Bionic intelligent highway thrown object integrated recycling base station

Abstract

The invention discloses a bionic intelligent expressway thrown object integrated recycling base station, and particularly relates to the field of road sweeping, specifically, fixed base station cabins are built at certain mileage intervals in a green isolation belt between two-way lanes of an expressway, and bionic residents in the cabins comprise investigation soldiers, cleaners, warning sentries and the like. Therefore, the device has a thrown object finding and identifying function, a thrown object cleaning function, a necessary safety warning tripod setting function, a necessary safety warning tripod withdrawing function and the like. Therefore, the innovative systematic solution of the bionic intelligent highway thrown object integrated recovery base station can avoid the disjunction of a discovery identification link and a cleaning link and a daily patrol mode of response lag in the current technical scheme; according to the invention, timely finding, accurate positioning, rapid response, unattended operation, safe processing and overall maintenance cost reduction of the thrown objects are realized, and bionic intelligent recovery of the thrown objects in the two-way lanes of the expressway can be taken into consideration on the premise that normal driving is not obstructed for a long time.

Description

Technical Field

[0001] The present invention relates to the technical field of highway cleaning. More specifically, the present invention relates to a bionic intelligent integrated recycling base station for highway spillage. Background Art

[0002] Due to the reasons of being fully enclosed, long mileage, and operating all-weather, it is very difficult to clean up the scattered objects or spillage on highways in a timely and effective manner. In particular, some highly dangerous spillage such as long wooden blocks, stones, plastic buckets, waste tires, metal structural parts, nails, and even animal carcasses are extremely likely to cause accidents or traffic jams due to avoidance. At present, the method of using maintenance patrol vehicles plus manual handling, or using special cleaning vehicles, still has low efficiency, and there is a risk of causing secondary accidents; if the daily inspection frequency is greatly increased, it will lead to too high costs and be unsustainable. Moreover, the occurrence of scatter is often random, the probability of active discovery is low, or the response is not timely after receiving the alarm information and the precise positioning cannot be achieved, which will also increase the difficulty of subsequent cleaning.

[0003] At present, the cleaning of highway spillage basically relies on daily patrol and maintenance vehicles. For example, in Article 5.2.1 of the "Technical Specification for Highway Asphalt Pavement Maintenance" (JTG 5142-2019) of the Ministry of Transport, it is stipulated that: "The daily inspection frequency should not be less than once a day, and for highways, it should not be less than once a day." However, the above specifications are of low standards and the regulations are not detailed. Even if the number and frequency of patrol vehicles are increased according to traffic flow, mileage, million-vehicle accident rate, and weather conditions, it is still difficult to meet the actual needs to achieve active discovery, rapid response, and safe handling. There is also a risk of causing secondary accidents in daily patrol plus manual handling. There are also patented technologies to avoid manual handling, such as special cleaning vehicles for highways. However, the occurrence of scatter is often random, so the efficiency of the overall solution is still not high; if the daily inspection frequency is greatly increased, it will lead to too high costs and be unsustainable.

[0004] After retrieval, in the prior art, CN116182020A relates to an installation device for a highway spillage detector based on monitoring video. Through the provided installation mechanism, only by inserting the insertion block into the slot by the detector body, and at the same time, the movement of the rectangular block will also drive the clamping block to insert into the insertion block, so as to limit the insertion block and prevent the insertion block from moving out of the slot, thereby realizing the installation of the detector body, and the purpose of installation can be achieved without complex operations by the staff, and it is also convenient for the staff to operate and use, enhancing the flexibility of the device. However, as we know, highway monitoring videos cannot achieve full coverage. In fact, due to various road conditions, limited height and angle of monitoring videos and other factors, it will also affect the recognition of spillage or scattered object monitoring videos;

[0005] As an upgrade or alternative solution to the original fixed or vehicle-mounted monitoring cameras on highways, patent document CN117671523A proposes an intelligent recognition method and system for highway spillage in the scenario of drone patrol, including performing hybrid enhancement processing on the images in the original image data to determine a hybrid enhancement data set; performing stitching enhancement processing on the images in the hybrid enhancement data set to determine the stitching enhancement data set; inputting the stitching enhancement data set into the convolutional block attention mechanism module of the small target detection neural network and performing attention enhancement processing to generate a refined feature map set; inputting the refined feature map set into the small target detection neural network for target recognition to achieve intelligent recognition of highway spillage. It solves the problems that affect the target recognition effect, such as the small amount of target data, small size, and large field of view of highway spillage from the aerial perspective. There are also reports on methods of detecting spillage through big data models and then issuing avoidance warnings to oncoming vehicles,

