Self-adaptive safe connection control method and system for reversible lane robot
By employing an adaptive safety connection control method based on real-time perception and dynamic calculation, the problems of equipment wear and safety under complex road conditions and extreme situations in tidal lane robots have been solved, achieving high reliability and safety in tidal lane robots.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-18
- Publication Date
- 2026-03-10
AI Technical Summary
Tidal lane robots cannot adapt to road curvature and slope changes during daily operation, leading to increased equipment wear and energy consumption. Furthermore, they lack an effective safety escape mechanism in extreme situations, posing a risk of structural damage and secondary injury.
By sensing the mechanical state at the connector in real time, dynamically calculating the safety threshold, and realizing the autonomous switching between rigid locking and flexible adaptation, combined with multi-dimensional force sensors and a central control unit, the system can precisely control the release and locking of the connector's degrees of freedom, thus constructing a three-level collision safety protection system.
Maintain high reliability and high passability in complex road conditions, avoid equipment damage and secondary damage, reduce deployment threshold and cost, simplify control and improve reliability.
Smart Images
Figure CN121634856A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of road traffic control technology, and in particular to an adaptive safety connection control method and system for tidal lane robots. Background Technology
[0002] With the acceleration of global urbanization, urban road network traffic flow exhibits a significant "tidal" characteristic. To efficiently utilize existing road resources, tidal lane technology, through dynamic lane direction allocation, has become a key means of alleviating traffic congestion. Against this backdrop, tidal lane robots (i.e., movable guardrails) are gradually replacing traditional fixed guardrails and becoming the core of the next generation of tidal lane infrastructure due to their advantages such as flexible deployment and high degree of automation.
[0003] Currently, the connectivity technology of tidal lane robots faces two main challenges when they are moving in formation: road adaptability in daily operation and collision safety in extreme situations.
[0004] First, in daily operation, the existing robot connection methods can be summarized into two categories: First, while a completely rigid connection ensures the reliability of the connection and the integrity of the median strip, it cannot adapt to road curvature and slope changes. On non-straight road sections, rigid connections will generate huge internal stresses (bending moments and shear forces), leading to accelerated equipment wear, increased energy consumption, and even permanent structural damage, causing the median strip to fail.
[0005] Secondly, while fully flexible connections can passively adapt to road geometry, they have inherent defects such as poor connection reliability, easy swaying of the median strip, and low control precision, which seriously affect the stability and reliability of the isolation effect.
[0006] Secondly, and more seriously, in the event of a traffic accident, under extreme collisions, both rigid and flexible connections reveal serious safety defects: ① When subjected to a violent impact, rigid connections cannot release energy quickly, potentially leading to two serious consequences: first, stress concentration causing tearing damage to the robot's structure; second, the entire safety barrier being dragged and overturned, exacerbating the severity of the accident. ② While flexible connections offer some cushioning, their detachment process is uncontrollable, making it difficult to avoid the chain reaction of the robot swarm, and broken parts may fly off, causing secondary injuries to surrounding vehicles and personnel.
[0007] Furthermore, as high-value assets, structural damage to tidal lane robots in accidents means significant direct and indirect economic losses.
[0008] In summary, existing technologies suffer from a dual dilemma: unadjustable stiffness, poor road adaptability, and a lack of effective safety escape mechanisms under extreme conditions such as collisions. The industry urgently needs an innovative connection solution that not only intelligently adapts to road curvature and slope in daily operations, achieving a balance between rigidity and flexibility, but also possesses rapid and controllable stress release and even safe escape capabilities in the event of an accidental collision. This would maximize driver and passenger safety, minimize equipment damage, and prevent secondary injuries. Summary of the Invention
[0009] This application aims to propose an adaptive safety connection control method and system for robots in tidal lanes. This method intelligently compares the real-time mechanical state of the connector with a safety threshold dynamically calculated based on material and structural properties, enabling autonomous and precise switching between rigid locking and flexible adaptation states. This effectively resolves the inherent contradiction between the susceptibility to overload damage in rigid connections and the poor reliability of flexible connections in existing technologies, allowing robot swarms to maintain both high reliability and high maneuverability in complex road conditions such as curves and inclines.
