Intelligent mobile cone boundary identification and autonomous motion control system

Abstract

The invention discloses an intelligent mobile cone boundary identification and autonomous motion control system, and relates to the technical field of road traffic safety facilities and automatic control. Each cone unit is endowed with a boundary identification module and an autonomous motion control module, so that the cone unit can actively sense and track a preset boundary reference identifier; a boundary tracking algorithm built in the cone decision control module calculates the deviation between a current pose target and a local pose target in real time, a chassis is driven to conduct correction, when construction equipment moves or a task blueprint is changed, all units can adjust the positions of themselves automatically and synchronously according to the updated target, the boundary formed by the whole cone array can deform continuously, and therefore the construction efficiency is improved. The process is completely autonomous, people do not need to enter a dangerous area for manual carrying, the problems that the boundary of a traditional conical cylinder is rigid, adjustment is difficult, and efficiency is low are fundamentally solved, and conversion from static setting to dynamic tracking of the safety boundary is achieved.

Description

Technical Field

[0001] This invention relates to the field of road traffic safety facilities and automated control technology, specifically to an intelligent moving cone boundary recognition and autonomous motion control system. Background Technology

[0002] In scenarios such as road construction, accident handling, and temporary traffic control, traditional traffic cones are widely used to physically isolate dangerous areas and guide traffic flow. These traffic cones have a single function, serving only as static visual warning signs. Their deployment, adjustment, and retrieval rely entirely on manual operation, which is not only inefficient but also poses significant safety risks to workers in high-risk environments such as highways. As operational needs change or construction equipment moves, the fixed cone array cannot be adjusted in real time, making it difficult to provide dynamic and adaptive safety boundary protection.

[0003] Currently, improvements to traffic cones largely focus on adding functionality, such as integrating LED indicators, wireless alarm modules, or simple sensors into the cone. While these solutions can provide status alerts or collision warnings, they do not endow traffic cones with autonomous movement capabilities or group collaborative intelligence. Their core deficiency lies in: The boundary shape is static and rigid, and cannot be automatically deformed and reconstructed as the working surface advances or shrinks, so manual intervention is still required; Information is isolated between units, and each cone is an "information island". It cannot perceive the status of its neighbors, cannot respond to commands to change the shape of the overall boundary, and cannot trigger coordinated movement of adjacent units to maintain boundary continuity when some units are moved due to obstacle avoidance. Deployment and adjustments are highly dependent on manual labor. From the initial placement to every subsequent boundary modification, personnel must enter the work area to operate manually, resulting in significant bottlenecks in efficiency and safety.

[0004] Therefore, existing traffic cone systems are essentially passive and discrete physical barriers, lacking the ability to proactively respond to dynamic environmental changes and global task requirements. There is an urgent need for an intelligent, collaborative mobile cone system capable of autonomously forming, maintaining, and dynamically adjusting safety boundaries to fundamentally improve the adaptive protection level and automated management of temporary work areas. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of existing technologies and provide an intelligent mobile cone boundary recognition and autonomous motion control system. This system enables each cone unit to actively perceive and track preset boundary reference markers by equipping it with a boundary recognition module and an autonomous motion control module. The cone decision control module's built-in boundary tracking algorithm calculates the deviation between the current pose and the local pose target in real time and drives the chassis to correct it. When construction equipment moves or the task blueprint changes, each unit can autonomously and synchronously adjust its position according to the updated target, allowing the boundary formed by the entire cone array to continuously deform and precisely fit the new safety zone contour. This process is completely autonomous, requiring no manual handling by personnel entering the danger zone. It fundamentally solves the problems of rigid, difficult-to-adjust, and inefficient traditional cone boundaries, realizing the transformation of safety boundaries from static setting to dynamic tracking.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an intelligent mobile cone boundary recognition and autonomous motion control system, the system comprising multiple intelligent mobile cone units and a handheld control terminal, wherein the intelligent mobile cone unit comprises a cone mechanical structure module, a boundary recognition module, a cone decision control module, an autonomous motion control module, and an inter-cone cooperative communication module; The conical mechanical structure module includes a conical outer shell and a retractable omnidirectional movable chassis. The boundary recognition module is used to acquire, in real time, the pose information data of the intelligent mobile cone unit relative to the dynamic boundary and environmental data. The cone decision control module receives environmental data from the boundary recognition module and neighbor information from the inter-cone cooperative communication module through boundary decomposition and boundary tracking algorithms, and calculates control commands for the omnidirectional moving chassis by combining them with the consensus cooperative control algorithm. The autonomous motion control module is used to drive the omnidirectional moving chassis to perform posture adjustment through the drive circuit. The inter-cone cooperative communication module adopts a self-organizing network wireless communication protocol to exchange its own pose information data and status information data in real time between adjacent intelligent mobile cone units, forming a dynamic inter-cone cooperative network. The handheld control terminal is used to generate and issue global task blueprints and collaborative management instructions.

