in a valid level cycle, j represents the jth sampling when the sampling result is high level, m, n, j are all positive integers, m≥3, n>m, 1≤j≤n-m+1.

[0011] S3: Traffic control unit queue control; S31: Traffic walking control unit independent walking correction; Assume that the first control encoder and the second control encoder perform a correction detection every interval ΔT. The cumulative walking distances of the first control encoder and the second control encoder at time t are L1(t) and L2(t) respectively. The difference between L1(t) and L2(t) is calculated every interval ΔT and compared with the set deviation threshold Q. If L1(t) and L2(t) satisfy |L1(t)-L2(t)|>Q at the current moment, the correction operation is performed until |L1−L2| <Q; The calculation steps of the cumulative walking distance L1(t) and L2(t) are as follows: Assume that the real-time walking distance of the first control encoder and the second control encoder is accumulated and calculated once every time interval of ΔT:

[0012] Wherein, v1(t) and v2(t) represent the instantaneous speed of the first control encoder and the second control encoder at time t respectively, and t represents the time variable.

[0013] S32: Dynamic adjustment of traffic control unit; Assume that the travel speed of the first control encoder is v1, corresponding to the travel distance L1; the travel speed of the second control encoder is v2, corresponding to the travel distance L2. Initially, v1=v2. When the deviation correction starts, adjust the speed so that the travel distances of the two encoders tend to be consistent:

[0014] Where k is a dynamic adjustment coefficient until L1(t)=L2(t) and v1'(t)=v2'(t).

[0015] S4: Traffic walking control unit walking distance correction; S41: For any first control encoder and second control encoder, calculate the actual travel distance of the first driving wheel and the second driving wheel: ; S42: Calculate the offset distance: The offset distance Δd is the difference between the predetermined straight track walking distance L0(t) and the actual walking distance Lad(t) at time t: Δd=Lad(t)-L0(t); S43: The corrected walking distance is: Lnew=L0+Δd, where L0 is the distance of the predetermined straight track of the traffic walking device.

[0016] Among them, the calculation steps of L0(t) are as follows: Assume that the pulse numbers of the first control encoder and the second control encoder are P1(t) and P2(t) respectively, and P1(t)=P2(t).

[0017] The unit walking distance corresponding to the preset unit pulse is Lunit=L0 / Pto, where L0 is the distance of the predetermined straight line track of the traffic walking equipment, and Pto is the total number of theoretical pulses of the predetermined straight line track of the traffic walking equipment; The predetermined walking distance at the current time t is calculated as L0(t)=P1(t)*L0 / Pto=P2(t)*L0 / Pto.

[0018] S5: Traffic travel control unit malfunction elimination; S51: performing incremental calculation on the first driving wheel, the second driving wheel and the first calibration wheel at every time interval ΔT; First driving wheel ΔT time interval increment: ΔL1(t)=L1(t+ΔT)-L1(t) Second driving wheel ΔT time interval increment: ΔL2(t)=L2(t+ΔT)-L2(t) First calibration round ΔT time interval increment: ΔLnew(t)=Lnew(t+ΔT)-Lnew(t) S52: Misoperation correction; A threshold Q is set. If |ΔL1(t)-ΔLnew(t)|>Q, it is considered that the first driving wheel has malfunctioned, and the speed or position of the first control encoder is adjusted to make ΔP1(t) close to ΔP3(t).

[0019] If |ΔL2(t)-ΔLnew(t)|>Q|, it is considered that the second driving wheel has malfunctioned, and the speed or position of the second control encoder is adjusted so that ΔP2(t) is close to ΔP3(t).

[0020] S6: Traffic travel control unit operation protection.

[0021] The first control encoder and the second control encoder synchronously set the slow start and slow stop; The main control unit monitors the status of the entire queue in real time, including the position, speed and deviation correction of each unit.

[0022] If anomalies or large deviations are detected, the main control unit can send additional instructions for adjustment.