[0010] To achieve the above objectives, this application provides the following solution: An adaptive safety connection control method for a tidal lane robot includes: S1: Real-time acquisition of load data at the rigid connection between two adjacent robots, including torque vector M=(Mx,My,Mz) and force vector F=(Fx,Fy,Fz); S2: Based on the load data, calculate at least one key load component that causes stress accumulation in the connector; the key load component includes at least: transverse bending moment: M_b =|Mz|, longitudinal tilting moment: M_t =|My|, and transverse shear force: F_s =√(Fx²+Fy²). S3: Compare the calculated load component with the corresponding preset safety threshold; The safety threshold is dynamically determined based on the material properties and geometry of the connector: The formula for calculating the safety threshold M_bt of the transverse bending moment is: M_bt =η* (σ / n)*W_z; where σ is the yield strength of the connector material, n is a safety factor greater than 1, W_z is the bending section modulus of the connector around the Z-axis, and η is a reduction factor less than 1, used to set a safe operating threshold lower than the theoretical bearing limit of the material. The formula for calculating the safety threshold M_tt of the longitudinal inclined bending moment is: M_tt=η*(σ / n)*W_y; where W_y is the bending section modulus of the connector about the Y-axis; The formula for calculating the safety threshold F_st of the transverse shear force is: F_st = η*τ*A; where τ is the allowable shear stress of the connector material and A is the cross-sectional area of the dangerous section of the connector.
[0011] S4: If any of the load components exceeds its corresponding safety threshold, then release the rotational or translational degrees of freedom of the connector in the corresponding direction that caused the load component to accumulate. Specifically, it includes: S4.1: If M_b > M_bt, then release the yaw degree of freedom of the connector about the vertical axis (Z-axis); S4.2: If M_t > M_tt, then release the pitch freedom of the connector about the horizontal axis (Y-axis); S4.3: If F_s > F_st, then release the lateral translational freedom of the connector in the horizontal plane; S4.4: If two or more load components exceed the threshold at the same time, the corresponding degrees of freedom are released in the order of priority of M_b, M_t, and F_s, and an interval of at least 50 ms is maintained. This interval is managed and calibrated by the clock module of the central control unit to avoid transient instability caused by the simultaneous unlocking of multiple degrees of freedom.
[0012] S4.5: After releasing a certain degree of freedom, the system only monitors and determines whether the specific load component that caused the release of that degree of freedom meets the recovery condition, without being affected by other load components that have not exceeded the threshold.
[0013] S5: After the load component drops below its corresponding recovery threshold and remains stable for more than a preset time, the locking of the degree of freedom is restored.
[0014] The recovery threshold is set to k times the corresponding safety threshold, where the recovery coefficient k ranges from 0.2 to 0.5, and the value of k is experimentally calibrated based on the hysteresis characteristics of the connector material and the system response time.
[0015] Specifically, the recovery coefficient k can be independently self-learned and updated for each connector in the same tidal lane formation. The update rule is: k_(i+1)=k_(i) +α·(N_s / N_t), where α∈[0.01,0.05] is the learning rate, N_s is the number of unexpected lock-unlock switching of the connector in the current operation cycle, and N_t is the total number of control cycles.
[0016] S6: Real-time monitoring of the rate of change of lateral shear force F_s, dF_s / dt. When F_s exceeds its safety threshold F_st and its rate of change dF_s / dt simultaneously exceeds the preset impact threshold dF_it, the system determines that a severe impact has occurred and immediately executes a full-degree-of-freedom emergency release. Specifically, this includes: S6.1: Ignoring any other current conditions, the connecting parts are simultaneously released from rotational and translational degrees of freedom in all directions (yaw, pitch, and lateral translation) to achieve all-round flexibility and absorb impact energy to the greatest extent.
[0017] S6.2: If the impact duration T exceeds the set duration threshold T_ul, and at the same time the lateral shear force F_s is still higher than the ultimate separation threshold F_ul even after exceeding the set duration threshold T_ul, then the mechanical separation mechanism of the control connector will be activated. The mechanical separation mechanism can be an explosive bolt or a high-current fusible pin to achieve complete physical separation between robots and avoid chain collisions and equipment dragging.