[0006] CN117253367A A method for detecting and avoiding warnings of highway spillage driven by trajectory data. The present invention relates to a method for detecting and avoiding warnings of highway spillage driven by trajectory data, belonging to the field of traffic intelligent perception technology. The traffic data collection module uses non-visual sensors to collect highway vehicle position information in real time. The data processing module performs edge processing on the vehicle trajectory data. The data transmission module sends the edge-processed data to the cloud. The spillage judgment module is responsible for judging the spillage position according to the trajectory characteristics. The variable speed limit information publishing module uses the RSU to publish the spillage position information to road users.

[0007] Secondly, a more critical problem than discovering or identifying spillage is the lag in spillage handling. Since the number of daily maintenance patrol vehicles and road sweeping vehicles equipped on highways is very limited, timely disposal actually becomes a difficult problem to solve.

[0008] Therefore, there are also patent reports on special equipment or robots suitable for handling highway spillage cleaning. For example, CN112227286B discloses a solar road cleaning robot that is slidably arranged on the guardrail and can move on the guardrail through a walking unit. A cleaning unit is also provided. The cleaning unit retracts inside the robot usually and unfolds when cleaning is required. First, it piles up the road debris with a brush, and then sucks up the road debris through a suction port. Although this kind of road cleaning equipment can clean the scattered objects on the roadside to a certain extent, it cannot clean the scattered objects in the middle of the road. Moreover, since it slides and walks on the guardrail, its driving speed will be relatively slow, the speed of cleaning the scattered objects is not fast, and since the debris is piled up with a brush and then sucked up through the suction port, its processing speed is also slow. It can only clean the scattered objects on the roadside of the highway.

[0009] CN108589599A discloses an unmanned cleaning system for cleaning on highways, which includes an unmanned cleaning device and an unmanned escort device, and the cleaning is carried out through the cooperation of the two devices. The unmanned escort device is located behind the unmanned cleaning device and is used to prevent people or vehicles behind the unmanned escort vehicle from overtaking the unmanned escort device and affecting the cleaning process, ensuring the safety of the cleaning process. Although it can ensure the safety of cleaning, however, since the vehicles on the highway are all traveling at high speeds, the unmanned escort device also hinders the normal driving of highway vehicles to a certain extent. Inevitably, some vehicles on the speeding road surface may collide with the unmanned escort vehicle behind due to factors such as untimely braking, which instead leads to safety problems in the driving of highway vehicles.

[0010] In summary, in the prior art, there is still a serious disconnection between the discovery or identification of highway litter and the timely treatment of litter, and there is no idea of forming an integrated overall solution. The problems of the prior art are specifically manifested as follows:

[0011] 1. The randomness of litter falling is large, and it is not discovered in time;

[0012] 2. It is difficult to discover and identify random litter;

[0013] 3. The positioning of random litter is inaccurate;

[0014] 4. The deployment density of patrol vehicles or special cleaning equipment is insufficient, and they cannot respond quickly and arrive at the accident site in time;

[0015] 5. When there is manual handling by patrol vehicles, there is a risk of causing secondary accidents;

[0016] 6. The litter stays on the highway surface for a long time, and the probability of high-risk litter causing traffic congestion or traffic accidents is high. In the existing solutions, except for the method of significantly increasing the deployment density of patrol vehicles or cleaning equipment (which will also lead to a significant increase in costs), there is no other better way to solve the actual problems. Summary of the Invention

[0017] To overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides a bionic intelligent integrated recycling base station for highway litter. By building fixed base station cabins at certain mileage intervals in the green isolation belt in the middle of the two-way lanes of the highway, the scout drones, cleaner robots, and warning sentries in the base station cabins are used to have the functions of litter discovery and identification, litter cleaning, and the setting and withdrawal of necessary safety warning tripods. Therefore, the innovative systematic solution of this bionic intelligent integrated recycling base station for highway litter can avoid the disconnection between the discovery and identification links and the cleaning link in the current technical solutions, as well as the daily patrol mode with lagging response, and achieve timely discovery, precise positioning, rapid response, unattended operation, safe handling, and reduction of the overall maintenance cost for litter. At the same time, it can take into account the bionic intelligent recycling of litter in the two-way lanes of the highway without disturbing normal driving for a long time, so as to solve the problems raised in the above-mentioned background technology.