[0023] The working principle and beneficial effects of the present invention are: 1. Reduce system complexity and maintenance costs: The bus connection method is used to connect the slave units together to form a stable communication network. Compared with traditional wireless communication methods, the bus connection method is more stable and reliable, less susceptible to external interference, and does not need to occupy spectrum resources. This communication method not only improves the reliability of communication, but also reduces the complexity and maintenance cost of the system.

[0024] 2. Reduce error accumulation and improve walking accuracy: Each slave unit can perform real-time correction according to its own situation. The extremely small interval setting of the correction cycle can reduce error accumulation, so that each walking unit can perform timely correction when an error occurs, and correct it back to the established command route issued by the main control unit. Although each slave unit is controlled independently, it is always adjusted in real time under the command of the main control unit, which greatly improves the walking accuracy and flexibility of the system.

[0025] 3. Enhance system safety: The concept of real-time correction cycle is introduced, so that each slave unit can perform correction operations in time according to actual conditions, which greatly improves the walking accuracy of the system and ensures the stability and safety of the system.

[0026] 4. Dynamically adjust and optimize the path: By calculating the cumulative walking distance in real time and comparing it with the preset value, when the cumulative error exceeds the set threshold, the correction mechanism can be triggered immediately, and the established route distance issued by the main control unit will be corrected. This dynamic adjustment process ensures that the robot team can continue to move along the correct path and maintain efficient operation even in complex and changing environments.

[0027] 5. Improve response speed and adaptability: Due to the adoption of real-time monitoring and immediate correction strategies, the system responds faster and has stronger adaptability to sudden situations such as the appearance of obstacles, changes in ground conditions (such as wetness, water accumulation, snow accumulation, etc.) and other natural factors, which helps avoid potential safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0029] Figure 1 It is a detailed flow chart of each stage of a dynamic queue control and walking method based on a traffic walking control unit; Figure 2 A step diagram of a dynamic queue control and walking method based on a traffic walking control unit; Figure 3 A schematic diagram of the layout of a dynamic queue control and walking method based on a traffic walking control unit in a queue of a traffic walking control unit; DETAILED DESCRIPTION

[0030] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0031] On the one hand, if Figure 1 to Figure 3 As shown, a dynamic queue control and walking method based on a traffic walking control unit includes: S1: Traffic control unit queue initialization; S11: confirm the master control unit and the slave unit in the traffic travel control unit queue; The driven unit includes a first control encoder, a second control encoder and a third control encoder, and the traffic walking device includes a first driving wheel, a second driving wheel and a first calibration wheel; wherein the first driving wheel and the second driving wheel are universal wheels, which can control the traffic walking control unit to perform walking, turning and U-turning actions; The first control encoder is used to control the first driving wheel, the second control encoder is used to control the second driving wheel, and the third control encoder is used to control the first calibration wheel.

[0032] S12: The master control unit is connected to the plurality of slave units via a bus, and confirms that the communication is normal; S13: configuring initial parameters of the master control unit and the slave unit; S14: The master control unit sends control information to the slave unit, and the slave unit is used to receive the command of the master control unit to control the movement of the traffic walking equipment; the control information includes the queue walking distance, start command and stop command. This information is transmitted through the bus to ensure that each slave unit receives the same command.

[0033] A specific embodiment provided by the present application is that a traffic walking control unit queue includes a master control unit and several slave units, the master control unit and the several slave units are arranged in a one-to-one correspondence with the traffic walking control units in the queue, and the master control unit and the slave units are connected through a bus; the slave unit independently controls its own specific walking correction instructions; the master control unit sends control information to the slave unit to realize the linkage of the entire traffic walking control unit queue.

[0034] S2: Traffic travel control unit self-calibration; For any of the first control encoder, the second control encoder and the third control encoder, multiple sampling is performed in each valid level signal cycle, and the number of sampling times is set to n. When m consecutive times of n consecutive sampling results are high level, it is judged as a valid level. If there are no m consecutive high levels in n consecutive sampling results, it is judged as an interference signal, and the sampling result is filtered out and re-sampling is performed.