[0018] An adaptive safety connection control system for a tidal lane robot includes: Connector: Used to connect two adjacent tidal lane robots; the connector includes a hinge mechanism and a locking mechanism. The hinge mechanism is preferably a series pitch-yaw double hinge mechanism, and the locking mechanism includes at least one controllable rotational degree of freedom. The two rotation axes are orthogonal and locked by independent locking mechanisms. The locking mechanism is preferably an electromagnetic lock, an electric latch, or a mechanical locking mechanism, used to achieve rigid locking when powered on or driven, and to release the corresponding degree of freedom when powered off or encountering a severe external impact during movement. Stress sensing module: Integrated at the connector, used to monitor its stress state in real time. The stress sensing module is a multi-dimensional force sensor and a torque sensor, capable of directly measuring the three-dimensional force and three-dimensional torque at the connection.
[0019] Central control unit: communicatively connected to the stress sensing module and the connector respectively; The central control unit is configured to: cyclically perform data reception, load calculation, threshold dynamic update, priority logic-based locking mechanism control, and self-learning update of the recovery coefficient.
[0020] The beneficial effects of the technical solution in this application are as follows: 1. Achieving a balance between rigidity and flexibility: By maintaining a rigid connection most of the time, the high reliability, high rigidity, and integrity of the isolation zone are ensured, avoiding the swaying and uncertainty caused by flexible connections.
[0021] 2. Instantaneous unloading and precise protection: Only the degrees of freedom are released in the over-limit direction, while the other directions remain rigid to avoid formation instability caused by overall softening.
[0022] 3. A three-tiered collision safety protection system was constructed, significantly improving accident safety: A three-tiered collision safety protection mechanism was established, consisting of flexible stress relief → all-round release → safe separation; In the event of a severe impact, the system can absorb and disperse impact energy by instantly switching to a fully flexible state; If the impact is too large, a complete separation procedure is further initiated; This effectively avoids tearing damage to the robot's structure caused by stress concentration; It prevents the entire isolation zone from being dragged and overturned in a chain reaction, thereby curbing the expansion of the accident; Through a controllable separation mechanism, equipment loss is minimized, and secondary injuries caused by flying fragments are avoided.
[0023] 4. Material-control integration: The threshold is directly derived from the material's yield strength and cross-sectional geometry, ensuring that it breaks only when it should break and is at its most rigid when it does not break, thus balancing safety and lifespan.
[0024] 5. Reduced deployment threshold and cost: This invention enables tidal lane robots to easily adapt to the numerous curved and sloping road sections in existing cities without relying on expensive, perfectly straight and flat roads, significantly expanding their application scenarios and reducing road reconstruction costs.
[0025] 6. Simplified control and improved reliability: This method decomposes the complex curve path tracking problem into a series of localized intelligent decisions based on simple mechanical rules, reducing the reliance on computing power and communication reliability requirements for central path planning, making the system as a whole simpler and more robust.
[0026] 7. Easy to implement: Based on the existing rigid linkage, only the connecting flange and sensor need to be replaced. There is no need to modify the robot body. The modification cost is low and it is conducive to large-scale promotion. Attached Figure Description
[0027] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0028] Figure 1 The overall control flow diagram provided for this application.
[0029] Figure 2 The overall system architecture diagram provided for this application.
[0030] Figure 3 A schematic diagram of the connector structure provided in this application.
[0031] Figure 4 A schematic diagram showing the location of the locking mechanism provided in this application.
[0032] Figure 5 A schematic diagram of the curve working condition provided in this application.
[0033] Figure 6 The flowchart for curve operation control provided in this application.
[0034] Figure 7 This is a schematic diagram of the stress position at the root of the connecting component for curved road conditions provided in this application.
[0035] Figure 8 A schematic diagram of the longitudinal slope conditions provided for this application.
[0036] Figure 9 The flowchart for longitudinal slope working condition control provided in this application.
[0037] Figure 10 This is a schematic diagram of the stress location at the root of the connector under longitudinal slope conditions provided in this application.
[0038] Figure 11 The flowchart for the severe impact control provided in this application.