[0007] Furthermore, the boundary recognition module includes a visual sensor, a millimeter-wave radar, and an ultrasonic sensor; The visual sensor is used to identify the boundary reference marks and surrounding obstacles pre-set on the construction equipment and the ground, so as to obtain the relative pose information data of the intelligent mobile cone unit relative to the dynamic boundary. The millimeter-wave radar is used to detect moving objects at long distances; The ultrasonic sensor is used to enable the intelligent mobile cone unit to avoid obstacles at close range.

[0008] Furthermore, the working principle of the inter-cone cooperative communication module in constructing the dynamic inter-cone cooperative network is as follows: After each of the intelligent mobile cone units is powered on, the inter-cone collaborative communication module broadcasts in the preset communication frequency band, transmitting its own frequency band signal and listening to the neighboring frequency band signal; When the first intelligent mobile cone unit receives the broadcast signal from the second intelligent mobile cone unit and the signal strength exceeds a preset threshold, the two units establish a direct communication link and exchange their respective identifiers and initial pose information data. Each of the intelligent mobile cone units broadcasts its own real-time pose information data and status information data, and forwards real-time pose information data and status information data from other intelligent mobile cone units, as well as collaborative management instructions from the handheld control terminal, so that information within the network is transmitted to all intelligent mobile cone units.

[0009] Furthermore, the handheld control terminal includes a boundary task planning interface, a cone grouping and management interface, and an instruction issuing unit; The boundary task planning interface is used to generate and edit the global task blueprint that describes the shape of the target boundary; The cone grouping and management interface is used to monitor the status information data of each of the intelligent mobile cone units; The instruction issuing unit is used to broadcast the global task blueprint and collaborative management instructions to the intercontinental collaborative network.

[0010] Furthermore, the global task blueprint is generated by the boundary task planning interface in the following way: The system receives user-imported geometric shapes, coordinate point sequences, and predefined boundary templates, and converts them into a digital task description file containing boundary geometric parameters, which is the global task blueprint. The cone grouping and management interface subscribes to the status information data in the cone-shaped collaborative network, displays the location, power level, and working status of each intelligent mobile cone unit in real time, and allows users to logically group multiple specified intelligent mobile cone units to receive the same global task blueprint and collaborative management instructions for collaborative motion parameters.

[0011] Furthermore, the boundary decomposition of the cone decision control module is used to parse the global task blueprint from the handheld control terminal into the local pose target of the intelligent mobile cone unit. The specific steps of the boundary decomposition include: Obtain the global task blueprint and parse a continuous and multi-segment reference boundary path defined by the global task blueprint; Based on the total number of intelligent mobile cone units participating in the task in the cone-shaped collaborative network The reference boundary path is discretized into M ordered path point sequences at equal intervals or according to a preset rule. ; Based on the logical sequence number of each intelligent mobile cone unit in the task grouping Multiple target path points are assigned to it as its local pose targets, wherein... .

[0012] Furthermore, the control logic of the cone-shaped decision control module is as follows: The cone decision control module receives relative pose information data from the boundary recognition module as first feedback, and receives real-time pose information data from adjacent intelligent mobile cone units from the inter-cone cooperative communication module as second feedback. The cone-shaped decision control module compares the first feedback with the local pose target, generates a preliminary tracking command through the boundary tracking algorithm, and simultaneously uses the second feedback to coordinately adjust the preliminary tracking command through a consistency and coordination control algorithm, synthesizing the control command for the omnidirectional moving chassis, and sending it to the autonomous motion control module.