[0035] Specifically, the result of each sampling is si, where i represents the i-th sampling, si=1 represents a high level, and si=0 represents a low level. For n consecutive samplings, there exists 1≤j≤n-m+1, satisfying , it is considered to be a valid level, otherwise, it is considered to be an interference signal, which is filtered out and re-sampled and calculated; Among them, m represents the number of times that consecutive samples are high level, n represents the total number of samples set in a valid level cycle, j represents the jth sampling when the sampling result is high level, m, n, j are all positive integers, m≥3, n>m, 1≤j≤n-m+1.

[0036] By sampling and judging the encoder multiple times, the probability of system misjudgment caused by a single sampling error can be reduced, thereby improving the robustness of the system.

[0037] S3: Traffic control unit queue control; S31: The traffic walking control unit independently corrects the walking deviation; each slave unit independently performs the walking deviation correction operation according to the received control information.

[0038] Assume that the first control encoder and the second control encoder perform a correction detection every interval ΔT. The cumulative walking distances of the first control encoder and the second control encoder at time t are L1(t) and L2(t) respectively. The difference between L1(t) and L2(t) is calculated every interval ΔT and compared with the set deviation threshold Q. If L1(t) and L2(t) satisfy |L1(t)-L2(t)|>Q at the current moment, the correction operation is performed until |L1−L2| <Q; By regularly detecting and comparing the accumulated travel distances of the two control encoders, the synchronization between the two can be effectively monitored and adjusted. This mechanism can ensure that the two encoders remain highly consistent over long periods of operation, thereby reducing system performance degradation or failures caused by synchronization errors.

[0039] Whenever the difference between the accumulated travel distances of the two encoders exceeds the set deviation threshold Q, the system automatically triggers the deviation correction operation. This real-time deviation correction mechanism can quickly respond to and adjust any deviations that occur, ensuring the stability and accuracy of the system.

[0040] Specifically, the calculation steps of the cumulative walking distances L1(t) and L2(t) are as follows: Assume that the real-time walking distance of the first control encoder and the second control encoder is accumulated and calculated once every time interval of ΔT:

[0041] Wherein, v1(t) and v2(t) represent the instantaneous speed of the first control encoder and the second control encoder at time t respectively, and t represents the time variable.

[0042] S32: Dynamic adjustment of traffic control unit; Assume that the travel speed of the first control encoder is v1, corresponding to the travel distance L1; the travel speed of the second control encoder is v2, corresponding to the travel distance L2. Initially, v1=v2. When the deviation correction starts, adjust the speed so that the travel distances of the two encoders tend to be consistent:

[0043] Where k is a dynamic adjustment coefficient until L1(t)=L2(t) and v1'(t)=v2'(t).

[0044] S4: Traffic walking control unit walking distance correction; S41: For any first control encoder and second control encoder, calculate the actual travel distance of the first driving wheel and the second driving wheel: ; S42: Calculate the offset distance: The offset distance Δd is the difference between the predetermined straight track walking distance L0(t) and the actual walking distance Lad(t) at time t: Δd=Lad(t)-L0(t); S43: The corrected walking distance is: Lnew=L0+Δd, where L0 is the distance of the predetermined straight track of the traffic walking device.

[0045] Among them, the calculation steps of L0(t) are as follows: Assume that the pulse numbers of the first control encoder and the second control encoder are P1(t) and P2(t) respectively, and P1(t)=P2(t).

[0046] The unit walking distance corresponding to the preset unit pulse is Lunit=L0 / Pto, where L0 is the distance of the predetermined straight line track of the traffic walking equipment, and Pto is the total number of theoretical pulses of the predetermined straight line track of the traffic walking equipment; The predetermined walking distance at the current time t is calculated as L0(t)=P1(t)*L0 / Pto=P2(t)*L0 / Pto.

[0047] By calculating and correcting the offset distance, it can be ensured that the traffic walking equipment moves along the predetermined straight track, thereby improving the walking accuracy.

[0048] S5: Eliminate malfunction of the traffic travel control unit; the distance of the predetermined straight track of the traffic travel equipment is controlled by the third control encoder, and the travel distance of the first calibration wheel at time t controlled by the third control encoder is recorded as Lnew(t).