[0039] Explanation of the labels in the diagram: 1. Connector; 2. Stress sensing module; 3. Central control unit; 4. Root of connector; 5. Hinge mechanism; 6. Locking mechanism; E1. Electromagnetic lock; E2. Electromagnetic lock. Detailed Implementation
[0040] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0041] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.
[0042] like Figure 1 As shown, an adaptive safety connection control method for a tidal lane robot includes: S1: Real-time acquisition of load data at the rigid connection between two adjacent robots, including torque vector M=(Mx,My,Mz) and force vector F=(Fx,Fy,Fz); S2: Based on the load data, calculate at least one key load component that causes stress accumulation in the connector; the key load component includes at least: transverse bending moment: M_b = |Mz|, longitudinal tilting moment: M_t = |My|, and transverse shear force: F_s = √(Fx² + Fy²). S3: Compare the calculated load components with the corresponding preset safety thresholds; The safety threshold is dynamically determined based on the material properties and geometry of the connector: The formula for calculating the safety threshold M_bt of the transverse bending moment is: M_bt = η * (σ / n) * W_z; where σ is the yield strength of the connector material, n is a safety factor greater than 1, W_z is the bending section modulus of the connector about the Z-axis, and η is a reduction factor less than 1, used to set a safe operating threshold lower than the theoretical bearing limit of the material. The safety threshold M_tt for longitudinal inclined bending moment is calculated as follows: M_tt = η*(σ / n) * W_y; where W_y is the section modulus of the connector about the Y-axis. The formula for calculating the safety threshold of transverse shear force F_st is: F_st = η * τ * A; where τ is the allowable shear stress of the connector material and A is the cross-sectional area of the connector at the critical section.
[0043] S4: If any load component exceeds its corresponding safety threshold, release the rotational or translational degrees of freedom of the connector in the corresponding direction that caused the load component to accumulate. Specifically, it includes: S4.1: If M_b > M_bt, then release the yaw degree of freedom of the connector about the vertical axis (Z-axis); S4.2: If M_t > M_tt, then release the pitch freedom of the connector about the horizontal axis (Y-axis); S4.3: If F_s > F_st, then release the lateral translational freedom of the connector in the horizontal plane; Furthermore, if two or more load components exceed the threshold simultaneously, the corresponding degrees of freedom are released sequentially according to the priority order of M_b, M_t, and F_s, with an interval of at least 50 ms. This interval is managed and calibrated by the clock module of the central control unit to avoid transient instability caused by the simultaneous unlocking of multiple degrees of freedom.
[0044] Furthermore, after a certain degree of freedom is released, the system only monitors and determines whether the specific load component that caused the release of that degree of freedom meets the recovery condition, without being affected by other load components that have not exceeded the threshold.
[0045] S5: After the load component drops below its corresponding recovery threshold and remains stable for more than a preset time, the locking of the degree of freedom is restored.
[0046] The recovery threshold is set to k times the corresponding safety threshold, where the recovery coefficient k ranges from 0.2 to 0.5, and the value of k is experimentally calibrated based on the hysteresis characteristics of the connector material and the system response time.
[0047] After the lock is restored, the central control unit continues to monitor the residual vibration amplitude within 100 ms. If the vibration amplitude in any direction exceeds 0.5° or 0.2 mm, the degree of freedom is immediately released again and a "residual oscillation fault" is reported.
[0048] Specifically, the recovery coefficient k can be independently updated for each connector in the same tidal lane formation through self-learning. The update rule is: k_(i+1) = k_(i) + α· (N_s / N_t) Where α∈[0.01,0.05] is the learning rate, N_s is the number of unexpected lock-unlock switching of the connector during the current operation cycle, and N_t is the total number of control cycles.
[0049] S6: Collision safety monitoring and full-degree-of-freedom emergency release.
[0050] The system monitors the rate of change of the lateral shear force F_s in real time, dF_s / dt. When F_s exceeds its safety threshold F_st and its rate of change dF_s / dt simultaneously exceeds the preset impact threshold dF_it, the system determines that a severe impact has occurred and immediately performs the following actions: S6.1: Ignoring any other current conditions, the connecting parts are simultaneously released from rotational and translational degrees of freedom in all directions (yaw, pitch, and lateral translation) to achieve all-round flexibility and absorb impact energy to the greatest extent.