[0018] To achieve the above object, the present invention provides the following technical solution: A bionic intelligent integrated recycling base station for highway litter, including base stations arranged at intervals along the highway isolation belt, and the base stations include:

[0019] A scout drone with the function of litter discovery and identification;

[0020] A warning sentry with the function of setting up or withdrawing necessary safety warnings;

[0021] A cleaner robot with a cleaning and recycling device for cleaning highway litter;

[0022] A single base station is responsible for handling possible litter on both the up and down lanes within a certain mileage range and on both sides of the isolation belt.

[0023] In a preferred embodiment, the scout drone, the warning sentry, and the cleaner robot are controlled by background software, and there is mutual coordination and cooperation during the operation of discovering and cleaning highway litter, including the following specific steps:

[0024] Step 1: After the scout drone discovers and identifies the litter that needs to be processed, it notifies the warning sentry to start and arrive at the designated area in the oncoming vehicle direction of the litter, and at the same time notifies the cleaner robot to start and arrive near the litter;

[0025] Step 2: The scout drone issues an instruction to the warning sentry to set up a warning tripod or triangular sign according to the road condition vehicle information;

[0026] Step 3: After the safety warning sign is set up, the warning sentry sends a signal to the cleaner robot, and the latter starts to operate to the designated position to clean the litter;

[0027] Step 4: After the cleaning robot returns to the green belt, it sends a signal to the warning sentry and the scout drone. The scout drone confirms the evacuation time of the warning sentry according to the real-time road conditions and completes the operation of withdrawing the warning signs.

[0028] Step 5: The scout drone returns to the base station, and the warning sentry returns to the base station; the cleaning robot transports the spilled objects to the recycling station and then returns to the base station.

[0029] In a preferred embodiment, it has the function of sending warning information to vehicles and mobile phones within a certain range after discovering and identifying spilled objects, or releasing warning information through navigation software.

[0030] At the same time, the above-mentioned scout drone, warning sentry, and cleaning robot itself also have real-time positioning identification, and when a malfunction occurs, they can also feedback a malfunction alarm function to the background.

[0031] In a preferred embodiment, the base station is to build fixed base station cabins at certain mileage intervals in the green isolation belt in the middle of the two-way lanes of the highway. The base station cabins have power supply and can charge drones and other robots.

[0032] Each cabin has precise positioning and corresponding numbers. A control background is set in a single base station cabin to realize the control and interaction of each bionic robot and the data storage function.

[0033] There are channels connecting adjacent base station cabins, which facilitates the cleaning robot, warning sentry, and scout drone to quickly move back and forth from the base station to the place where the spilled objects occurred.

[0034] On both sides of the channels between the base stations, "stations" that are connected to the two-way highway and allow robots to enter and exit are opened at certain intervals.

[0035] In a preferred embodiment, the basic structure of the base station cabin is at least a three-story building. The top floor is the residence of the scout drone during non-operating hours, and there is an automatic skylight design to facilitate the direct up and down entry and exit of the drone for patrol.

[0036] On both sides of the bottom floor are the residences of the cleaning robot and the sentry robot during non-operating hours, and there is an access control design to facilitate the robots to quickly move along the channels between the base station cabins to the vicinity of the place where the spilled objects occurred.

[0037] The middle layer is a centralized recycling station for spilled objects, which is convenient for regular highway patrol vehicles to empty it regularly.

[0038] In a preferred embodiment, the top floor can also be configured with a control background supporting the base station. In addition to obtaining spilled object information from the drone, the control background can also obtain it from other channels such as existing surveillance videos or alarms.

[0039] Depending on the size and weight of the spilled materials, other centralized recycling stations for spilled materials can also be set up in the green belts.

[0040] In a preferred embodiment, the reconnaissance drone can leave the cabin on time and rise to a certain height. Without affecting the normal operation of high-speed vehicles, it can go up or down a certain mileage in the two-way lanes on both sides of the corresponding base station, and take real-time photos or detect the actual situation on each lane. The data is sent to the background or processed using its own software, and real-time identification and confirmation of whether there are any spilled objects can be made, and the specific positioning situation can be released to other robots to effectively carry out the next cleaning task.

[0041] The scout drone is also capable of further detecting the driving conditions of vehicles on the road before other robots perform operations, finding the appropriate time for the operation, and issuing operation instructions to the above-mentioned cleaners, sentinels and other robots.