[0013] Furthermore, the working principle of the boundary tracking algorithm is as follows: based on the intelligent moving cone unit at time... Local pose target and the boundary recognition module at time Provided real-time relative pose information data ,in, Indicates the target's planar position. Indicates the target's facing angle. This indicates the current position and orientation of the intelligent moving cone unit relative to the boundary reference marker, and calculates the pose deviation vector. and apply To generate the initial tracking command ,in, This is the proportional gain matrix, used to generate basic control values ​​based on the current pose deviation. This is the differential gain matrix, used to provide damping based on the rate of change of pose deviation, thereby enhancing the stability of the tracking process. pose deviation vector The first derivative with respect to time characterizes the trend of deviation.

[0014] Furthermore, the working principle of the consensus collaborative control algorithm is as follows: in the first... The control cycle, for the first The pose state vector of the aforementioned intelligent moving cone unit in the global coordinate system is: ,in, , This represents its planar position coordinates in the global coordinate system. This represents its orientation angle in the global coordinate system, and its local pose target state is: The set of neighboring cells obtained through the inter-cone cooperative communication module is ,Neighbor The real-time pose state is ; The consensus coordination control algorithm is used to generate a coordination adjustment amount for the initial tracking command. in, The calculated collaborative control quantity. This is the target approach gain matrix, used to adjust the speed at which a cell moves towards its target. This is the coordination consistency gain matrix, used to adjust the strength of how well a cell maintains formation consistency with its neighboring cells. The adjacency matrix elements of the inter-cone cooperative network reflect the intelligent mobile cone units. With intelligent mobile cone unit The communication connection relationship, when the intelligent mobile cone unit With intelligent mobile cone unit If direct communication is possible, then It is positive if it is positive, otherwise it is 0. Represents the set of neighbors Sum the state differences of all units in the process; The cone-shaped decision control module will calculate the initial tracking command based on the boundary tracking algorithm. With the aforementioned coordinated control quantity The data is then fused to obtain control commands for driving the omnidirectional moving chassis.

[0015] Compared with existing technologies, this intelligent moving cone boundary recognition and autonomous motion control system has the following advantages: This invention equips each cone unit with a boundary recognition module and an autonomous motion control module, enabling it to actively perceive and track preset boundary reference markers. The boundary tracking algorithm built into the cone decision control module calculates the deviation between the current pose and the local pose target in real time and drives the chassis to make corrections. When construction equipment moves or the task blueprint changes, each unit can autonomously and synchronously adjust its own position according to the updated target, so that the boundary formed by the entire cone array can continuously deform and accurately fit the new safety area contour. This process is completely autonomous and does not require personnel to enter the danger zone for manual handling. It fundamentally solves the problems of rigid cone boundaries, difficult adjustment, and low efficiency in traditional cones, and realizes the transformation of safety boundaries from static setting to dynamic tracking.

[0016] This invention constructs an inter-cone cooperative network through an inter-cone cooperative communication module, enabling each cone unit to exchange its own pose information data and status in real time. The cone decision control module utilizes a consistent cooperative control algorithm, ensuring that the motion control of each unit depends not only on its own target but also on the real-time status of its neighboring units. The cooperative consistency gain matrix and adjacency matrix elements work together to drive adjacent units to maintain a preset distance and relative configuration, allowing the entire boundary to quickly restore the consistency and continuity of the formation while avoiding obstacles. This distributed cooperative mechanism solves the shortcomings of traditional cone arrays where units are isolated and unable to respond to local disturbances in a coordinated manner, ensuring the overall robustness and safety of the dynamic boundary.