[0051] S6.2: If the impact duration T exceeds the set duration threshold T_ul, and at the same time the lateral shear force F_s is still higher than the ultimate separation threshold F_ul even after exceeding the set duration threshold T_ul, then the mechanical separation mechanism of the control connector will be activated. The mechanical separation mechanism can be an explosive bolt or a high-current fusible pin to achieve complete physical separation between robots and avoid chain collisions and equipment dragging.
[0052] like Figure 2 As shown, an adaptive safety connection control system for a tidal lane robot, used to implement the above method, is characterized by comprising: Connector 1: Used to connect two adjacent tidal lane robots; Connector 1 includes a hinge mechanism 5 and a locking mechanism 6, wherein the hinge mechanism 5 is preferably a series pitch-yaw double hinge mechanism, such as... Figure 4As shown, the locking mechanism 6 includes two controllable rotational degrees of freedom. The two rotational axes are orthogonal and are locked by independent electromagnetic locks E1 and E2 respectively. It is used to achieve rigid locking when energized or driven, and to release the corresponding degrees of freedom when the power is cut off or when subjected to severe external impact during movement.
[0053] Stress sensing module 2: integrated at connector 1, used to monitor its stress state in real time; stress sensing module 2 is a multi-dimensional force sensor and torque sensor, which can directly measure the three-dimensional force and three-dimensional torque at the connection.
[0054] Central control unit 3: It is communicatively connected to stress sensing module 2 and connector 1 respectively; Central control unit 3 is configured as follows: Receive and process real-time load data fed back by stress sensing module 2; Furthermore, before the real-time load data fed back by the stress sensing module 2 is input into the central control unit 3, it undergoes moving average filtering and outlier removal. The filtering window length is 5 to 10 sampling periods, and the outlier removal adopts the 3σ criterion.
[0055] Based on pre-stored material and geometric parameters, the safety threshold and recovery threshold are dynamically calculated. The safety threshold and recovery threshold are configured such that when the real-time stress data is greater than or equal to the safety threshold, the control connector 1 enters the unlocked state; when the real-time stress data drops to a recovery threshold, the control connector 1 returns to the rigid locked state.
[0056] By sending a command to the locking mechanism 6, the connecting piece 1 is controlled to switch between a rigid locking state and an adaptive unlocking state.
[0057] All threshold parameters and unlock / lock commands are broadcast to every robot node in the formation via the CAN-FD bus at 1 kHz, with a 16-bit CRC checksum added to the end of the frame, resulting in a bit error rate of less than 10⁻. 7 .
[0058] Before the tidal lane robot formation enters the "lane-changing operation" mode, a set of "high safety level" thresholds is preloaded, in which η and k are both reduced by 20%. After the lane change is completed, it automatically returns to the normal threshold set.
[0059] Example 1: Right turn scenario in a horizontal plane.
[0060] Scenario Description: A reversible lane divider consisting of robots A, B, C... Figure 5As shown, taking a pair of interconnected robots (robot A and robot B) as an example, robots A and B are entering a curved road with a radius of 50 meters in a straight formation. Robot A and robot B are connected by the connector 1 of this invention.
[0061] System parameter presets: The material of connector 1 is aluminum alloy with a yield strength σ = 240 MPa.
[0062] Safety factor n = 1.5, allowable stress σ = 240 / 1.5 = 160 MPa.
[0063] Connector 1 is a solid round rod with a diameter d = 50 mm and a bending section modulus W_z = π*d^3 / 32 ≈12272 mm³.
[0064] The reduction factor η = 0.8, and the restoration factor k = 0.3.
[0065] The calculated bending moment safety threshold is: M_bt = 0.8 * 160 * 10^6 * 12272 * 10^-9 ≈1571 N·m.
[0066] Detailed explanation of the process, such as Figure 7 As shown, 1. Initial state: The robot queue begins to enter the curve. Connector 1 is in a fully rigid locked state.