[0042] In a preferred embodiment, the guard sentry carries a safety warning device with him, which includes the following steps:

[0043] Step 1: After receiving the operation instruction, you can quickly start through the channel between the recovery base stations to the isolation green belt 150-250 meters away from the direction of the vehicle from the lane where the spillage occurred;

[0044] Step 2: Set up necessary safety warning tripods or triangle signs in the emergency passage and the corresponding lanes in sequence, and then recycle the safety warning tripods into the isolation green belt after the cleaning robot completes the cleaning operation;

[0045] Step 3: The sentry returns to the recovery base station and stands by as required. The sentry's cleaning recovery device includes a telescopic robotic arm, a suction cup, a humanoid robot or other types of robots.

[0046] The guard sentry sets warning signs and temporarily closes lanes in the order from the overtaking lane to the emergency lane when dealing with spilled objects.

[0047] In a preferred embodiment, the cleaning robot has the function of cleaning up the spilled materials on the highway and transporting them to a spilled materials recycling station, and the specific steps include:

[0048] Step 1: After receiving the operation instruction, you can quickly start through the channel between the recovery base stations and wait near the lane where the spillage occurred;

[0049] Step 2: Wait for the sentry robot to place the necessary safety warning tripods or triangle signs in the emergency passage and the corresponding lanes in sequence before starting the cleaning operation;

[0050] Step 3: The cleaning operation includes but is not limited to using a telescopic mechanical arm to reach the spill lane, grip both ends of the spill, and then quickly move to the position between the guardrails of the passing lane and the middle green isolation belt, or directly move to the green isolation belt;

[0051] Step 4: After the spillage on the lane is cleaned up, the spillage shall be classified according to the actual size and weight without affecting the normal driving of vehicles, and transported to the spillage recovery station;

[0052] Step 5: Finally, the cleaning robot returns to the recycling base station and waits for orders as required. The cleaning robot is a handling robot, including but not limited to a telescopic mechanical arm, a suction cup type, a humanoid robot or other types of robots.

[0053] In a preferred embodiment, the scout drone, guard sentry and cleaner robot are all bionic designs.

[0054] Compared with the prior art, the present invention has obvious advantages and substantial progress, which are specifically manifested as follows:

[0055] 1. Systematic solution: It overcomes the serious disconnection between the discovery or identification of spilled objects and the treatment of spilled objects in the past, and provides an integrated systematic solution and device for the discovery and treatment of spilled objects as a whole;

[0056] 2. Full coverage of the entire highway: Through efficient regional segmentation processing by a single base station, a series of recovery base stations integrate each section to fully cover the entire highway for spilled material treatment; it can also meet the needs of real-time discovery and real-time processing around the clock;

[0057] 3. Intelligent and unmanned: It is clear that all operations from the discovery and identification of spilled objects, the necessary safety warning settings and withdrawal to the cleanup of spilled objects are carried out with unmanned equipment, and safety is guaranteed; there is mutual coordination and cooperation in the discovery and cleanup of high-speed spilled objects, realizing the intelligent combination of regular inspections and real-time disposal;

[0058] 4. Bionic greening: The effective space of the existing green belt in the middle of the highway is cleverly utilized. The integrated recycling base station is a greening device. Moreover, the design of the spilled material recycling base station uses the bionic principle and imitates the advantages of a variety of organisms. It actually has the characteristics of a biological symbiotic relationship.

[0059] 5. The overall cost is greatly reduced: It can effectively replace the current one-way patrol method from beginning to end, and realize an integrated solution of discovery and processing at any time, which greatly saves resources. At the same time, the above-mentioned integrated recovery base station solution can also take into account the bionic intelligent recovery of spilled objects in the two-way lanes of highways. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 Overall schematic diagram of the base station hut of the present invention.

[0061] Figure 2 Schematic diagram of the principle of the recycling process of the present invention.

[0062] Figure 3 Intelligent matching flowchart of the types of spillage and the working modes of the corresponding cleaner robots of the present invention.

[0063] Figure 4 Schematic diagram of the positions of the bionic intelligent integrated recycling base station for highway spillage, the central green belt, and the expressway lane of the present invention. Detailed implementation manners

[0064] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0065] The most obvious problem in the prior art regarding the treatment of highway spillage is the serious disconnection between the discovery or identification of spillage and the treatment of spillage. Rarely are the problems in these two stages considered together to find an integrated solution.