[0017] Other advantages, objectives and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be learned from the practice of the invention. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0019] Figure 1 This is an operation flowchart of an intelligent mobile cone boundary recognition and autonomous motion control system. Figure 2 This is a block diagram of the modules of an intelligent mobile cone boundary recognition and autonomous motion control system. Figure 3 This is a flowchart of boundary decomposition in an intelligent mobile cone boundary recognition and autonomous motion control system. Detailed Implementation

[0020] To better understand the above technical solutions, a detailed description of the solutions will be provided below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0021] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0022] To address the shortcomings of existing road traffic cone systems, such as limited functionality, reliance on manual deployment and adjustment, inability to dynamically adapt to changes in work boundaries, and lack of inter-unit coordination leading to boundary fracturing, this invention provides an intelligent mobile cone boundary recognition and autonomous motion control system. This system aims to empower each cone unit with autonomous perception, decision-making, movement, and collaborative communication capabilities, constructing an intelligent, collaborative mobile cone array capable of autonomously forming, maintaining, and dynamically adjusting safety boundaries. This invention is primarily applied to scenarios involving highway maintenance, municipal road construction, temporary traffic control at accident scenes, and temporary traffic planning for large-scale events. In these scenarios, the work area often needs to dynamically change with project progress or site conditions. The deployment, adjustment, and retrieval of traditional static cones are not only inefficient but also require frequent personnel entry into hazardous areas, posing high safety risks.

[0023] This invention constructs an autonomous collaborative network composed of intelligent mobile cone units, receives global task instructions from handheld terminals, perceives dynamic boundaries in real time, and moves autonomously through a distributed collaborative control algorithm, thereby achieving automatic generation, continuous maintenance, and adaptive deformation of safety boundaries, and improving the level of automated protection and management efficiency of temporary work areas.

[0024] Specifically, such as Figure 2 As shown, an intelligent mobile cone boundary recognition and autonomous motion control system is disclosed. The system includes multiple intelligent mobile cone units and a handheld control terminal. The intelligent mobile cone unit includes a cone mechanical structure module, a boundary recognition module, a cone decision control module, an autonomous motion control module, and an inter-cone cooperative communication module. The conical mechanical structure module includes a conical outer shell and a retractable omnidirectional movable chassis. The boundary recognition module is used to acquire, in real time, the pose information data of the intelligent mobile cone unit relative to the dynamic boundary and environmental data. The cone decision control module receives environmental data from the boundary recognition module and neighbor information from the inter-cone cooperative communication module through boundary decomposition and boundary tracking algorithms, and calculates control commands for the omnidirectional moving chassis by combining them with the consensus cooperative control algorithm. The autonomous motion control module is used to drive the omnidirectional moving chassis to perform posture adjustment through the drive circuit. The inter-cone cooperative communication module adopts a self-organizing network wireless communication protocol to exchange its own pose information data and status information data in real time between adjacent intelligent mobile cone units, forming a dynamic inter-cone cooperative network. The handheld control terminal includes a boundary task planning interface, a cone grouping and management interface, and an instruction issuing unit, used to generate and issue global task blueprints and collaborative management instructions.

[0025] In the specific implementation process, each of the intelligent mobile cone units includes a cone mechanical structure module, a boundary recognition module, a cone decision control module, an autonomous motion control module, and an inter-cone collaborative communication module.

[0026] The aforementioned cone-shaped mechanical structure module constitutes the physical carrier and motion basis of the unit, including a cone-shaped outer shell and a retractable omnidirectional mobile chassis integrated at the bottom of the outer shell. The omnidirectional mobile chassis is implemented using an omnidirectional wheel set, which, together with a drive motor, reducer and braking mechanism, gives the cone the ability to translate and rotate in any direction in the plane. The chassis has a retractable function, which can be folded up in the non-moving state to reduce volume and power consumption, and can be quickly unfolded when a movement command is received.

[0027] The boundary recognition module is used for the cone to perceive the environment and boundaries. It integrates a visual sensor, millimeter-wave radar, and ultrasonic sensor. The visual sensor is used to identify high-contrast boundary reference marks, such as QR codes or reflective marks of specific shapes and colors, at specific locations on the construction equipment and on the ground. Through image processing and visual positioning, the position (x, y) and orientation angle (θ) of the intelligent mobile cone unit relative to these marks are calculated in real time, i.e., relative pose information. The millimeter-wave radar is used to detect moving objects at medium and long distances and provide early warning. The ultrasonic sensors are arranged around the bottom of the cone to realize obstacle detection and avoidance at close range, preventing collisions between cones or between the cone and fixed objects.