[0067] 2. Stress Monitoring and Triggering: Due to the curvature of the road, the movement trajectories of robots A and B are forced to differ, causing a bending moment M_b to accumulate around the Z-axis (vertical axis) at the root of the connector 4. The central control unit 3 reads this value in real time through a torque sensor. When M_b gradually increases from 1000 N·m to 1571 N·m, it reaches a preset threshold.
[0068] 3. Adaptive Action: The central control unit 3 immediately sends an unlocking command to the electromagnetic lock in the yaw direction (around the Z-axis) of the connector 1. The electromagnetic lock is de-energized, releasing the hinge. At this point, the connector 1 no longer maintains rigidity in the horizontal plane.
[0069] 4. Stress Release and Angle Formation: Under the thrust of the rear robot, robots A and B naturally generate a relative yaw angle Δψ. The generation of this angle causes connector 1 to no longer resist bending, and the M_b measured at its root rapidly drops below 200 N·m.
[0070] 5. Restoration of Rigidity: The central control unit 3 detects that M_b has dropped below k * M_bt = 0.3 * 1571 ≈ 471 N·m, determining that the stress has been safely released. The electromagnetic lock is then re-energized, the hinge is locked, and connector 1 regains its rigidity. At this point, A and B are fixed at a new relative angle adapted to the curve.
[0071] 6. Iterative process: Subsequent robot pairs (B and C, C and D, etc.) will "perceive-trigger-release-lock" in the exact same way, so that the entire robot swarm can smoothly "climb" over the curves like a centipede. The whole process is free from huge internal stress and has no risk of overall instability.
[0072] Example 2: Longitudinal slope scenario.
[0073] Scenario description: such as Figure 8 As shown, robot A and robot B enter an uphill section with a slope of Δθ from a flat road.
[0074] System parameter presets: The materials and basic parameters of Example 1 are used.
[0075] Because it is a circular cross section, the bending section modulus of connector 1 around the Y-axis (horizontal axis) is W_y = W_z ≈ 12272mm³.
[0076] The calculated safety threshold for the inclined bending moment is: M_tt = M_bt ≈ 1571 N·m.
[0077] Detailed explanation of the process, such as Figure 9 As shown, 1. When robot A has entered the ramp while robot B is still on the flat road, the difference in their postures causes the root of the connector 4 to generate a bending moment M_t around the Y-axis.
[0078] 2. The system is triggered when M_t reaches 1571 N·m.
[0079] 3. The central control unit 3 unlocks the pitch freedom (rotation about the Y-axis) of the connector 1.
[0080] 4. Robots A and B generate a relative pitch angle Δθ, making connector 1 tangent to the slopes of the two terrains, and M_t descends rapidly.
[0081] 5. Once M_t drops below 471 N·m, the pitch hinge is relocked. The entire queue then smoothly transitions onto the ramp in this manner.
[0082] Example 3: As Figure 1 As shown, the combined working conditions (curve + ramp) and shear force treatment are presented.
[0083] Scenario description: The robot convoy enters a complex road section that includes both right turns and uphill sections.
[0084] System parameter presets: The allowable shear stress of the material is τ = 0.6 * σ = 96 MPa.
[0085] The cross-sectional area of connector 1 is A = π*(d / 2)^2 ≈ 1963 mm².
[0086] The calculated safe threshold for shear force is: F_st = 0.8 * 96 * 10^6 * 1963 * 10^-6 ≈150,000 N.
[0087] Detailed process explanation: 1. In this composite road section, the limits of M_b, M_t and F_s may be exceeded at the connection point simultaneously.
[0088] 2. Independent judgment and combined actions: The control logic of this system is to independently monitor and judge the three degrees of freedom.
[0089] If M_b exceeds the limit first, then release the yaw degree of freedom first.
[0090] If M_t also exceeds the limit after releasing the yaw degree of freedom, then release the pitch degree of freedom.
[0091] In theory, under extreme conditions, the system can release both yaw and pitch degrees of freedom at the same time. In this case, connector 1 is equivalent to a universal joint, which can adapt to both horizontal curvature and longitudinal slope.
[0092] 3. Shear Force Handling: In the above process, the lateral shear force F_s is usually small. However, if F_s increases abnormally and exceeds the threshold of 150,000 N due to some reason (such as the risk of lateral collision), the system will trigger a third safety mechanism—releasing a lateral translational degree of freedom (or a rotational degree of freedom that can cause lateral displacement) to prevent connector 1 from being sheared.