[0066] As Figures 1 to 4 shown, the present invention relates to a bionic intelligent integrated recycling base station for highway spillage. Fixed base station huts are built at certain mileage intervals in the green isolation belt in the middle of the two-way lanes of the highway. The bionic residents in the huts include scout drones, sentry robots, and cleaner robots. The three are controlled by background software and respectively have the functions of discovering and identifying spillage, necessary safety warning settings and withdrawal functions, and spillage cleaning functions, and there is mutual coordination and cooperation during the operation of discovering and cleaning highway spillage. The specific steps are as follows:

[0067] Step 1: After the drone discovers and identifies the spillage to be processed, it notifies the sentry robot to start and reach and take its position in the specified area in the oncoming vehicle direction of the spillage, and at the same time notifies the cleaner robot to start and come to take its position near the spillage;

[0068] Step 2: The drone issues an instruction to the sentry robot to set up a warning tripod or triangular sign according to the road conditions and vehicle information;

[0069] Step 3: After the safety warning signs are set up, the sentry robot sends a signal to the cleaner robot, and the latter starts to operate to the specified position to clean the spillage;

[0070] Step 4: After the cleaning robot returns to the green belt, it sends a signal to the sentry robot and the drone. The drone confirms the evacuation time of the sentry robot according to the real-time road conditions and completes the operation of withdrawing the warning signs.

[0071] Step 5: The drone returns to the base station, and the sentry robot returns to the base station. After transporting the scattered objects to the recycling station, the cleaning robot returns to the base station.

[0072] In the present invention, the scattered objects refer to the scattered objects left on the road surface of the driving lanes and the emergency vehicle lanes of the highway due to the spilling of vehicle goods or the damage of other surrounding objects. Generally, they refer to static scattered objects, and sometimes they also refer to slow-moving dynamic scattered objects. According to different materials, the scattered objects can be divided into long wooden blocks, stones, plastic buckets, waste tires, metal structural parts, nails, and even animal carcasses, etc.

[0073] In the present invention, the base station hut is used for the whole process of discovering, identifying, and cleaning the scattered objects on the highway. Its basic feature is to build fixed huts at certain mileage intervals in the green isolation belt in the middle of the two-way lanes of the highway. The bionic residents in the hut include reconnaissance drones, sentry guards, and cleaning robots, which respectively have the functions of discovering and identifying scattered objects, necessary safety warning settings and withdrawal functions, and the function of cleaning scattered objects. Therefore, a single recycling base station can be responsible for handling the possible scattered objects on the two-way lanes on both sides of the middle green isolation belt within a certain mileage range for both the up and down directions. Through the efficient regional segmentation processing of a single base station, a series of recycling base stations can integrate each section to achieve full coverage of the scattered object handling on the entire highway, realizing a systematic solution of timely discovery, precise positioning, rapid response, unattended operation, safe handling, and overall cost reduction.

[0074] On both sides of the passage between the base station huts of the base stations, at certain intervals, there are "stations" for robots to enter and exit or "net points" for the telescopic entry and exit of robotic arms.

[0075] The base station hut has power supply, including but not limited to storage batteries or solar cells, etc., which can charge the drones and other robots.

[0076] In the present invention, the reconnaissance drone refers to a drone specially used for discovering and identifying spilled objects on the highway, and it is parked at the top of the integrated recovery base station during non-operating hours. It is characterized in that it can leave the cabin and rise to a certain height on time, and when it does not affect the normal operation of high-speed vehicles, it can go up or down a certain mileage around the two-way lanes on both sides of the corresponding base station, take real-time photos or detect the actual situation on each lane, send them to the background or use its own software for data processing, identify and confirm in real time whether there are spilled objects, and publish the specific positioning situation to other robots, so as to effectively carry out the next cleaning task. Secondly, the drone also has the function of further detecting the driving conditions of vehicles on the road before other robots perform operations, finding a suitable time for the operation, and issuing operation instructions to the above-mentioned cleaners, sentinels and other robots.

[0077] In the present invention, the sentry robot or sentry robot is specially used for automatically setting warning signs and withdrawing them afterwards during the unmanned disposal of spilled objects on the highway. It is parked at the lower level of the integrated recovery base station during non-operating hours and carries a safety warning device. The steps are as follows:

[0078] Step 1: After receiving the operation instruction, the system can quickly start to the isolation green belt 150-250 meters away from the direction of the vehicle in the lane where the spillage occurred through the channel between the recovery base stations;

[0079] Step 2: Then, the necessary safety warning tripods or triangle signs are sequentially placed on the emergency passages and corresponding lanes, and the safety warning tripods are then recycled into the isolation green belt after the cleaning robot completes the cleaning operation;

[0080] Step 3: Finally, the sentinel robot returns to the recycling base station and waits for orders as required. The safety warning device may also have a telescopic structure according to actual conditions, which can be opened when in use and retracted when not in use to save volume. The sentinel robot includes but is not limited to a telescopic mechanical arm, a suction cup type, a humanoid robot or other types of robots.