[0028] The cone decision control module is implemented using an embedded microprocessor. It receives real-time relative pose information data from the boundary recognition module and pose state information of neighboring units from the inter-cone cooperative communication module. Its control logic includes boundary decomposition and fusion control algorithms, wherein: like Figure 3 As shown, the specific steps of boundary decomposition include: Obtain the global task blueprint and parse a continuous and multi-segment reference boundary path defined by the global task blueprint; Based on the total number of intelligent mobile cone units participating in the task in the cone-shaped collaborative network The reference boundary path is discretized at equal intervals or according to a preset rule. An ordered sequence of path points ; Based on the logical sequence number of each intelligent mobile cone unit in the task grouping Multiple target path points are assigned to it as its local pose targets, wherein... .

[0029] The fusion control algorithm simultaneously runs the boundary tracking algorithm and the consensus cooperative control algorithm. The boundary tracking algorithm compares the currently perceived relative pose with the local pose target, calculates the pose deviation, and generates preliminary tracking control commands through the proportional-derivative (PD) controller. The consensus cooperative control algorithm calculates the cooperative adjustment amount based on its own and all neighboring units' real-time pose states, aiming to maintain the preset spacing and formation of adjacent cones. It then fuses the preliminary tracking commands with the cooperative adjustment amount to generate the final control commands.

[0030] The autonomous motion control module receives control commands from the cone decision control module and precisely controls the speed and direction of each hub motor of the omnidirectional moving chassis through the motor drive circuit, thereby driving the cone to perform posture adjustment actions such as forward, backward, translation, and rotation, so as to achieve tracking of the target position and maintenance of the formation.

[0031] The inter-cone cooperative communication module employs a wireless communication unit based on an ad hoc network protocol. Upon power-up, each cone unit automatically broadcasts and listens in a preset frequency band, establishing direct communication links with neighboring units possessing sufficient signal strength. They exchange identifiers and initial poses, forming a dynamic, multi-hop inter-cone cooperative network. Within the network, each unit periodically broadcasts its real-time pose and status, and forwards information from other units or handheld terminals, ensuring that all units within the network can obtain global or local cooperative information.

[0032] The handheld control terminal provides a centralized monitoring and command interface for managers. It is equipped with dedicated control software, which includes: a boundary task planning interface, allowing users to generate and edit a global task blueprint describing the shape of the target boundary by drawing graphically, importing CAD files, or selecting predefined templates; a cone grouping and management interface, which displays the location, power, and working status of all online cone units in real time in map form, allowing users to logically group multiple specified cones to issue unified tasks and collaborative parameters to the group; and an instruction issuing unit, which is responsible for broadcasting the edited global task blueprint and collaborative management instructions to the entire cone collaborative network.

[0033] The following section describes the specific workflow of this system in detail, using a typical road maintenance construction scenario. In a nighttime highway maintenance operation, a 500-meter section of lane is milled and repaved. In this embodiment, before the operation, using an intelligent mobile cone boundary recognition and autonomous motion control system, the manager, based on the construction plan, draws a zigzag boundary with a safe distance parallel to the planned travel path of the construction convoy on an electronic map along the edge of the lane to be closed on the handheld control terminal's boundary task planning interface. This serves as the global task blueprint. Twenty intelligent mobile cone units are then removed from the transport vehicle and placed on the shoulder near the start of the work area, and all cone units are powered on and activated.

[0034] The inter-cone cooperative communication modules of each unit begin operation, broadcasting on a preset wireless frequency band. They detect each other's signals based on their initial placement positions and establish communication links according to signal strength, forming an inter-cone cooperative network containing all 20 units. Each unit obtains a temporary logical sequence number (i=1, 2, ..., 20) in the network and exchanges its initial GPS coordinates and relative position estimates through communication. The handheld control terminal scans and connects to the network. On the cone grouping and management interface, all 20 cones are displayed as online. The administrator selects all cones and assigns them to the first alert group.

[0035] Managers use handheld terminals to distribute the completed global task blueprint to the first alert group, and the blueprint data is broadcast to every cone unit through the cone-shaped collaborative network.

[0036] The cone decision control module of each cone unit starts to execute the boundary decomposition algorithm. The algorithm parses the polyline blueprint and obtains a continuous reference boundary path. Based on the total number of cones in the group N=20, the path is discretized into M=60 ordered path points {P1, P2, ..., P60} at equal intervals. According to its own logical index i, each cone is assigned its local pose target.