[0049] S51: performing incremental calculation on the first driving wheel, the second driving wheel and the first calibration wheel at every time interval ΔT; First driving wheel ΔT time interval increment: ΔL1(t)=L1(t+ΔT)-L1(t) Second driving wheel ΔT time interval increment: ΔL2(t)=L2(t+ΔT)-L2(t) First calibration round ΔT time interval increment: ΔLnew(t)=Lnew(t+ΔT)-Lnew(t) S52: Misoperation correction; A threshold Q is set. If |ΔL1(t)-ΔLnew(t)|>Q, it is considered that the first driving wheel has malfunctioned, and the speed or position of the first control encoder is adjusted to make ΔP1(t) close to ΔP3(t).

[0050] If |ΔL2(t)-ΔLnew(t)|>Q|, it is considered that the second driving wheel has malfunctioned, and the speed or position of the second control encoder is adjusted so that ΔP2(t) is close to ΔP3(t).

[0051] S6: Traffic travel control unit operation protection.

[0052] The first control encoder and the second control encoder synchronously set a slow start and a slow stop; The main control unit monitors the status of the entire queue in real time, including the position, speed and deviation correction of each unit.

[0053] If anomalies or large deviations are detected, the main control unit can send additional instructions for adjustment.

[0054] It is worth noting that this embodiment only shows a simple case of a dynamic queue control and walking method based on a traffic walking control unit for illustration, just for the convenience of demonstrating the principle of this method. The data and accuracy of this method in actual application are much higher than the data examples in this embodiment. It should be understood by those skilled in the art that the timing of the method steps provided in the above embodiment can be adaptively adjusted according to actual conditions, and can also be performed concurrently according to actual conditions.

[0055] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0056] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

Claims

1. A dynamic queue control and walking method based on a traffic walking control unit, characterized in that: include S1: Traffic control unit queue initialization; S2: Traffic travel control unit self-calibration; S3: Traffic control unit queue control; S4: Traffic walking control unit walking distance correction; S5: Traffic travel control unit malfunction elimination; S6: Traffic travel control unit operation protection.

2. A dynamic queue control and walking method based on a traffic walking control unit according to claim 1, characterized in that: Step S1 comprises, S11: confirm the master control unit and the slave unit in the traffic travel control unit queue; S12: The master control unit is connected to the plurality of slave units via a bus, and confirms that the communication is normal; S13: configuring initial parameters of the master control unit and the slave unit; S14: The master control unit sends control information to the slave unit, and the slave unit is used to receive instructions from the master control unit to control the movement of the traffic walking equipment; the control information includes the queue walking distance, start instruction and stop instruction.

3. A dynamic queue control and walking method based on a traffic walking control unit according to claim 2, characterized in that: The driven unit includes a first control encoder, a second control encoder and a third control encoder, and the traffic walking equipment includes a first driving wheel, a second driving wheel and a first calibration wheel; wherein, the first driving wheel and the second driving wheel are universal wheels, which can control the traffic walking control unit to perform walking, turning and U-turning actions; the first control encoder is used to control the first driving wheel, the second control encoder is used to control the second driving wheel, and the third control encoder is used to control the first calibration wheel.

4. A dynamic queue control and walking method based on a traffic walking control unit according to claim 1, characterized in that: Step S2 comprises, For any first control encoder, second control encoder and third control encoder, multiple sampling is performed in each valid level signal cycle, the number of sampling is set to n, and the result of each sampling is si, where i represents the i-th sampling, si=1 represents high level, and si=0 represents low level; for n consecutive samplings, there exists 1≤j≤n-m+1, satisfying , it is considered to be a valid level; otherwise, it is considered to be an interference signal, which is filtered out and re-sampled and calculated; Among them, m represents the number of times that consecutive samples are high level, n represents the total number of samples set in a valid level cycle, j represents the jth sampling when the sampling result is high level, m, n, j are all positive integers, m≥3, n>m, 1≤j≤n-m+1.