[0081] In the present invention, the cleaning robot is a robot specially used for cleaning spilled objects on the highway, and is parked at the lower level of the integrated recycling base station during non-operating hours. It is characterized by having the function of cleaning up spilled objects on the highway and transporting them to the spilled object recycling station, and the specific steps include:

[0082] Step 1: After receiving the operation instruction, you can quickly start through the channel between the recovery base stations and wait near the lane where the spillage occurred.

[0083] Step 2: Wait for the sentry robot to place the necessary safety warning tripods or triangle signs in the emergency passage and the corresponding lanes and then start the cleaning operation;

[0084] Step 3: The cleaning operation includes but is not limited to using a telescopic mechanical arm to reach the spill lane, grip both ends of the spill, and then quickly move to the position between the guardrails of the passing lane and the middle green isolation belt, or directly move to the green isolation belt;

[0085] Step 4: After the spillage on the lane is cleaned up, the spillage shall be classified according to actual size and weight without affecting the normal driving of vehicles, and transported to the spillage recovery station;

[0086] Step 5: Finally, the cleaning robot returns to the recycling base station and waits for orders as required. The cleaning robot is a handling robot, including but not limited to a telescopic mechanical arm, a suction cup type, a humanoid robot or other types of robots.

[0087] In the present invention, the spilled material recovery station is specially used for storing spilled materials after cleaning on the highway, and is set up using the effective space in the green belt between the two-way lanes of the highway. The spilled materials can also be stored in the middle layer of the integrated recovery base station, between the control platform or sentinel robot residence on the upper layer and the sentinel robot and cleaner robot residence on the lower layer, according to parameters such as the size and weight of the spilled materials.

[0088] Without affecting the conventional functions of the current middle green belt, the present invention cleverly utilizes the effective space of the middle green belt of the existing highway, and builds green fixed huts at certain mileage intervals along the road according to the actual terrain conditions, that is, integrated spilled material recovery base stations. A single recovery base station can be responsible for real-time processing of spilled materials found within a certain mileage range in both directions and on the two-way lanes on both sides of the middle green isolation belt; through efficient regional segmented processing by a single base station, a series of recovery base stations can integrate each section to fully cover the entire highway spilled material processing, realizing a systematic solution of timely discovery, precise positioning, fast response, unmanned operation, safe processing and overall cost reduction, overcoming the previous serious disconnection problem between the discovery or identification of spilled materials and the treatment of spilled materials.

[0089] Since the whole process of discovering, setting warning signs, cleaning and withdrawing warning signs of highway spillage involves many basic steps, and the above steps need to be coordinated and cooperated with each other, a systematic solution to complex problems is needed as a whole. It is this feature that is very consistent with the symbiotic relationship. Through the design of bionic intelligence, the effective combination and coordination of various steps and various functions can be achieved. For example, the release and recovery of scout drones are modeled after bees in a hive, the sentinel robot is modeled after a robot dog, and the cleaner robot is modeled after a humanoid robot (or includes a suction cup type or a mechanical arm type cleaning and recovery device). Now the vigorous development of unmanned driving technology, it can be foreseen that in the near future, unmanned driving will inevitably promote the supporting facilities and spillage cleaning and disposal systems on highways to gradually move towards the stage of unmanned intelligence. Therefore, the bionic equipment of the three main functions in the integrated recovery base station involved in the present invention has realized unmanned and intelligent, and all of them are open and can be continuously upgraded with the development of underlying technology.

[0090] In the present invention, the category recognition of the spilled objects can collect videos or other signal information obtained from multiple channels, perform background comparison and machine learning and other technologies, so as to intelligently identify the spilled objects and match the appropriate working mode of the cleaning robot. The multiple channels include the videos of the scouts patrolling the integrated recycling base station, the videos of fixed monitoring on the highway, the vehicle driving recorder or the vehicle patrol alarm video, or the early warning information from other channels, etc.

[0091] Stones, cartons, tire skins, plastic tarpaulins and other high-speed spilled objects have always been a "chronic disease" threatening highway traffic safety. According to the basic parameters of the material, shape, size and weight of the spilled objects, such as stones, cartons, newspapers, plastic tarpaulins, plastic buckets, plastic woven bags, fallen traffic cones, long wooden blocks and boards, broken branches and trunks, waste tires or tire skins, metal structures such as steel plates or irregular or special structures, nails and even animal carcasses, etc.