[0037] Upon receiving a local pose target, each cone unit initiates its control logic via the cone decision control module. The visual sensor of the boundary recognition module begins operation, searching for a preset boundary reference marker. In this embodiment, the reference marker is preset at the tail of the slowly advancing milling machine. The visual algorithm outputs the relative pose of the cone with respect to this marker in real time. The cone decision control module compares it with its first local pose target. Compare and calculate pose deviation Preliminary tracking commands are generated through the boundary tracking algorithm (PD control). This is used to maintain the drive cone's movement to the target point and keep it in a specified orientation, where, Indicates the target's planar position. Indicates the target's facing angle. This indicates the current position and orientation of the intelligent moving cone unit relative to the boundary reference marker. This is the proportional gain matrix, used to generate basic control values ​​based on the current pose deviation. This is the differential gain matrix, used to provide damping based on the rate of change of pose deviation, thereby enhancing the stability of the tracking process. pose deviation vector The first derivative with respect to time characterizes the trend of deviation.

[0038] The inter-cone cooperative communication module continuously sends and receives neighbor information. When cone i learns the real-time pose of its predecessor cone i-1 and its successor cone i+1 through communication... and The consensus-based collaborative control algorithm is based on the poses of its neighbors and its own pose. And the local pose target, calculate the cooperative adjustment amount. This adjustment will cause cone i to maintain a preset interval with cone i-1 and cone i+1 while tracking its own target, thereby maintaining the continuity and smoothness of the boundary line.

[0039] The cone-shaped decision control module will and The final control command is obtained through fusion and sent to the autonomous motion control module. The autonomous motion control module drives the omnidirectional moving chassis to start the cone i to move towards the target point and fine-tune its own position to align with the neighbor.

[0040] All cone-shaped units, while visually tracking the moving dynamic boundary, coordinate with each other via a wireless network to autonomously move from an initial scattered state and arrange themselves into a continuous warning boundary parallel to the construction vehicle convoy with uniform spacing, safely isolating the work area from the traffic lane.

[0041] During construction, the paver follows along, and the rear boundary of the construction area also moves. On their handheld terminals, managers update the global task blueprint to a "strip" area containing both front and rear moving boundaries. After the new blueprint is issued, the boundary decomposition algorithm for each cone unit is recalculated, the cones are reassigned target points, and the array begins to adaptively deform, expanding from a single line into a closed strip area that moves synchronously with the construction convex vehicle fleet.

[0042] When a vehicle approaches the work area and enters the millimeter-wave radar detection range of the cone, the cone detects the intrusion. Its decision control module generates a small obstacle avoidance displacement command locally based on preset safety rules. Simultaneously, the disturbed state and temporary target position are quickly broadcast to neighbors through the inter-cone cooperative communication module. The neighboring units' consensus cooperative control algorithm senses the position change and adjusts its own cooperative control accordingly, generating following or compensating movements. This disturbance is transmitted through the cooperative network, avoiding risks while preventing large gaps in the entire array. After the vehicle leaves, the original formation is quickly restored through consensus control.

[0043] At the end of construction, management personnel issued a "assemble" command via handheld terminal, and the decision control modules of each cone unit uniformly switched their local pose targets to the specified assembly point coordinates. Under the action of the consistency and collaborative control algorithm, the cone array moved orderly to the assembly point, facilitating rapid retrieval by management personnel. Throughout the entire process, personnel did not need to enter the hazardous area of ​​traffic flow to manually move the cones.

[0044] In summary, this invention, through the organic collaboration of its various modules, constructs an intelligent mobile cone system encompassing global task planning, distributed boundary perception, intelligent collaborative decision-making, and precise autonomous movement. This system upgrades traditional static, passive traffic cones into a dynamic, proactive cluster of collaborative robots, transforming manual boundary setting and adjustment into fully automated real-time tracking and collaborative maintenance. It effectively addresses the core pain points of low efficiency, high risk, and poor adaptability in setting safety boundaries for temporary work areas, providing an intelligent and automated solution for road traffic safety management.

[0045] like Figure 1 As shown, the specific operation flow of the intelligent moving cone boundary recognition and autonomous motion control system provided by the present invention for performing moving cone boundary recognition and autonomous motion control is as follows: (1) Task planning Power on the handheld control terminal and enter the boundary task planning interface.