5. The method for dynamic queue control and walking based on a traffic walking control unit according to claim 1, characterized in that: Step S3 comprises, S31: Traffic walking control unit independent walking correction; Assume that the first control encoder and the second control encoder perform a correction detection every interval ΔT. The cumulative walking distances of the first control encoder and the second control encoder at time t are L1(t) and L2(t) respectively. The difference between L1(t) and L2(t) is calculated every interval ΔT and compared with the set deviation threshold Q. If L1(t) and L2(t) satisfy |L1(t)-L2(t)|>Q at the current moment, the correction operation is performed until |L1−L2| <Q; S32: Dynamic adjustment of traffic control unit; Assume that the travel speed of the first control encoder is v1, corresponding to the travel distance L1; the travel speed of the second control encoder is v2, corresponding to the travel distance L2; initially v1=v2, when the deviation correction starts, adjust the speed so that the travel distances of the two encoders tend to be consistent: Where k is a dynamic adjustment coefficient until L1(t)=L2(t) and v1'(t)=v2'(t).

6. A dynamic queue control and walking method based on a traffic walking control unit according to claim 5, characterized in that: The calculation steps of the cumulative walking distance L1(t) and L2(t) include: Assume that the real-time walking distance of the first control encoder and the second control encoder is accumulated and calculated once every time interval of ΔT: Wherein, v1(t) and v2(t) represent the instantaneous speed of the first control encoder and the second control encoder at time t respectively, and t represents the time variable.

7. A dynamic queue control and walking method based on a traffic walking control unit according to claim 1, characterized in that: Step S4 comprises, S41: For any first control encoder and second control encoder, calculate the actual travel distance of the first driving wheel and the second driving wheel: ; S42: Calculate the offset distance: The offset distance Δd is the difference between the predetermined straight track walking distance L0(t) and the actual walking distance Lad(t) at time t: Δd=Lad(t)-L0(t); S43: The corrected walking distance is: Lnew=L0+Δd, where L0 is the distance of the predetermined straight track of the traffic walking device.

8. A dynamic queue control and walking method based on a traffic walking control unit according to claim 7, characterized in that: The L0(t) calculation steps include, Assume that the pulse numbers of the first control encoder and the second control encoder are P1(t) and P2(t) respectively, and P1(t)=P2(t); The unit walking distance corresponding to the preset unit pulse is Lunit=L0 / Pto, where L0 is the distance of the predetermined straight line track of the traffic walking equipment, and Pto is the total number of theoretical pulses of the predetermined straight line track of the traffic walking equipment; The predetermined walking distance at the current time t is calculated as L0(t)=P1(t)*L0 / Pto=P2(t)*L0 / Pto.

9. The method for dynamic queue control and walking based on a traffic walking control unit according to claim 1, characterized in that: Step S5 comprises, S51: performing incremental calculation on the first driving wheel, the second driving wheel and the first calibration wheel at every time interval ΔT; First driving wheel ΔT time interval increment: ΔL1(t)=L1(t+ΔT)-L1(t) Second driving wheel ΔT time interval increment: ΔL2(t)=L2(t+ΔT)-L2(t) First calibration round ΔT time interval increment: ΔLnew(t)=Lnew(t+ΔT)-Lnew(t) S52: Misoperation correction; A threshold Q is set. If |ΔL1(t)-ΔLnew(t)|>Q, it is considered that the first driving wheel has malfunctioned, and the speed or position of the first control encoder is adjusted so that ΔP1(t) is close to ΔP3(t). If |ΔL2(t)-ΔLnew(t)|>Q|, it is considered that the second driving wheel has malfunctioned, and the speed or position of the second control encoder is adjusted so that ΔP2(t) is close to ΔP3(t).

10. A dynamic queue control and walking method based on a traffic walking control unit according to claim 1, characterized in that: Step S6 comprises, The first control encoder and the second control encoder synchronously set the slow start and slow stop; The main control unit monitors the status of the entire queue in real time, including the position, speed and deviation correction of each unit; If anomalies or large deviations are detected, the main control unit can send additional instructions for adjustment.

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