[0092] You can choose the working mode of the cleaning robot when cleaning spilled objects, such as (A) using a mechanical arm to clamp, or (B) using a suction cup to clean, or (C) using a magnet adsorption mode, or (D) using a grabbing robot, or (E) other modes.

[0093] Name of the scattered items Material Dimension unit Mass unit Cleaning work mode Stone Rock or concrete Decimeter - meter Hectogram - kilogram B, D Gravel Rock or concrete Centimeter - decimeter Decagram - hectogram B Wood board Wood Decimeter - meter Hectogram - kilogram A, D Wood block Wood Decimeter - meter Hectogram - kilogram A, D Carton Paper Decimeter - meter Hectogram - kilogram A, D Newspapers and periodicals Paper Decimeter - meter Hectogram - kilogram A, D Plastic tarpaulin Plastic Meter Hectogram - kilogram D Plastic bucket Plastic Decimeter - meter Hectogram - kilogram A, D Fence plastic board Plastic Meter Hectogram - kilogram A Plastic woven bag Plastic Decimeter - meter Hectogram - kilogram A, D Clothes, cloth bag Cotton cloth Decimeter - meter Hectogram - kilogram A, D Canvas bag Canvas Decimeter - meter Hectogram - kilogram A, D Traffic cone Plastic Decimeter - meter Hectogram - kilogram A, D Tree branches and trunks Wood Decimeter - meter Hectogram - kilogram A, D Waste tire Rubber Decimeter - meter Kilogram - ten thousand grams A, D Tire tread Rubber Decimeter - meter Hectogram - kilogram B, D Stainless steel plate Metal Decimeter - meter Kilogram - ten thousand grams A, D Special metal structure parts Metal Decimeter - meter Kilogram - ten thousand grams A, D Nail Metal Centimeter - decimeter Decagram - kilogram C Animal carcass Organic matter Decimeter - meter Hectogram - kilogram A, D

[0094] The following points should be noted: First, in the description of this application, it should be noted that unless otherwise specified and defined, the terms "installed", "connected", and "coupled" should be understood in a broad sense, which can be a mechanical connection or an electrical connection, or the communication inside two components, and can be directly connected. The terms "upper", "lower", "left", "right", etc. are only used to represent relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may change;

[0095] Second, in the drawings of the disclosed embodiments of the present invention, only the structures related to the disclosed embodiments are involved. For other structures, reference can be made to the general design. Without conflict, the same embodiment and different embodiments of the present invention can be combined with each other;

[0096] Finally, the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A bionic intelligent highway spillage integrated recovery base station, characterized in that: It includes base stations set up at intervals along the highway isolation belt, and the base stations include: A scout drone with the ability to detect and identify spilled objects; A security sentry with the ability to deploy or withdraw necessary security alerts; A cleaning robot with a cleaning and recovery device, used for cleaning up spilled materials on highways; A single base station is responsible for handling possible spilled objects within a certain mileage range in both the uplink and downlink directions and on the two-way lanes on both sides of the isolation belt.

2. According to claim 1, a bionic intelligent highway spilled material integrated recovery base station is characterized by: The scout drone, the sentry and the cleaning robot are controlled by background software and coordinate and cooperate with each other when discovering and cleaning high-speed spilled objects, including the following specific steps: Step 1: After the scout drone finds and identifies the spilled objects that need to be handled, it notifies the sentry to start and arrive at the specified area in the direction of the vehicle that is spilling the objects, and at the same time notifies the cleaning robot to start and arrive near the spilled objects; Step 2: The scout drone issues instructions to the sentry to set up a warning tripod or triangle sign based on the road condition and vehicle information; Step 3: After the safety warning signs are in place, the sentry sends a signal to the cleaning robot, which starts running to the designated location to clean up the spilled objects; Step 4: After the cleaning robot returns to the green belt, it sends a signal to the sentry and the scout drone. The scout drone confirms the evacuation time of the sentry based on the real-time road conditions and completes the warning sign withdrawal operation; Step 5: The scout drone returns to the base station, the sentry returns to the base station, and the cleaner robot returns to the base station after transporting the spilled materials to the recycling station.

3. The bionic intelligent highway spilled material integrated recovery base station according to claim 2 is characterized by: It has the function of sending warning information to mobile phones of vehicles within a certain range or issuing warning information through navigation software after discovering and identifying spilled objects; At the same time, the above-mentioned reconnaissance drones, guard sentinels and cleaning robots themselves also have real-time positioning identification, and when they fail, they can also provide fault alarm feedback to the background.