[0093] 4. Recovery Logic: Recovering the lock requires that the load components corresponding to all released degrees of freedom meet the recovery conditions. For example, if the yaw and pitch degrees of freedom are released simultaneously, then M_b < 471 N·m and M_t < 471 N·m must be satisfied simultaneously for the system to lock the hinges in both directions at the same time.
[0094] Example 4: Figure 11 As shown, this illustrates the safety response under severe impact scenarios.
[0095] Scenario description: such as Figure X As shown, when the tidal flow lane robot platoon is operating normally, a vehicle behind it loses control and collides with robot B from the side at a certain angle.
[0096] System parameter presets: The safe threshold for transverse shear force is F_st = 150,000 N (same as in Example 3).
[0097] The impact rate of change threshold dF_it = 1,000,000 N / s is used to identify sudden impacts.
[0098] The ultimate escape threshold is F_ul = 250,000 N.
[0099] The set time for departure is T_ul=10s.
[0100] Detailed process explanation: 1. Collision Occurrence and Recognition: At the instant the vehicle collides with robot B, F_s at connector 1 increases sharply, with its rate of change dF_s / dt far exceeding 1,000,000 N / s. The central control unit 3 immediately determines it as a "severe impact" condition.
[0101] 2. Emergency release of all degrees of freedom: The system immediately skips all priority and unlocking interval logic and sends unlocking commands to electromagnetic locks E1 and E2 simultaneously. Connector 1 changes from a rigid state to a fully flexible state within milliseconds, thereby absorbing and buffering the huge impact kinetic energy.
[0102] 3. Safe Escape Decision and Execution: Due to the enormous impact energy, the lateral shear force F_s exceeded the ultimate escape threshold F_ul=250,000 N for T_ul=10ms. The central control unit 3 then sent a trigger command to the explosive bolt built into the connector 1.
[0103] Disengagement and Isolation: The explosive bolts detonate, completely separating connector 1 from the interface of robot A or B at a pre-set mechanical weakening point. Robots A and B successfully detach, preventing the impact force from being transmitted throughout the robot chain and avoiding a domino-like collapse and more severe equipment damage. The struck robot B is pushed away, while the rest of the convoy remains largely in place and structurally intact, effectively isolating the impact of the accident.
[0104] It is worth noting that the two robots in this application can be connected through multiple connectors. This embodiment only shows the case of one connector, simply to demonstrate the universality of the adaptive safety connection control method for tidal lane robots in this application. Through a unified mechanical model, it can handle straight lines, curves, slopes, and various complex road conditions. The specific settings can be designed according to the needs of actual applications. For example, the embodiment shows regular hexagonal honeycomb holes, but other shapes of cavities are also possible. The honeycomb hole diameter d mentioned in this application refers to the effective optical aperture of the micro-concave lens.
[0105] In the description of this application, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "inner," "outer," "surface," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. The term "multiple" means two or more, unless otherwise explicitly specified.
[0106] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "connected," "linked," "fixed," and "set" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.
[0107] The above embodiments are merely preferred embodiments of this application and are not intended to limit the scope of this application. Any modifications and improvements made by those skilled in the art to the technical solutions of this application without departing from the spirit of this application shall fall within the protection scope defined by the claims of this application.
Claims
1. A method for adaptive safety connection control of a tidal lane robot, characterized by, Comprise: S1: Real-time acquisition of load data at the rigid connecting piece connecting adjacent two robots, including moment vector M=(Mx, My, Mz) and force vector F=(Fx, Fy, Fz); S2: Based on the load data, at least one key load component causing stress accumulation in the connecting piece is calculated; The key load component at least includes: lateral bending moment M_b = |Mz|, longitudinal tilt moment M_t = |My|, lateral shear force F_s = √(Fx² + Fy²); S3: The calculated load component is compared with the corresponding preset safety threshold; S4: If any of the load components exceeds its corresponding safety threshold, the rotation or translation freedom degree of the connecting piece in the corresponding direction causing the accumulation of the load component is released; S5: After the load component drops below its corresponding recovery threshold and remains stable for more than a preset time, the locking of the freedom degree is restored; S6: Real-time monitoring of the change rate dF_s / dt of the lateral shear force F_s, when F_s exceeds its safety threshold F_st and its change rate dF_s / dt exceeds the preset impact threshold dF_it at the same time, the system determines that a severe impact has occurred, and immediately performs emergency release of all freedom degrees.
2. The method for robot adaptive safety connection control of a tidal lane according to claim 1, wherein, In step S3, the safety threshold M_bt of the lateral bending moment is calculated by the formula: M_bt = η * (σ / n) * W_z; Wherein, σ is the yield strength of the connecting piece material, n is a safety factor greater than 1, W_z is the bending section modulus of the connecting piece around the Z axis, η is a reduction factor less than 1, used to set a safety operating threshold lower than the theoretical limit of the material; The safety threshold M_tt of the longitudinal tilt moment is calculated by the formula: M_tt = η * (σ / n) * W_y; Wherein, W_y is the bending section modulus of the connecting piece around the Y axis; The safety threshold F_st of the lateral shear force is calculated by the formula: F_st = η * τ * A; Wherein, τ is the allowable shear stress of the connecting piece material, A is the dangerous cross-sectional area of the connecting piece.
3. The method for robot adaptive safety connection control of a tidal lane according to claim 2, wherein, Step S4 includes, S4.1: If M_b > M_bt, release the yaw freedom degree of the connecting piece around the vertical axis; S4.2: If M_t > M_tt, release the pitch freedom degree of the connecting piece around the horizontal transverse axis; S4.3: If F_s > F_st, release the lateral translation freedom degree of the connecting piece in the horizontal plane; S4.4: If two or more load components exceed the threshold at the same time, release the corresponding freedom degree in the order of M_b, M_t, F_s priority, and maintain a certain time interval to avoid transient instability caused by simultaneous unlocking of multiple freedom degrees; S4.5: After releasing a certain freedom degree, the system only monitors and judges whether the specific load component causing the release of the freedom degree meets the recovery condition, and is not affected by other load components that do not exceed the threshold.
4. The method for robot adaptive safety connection control of a tidal lane according to claim 3, wherein, The recovery coefficient k in step S5 can be independently learned and updated for each connecting piece in the same tidal lane formation, and the updating rule is: k_(i+1)=k_(i)+α·(N_s / N_t); wherein α∈[0.01, 0.05] is the learning rate, N_s is the number of unexpected locking-unlocking switching of the connecting piece in this operation cycle, and N_t is the total control cycle number.
5. The method for robot adaptive safety connection control of a tidal lane according to claim 4, wherein, Step S6 includes, S6.1: regardless of any other conditions, synchronously release the freedom of the connecting piece in all directions, realize omnidirectional flexibility, and maximize the absorption of impact energy; S6.2: if the impact duration T exceeds the set duration threshold T_ul, and at the same time the lateral shear force F_s is still higher than the ultimate separation threshold F_ul, the mechanical separation mechanism of the connecting piece is controlled to act, and complete physical separation.
6. A robot adaptive safety connection control system for a tidal lane, characterized by, It includes: The connecting piece is used for connecting two adjacent tidal lane robots; the connecting piece includes a hinged mechanism and a locking mechanism, the hinged mechanism is a series pitch-yaw double hinge mechanism; the locking mechanism includes at least one controllable rotational freedom, two rotation axes are orthogonal and are respectively locked by independent locking mechanisms, for realizing rigid locking when being powered or driven, and releasing the corresponding freedom when being powered off or encountering external violent impact during movement; a stress sensing module is integrated in the connecting piece, for monitoring the stress state in real time; the stress sensing module is a multi-dimensional force sensor and a torque sensor, which can directly measure three-dimensional force and three-dimensional torque at the connecting position; a central control unit is in communication connection with the stress sensing module and the connecting piece respectively.
7. A robotically self-adapting safety connection control system for a tidal lane according to claim 6, wherein, The central control unit is configured to cyclically execute data receiving, load calculation, threshold dynamic updating, locking mechanism control based on priority logic, and self-learning update of the recovery coefficient.