4. A bionic intelligent highway spilled material integrated recovery base station according to any one of claims 1 to 3, characterized in that: The base station is a fixed base station cabin built at a certain distance in the green belt between the two-way lanes of the expressway. The base station cabin has a power supply and can charge drones and other robots. Each cabin has precise positioning and corresponding numbering. A single base station cabin is equipped with a control background to realize the control and interaction of each bionic robot and data storage function; Adjacent base station cabins are connected by passages, which facilitate the cleaning robots and sentry and scout drones to quickly travel back and forth from the base station to the site of the spillage. At certain intervals on both sides of the passage between base stations, there are "stations" connected by two-way highways for robots to enter and exit.

5. The bionic intelligent highway spilled material integrated recovery base station according to claim 4 is characterized by: The basic structure of the base station cabin is a building with at least three floors, of which the top floor is the residence of the scout drone during non-operation time, and has an automatic skylight design to facilitate the drone to go in and out of patrol directly; The two sides of the bottom floor are the residences of the cleaning robot and the sentinel robot during non-operating hours. There is an access control design to facilitate the robots to quickly move along the passages between the base station cabins to the vicinity of the spillage site; The middle level is a centralized recycling station for spilled materials, which is convenient for regular highway patrol vehicles to empty it regularly.

6. The bionic intelligent highway spilled material integrated recovery base station according to claim 5, characterized in that: The top layer can also be configured with a control background supporting the base station. In addition to obtaining the information of the scattered objects from the drone, the control background can also obtain it from other channels such as existing monitoring videos or alarms; Depending on the size and weight of the spilled materials, other centralized recycling stations for spilled materials can also be set up in the green belts.

7. A bionic intelligent highway spilled material integrated recovery base station according to any one of claims 5 or 6, characterized in that: The reconnaissance drone can leave the cabin and rise to a certain height on time. Without affecting the normal operation of high-speed vehicles, it can go up or down a certain mileage in the two-way lanes on both sides of the corresponding base station, take real-time photos or detect the actual situation on each lane, and send them to the background or use its own software for data processing, identify and confirm in real time whether there are any spilled objects, and publish the specific positioning situation to other robots to effectively carry out the next cleaning task. The scout drone is also capable of further detecting the driving conditions of vehicles on the road before other robots perform operations, finding the appropriate time for the operation, and issuing operation instructions to the above-mentioned cleaners, sentinels and other robots.

8. The bionic intelligent highway spilled material integrated recovery base station according to claim 7, characterized in that: The security sentry carries a safety warning device with him, which includes the following steps: Step 1: After receiving the operation instruction, you can quickly start through the channel between the recovery base stations to the isolation green belt 150-250 meters away from the direction of the vehicle from the lane where the spillage occurred; Step 2: Set up necessary safety warning tripods or triangle signs in the emergency passage and the corresponding lanes in sequence, and then recycle the safety warning tripods into the isolation green belt after the cleaning robot completes the cleaning operation; Step 3: The sentry returns to the recovery base station and stands by as required. The sentry's cleaning recovery device includes a telescopic robotic arm, a suction cup, a humanoid robot or other types of robots. The guard sentry sets warning signs and temporarily closes lanes in the order from the overtaking lane to the emergency lane when dealing with spilled objects.

9. A bionic intelligent highway spilled material integrated recovery base station according to any one of claim 8, characterized in that: The cleaning robot has the function of cleaning up the spilled materials on the highway and transporting them to the spilled materials recycling station. The specific steps include: Step 1: After receiving the operation instruction, you can quickly start through the channel between the recovery base stations and wait near the lane where the spillage occurred; Step 2: Wait for the sentry robot to place the necessary safety warning tripods or triangle signs in the emergency passage and the corresponding lanes in sequence before starting the cleaning operation; Step 3: The cleaning operation includes but is not limited to using a telescopic mechanical arm to reach the spill lane, grip both ends of the spill, and then quickly move to the position between the guardrails of the passing lane and the middle green isolation belt, or directly move to the green isolation belt; Step 4: After the spillage on the lane is cleaned up, the spillage shall be classified according to the actual size and weight without affecting the normal driving of vehicles, and transported to the spillage recovery station; Step 5: Finally, the cleaning robot returns to the recycling base station and waits for orders as required. The cleaning robot is a handling robot, including but not limited to a telescopic mechanical arm, a suction cup type, a humanoid robot or other types of robots.

10. A bionic intelligent highway spilled material integrated recovery base station according to any one of claims 8 or 9, characterized in that: The scout drones, sentinels and cleaner robots are all bionic designs.

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