[0046] Users can import geometric shapes, coordinate point sequences, or select predefined boundary templates through the interface to generate a global task blueprint.

[0047] Users can view the status (position, power, and working status) of each intelligent mobile cone unit through the cone grouping and management interface.

[0048] Users group multiple cone units together and issue global task blueprints and cooperative motion parameters to this group.

[0049] (2) Power-on of cone unit and network construction All intelligent moving cone units are powered on and started.

[0050] Each unit's inter-cone collaborative communication module broadcasts its own signal in a preset frequency band and listens to neighboring signals.

[0051] When the signal strength of two cone units exceeds the threshold, a direct communication link is established to exchange identifiers and initial pose information.

[0052] A dynamic collaborative network covering all cones is gradually formed, forwarding pose, status and control commands in real time.

[0053] (3) Boundary identification and target allocation The boundary recognition module of the cone unit is activated, and it uses a visual sensor to identify the boundary reference mark to obtain its own pose relative to the boundary.

[0054] Millimeter-wave radar monitors moving objects at long distances, while ultrasonic sensors enable obstacle avoidance at close range.

[0055] The cone-shaped decision control module receives the global task blueprint from the handheld terminal and parses it into continuous or multi-segment reference boundary paths.

[0056] Based on the total number of cones participating in the task, the reference path is discretized into an ordered sequence of path points.

[0057] Assign a corresponding target path point to each cone element as its local pose target.

[0058] (4) Motion decision-making and collaborative control The cone decision control module receives real-time relative pose information (first feedback) from the boundary recognition module.

[0059] Simultaneously, the real-time pose information of neighboring cones is obtained through the inter-cone collaborative communication module (secondary feedback).

[0060] The decision control module compares the first feedback with the local pose target and generates preliminary tracking instructions through the boundary tracking algorithm.

[0061] Simultaneously, by utilizing the second feedback, the initial instructions are adjusted collaboratively through a consistent collaborative control algorithm to generate fused control instructions.

[0062] (5) Autonomous movement execution The autonomous motion control module receives control commands and controls the omnidirectional moving chassis to adjust its position and posture through the drive circuit.

[0063] The cone unit continues to move until it reaches the target position and remains stable.

[0064] During the process, the system continuously monitors boundary changes and neighbor status, dynamically adjusts the movement trajectory, and maintains formation consistency and boundary continuity.

[0065] (6) Dynamic response and task update If construction equipment is moved or the task is changed, the handheld terminal updates the global task blueprint and reissues it.

[0066] When a cone-shaped element shifts due to obstacle avoidance, neighboring elements sense and coordinate their movements through a cooperative network to maintain the overall shape of the boundary.

[0067] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. An intelligent moving cone boundary recognition and autonomous motion control system, characterized in that, The system includes multiple intelligent mobile cone units and a handheld control terminal. The intelligent mobile cone unit includes a cone mechanical structure module, a boundary recognition module, a cone decision control module, an autonomous motion control module, and an inter-cone cooperative communication module. The conical mechanical structure module includes a conical outer shell and a retractable omnidirectional movable chassis. The boundary recognition module is used to acquire, in real time, the pose information data of the intelligent mobile cone unit relative to the dynamic boundary and environmental data. The cone decision control module receives environmental data from the boundary recognition module and neighbor information from the inter-cone cooperative communication module through boundary decomposition and boundary tracking algorithms, and calculates control commands for the omnidirectional moving chassis by combining them with the consensus cooperative control algorithm. The autonomous motion control module is used to drive the omnidirectional moving chassis to perform posture adjustment through the drive circuit. The inter-cone cooperative communication module adopts a self-organizing network wireless communication protocol to exchange its own pose information data and status information data in real time between adjacent intelligent mobile cone units, forming a dynamic inter-cone cooperative network. The handheld control terminal is used to generate and issue global task blueprints and collaborative management instructions.

2. The intelligent mobile cone boundary recognition and autonomous motion control system according to claim 1, characterized in that, The boundary recognition module includes a visual sensor, a millimeter-wave radar, and an ultrasonic sensor; The visual sensor is used to identify the boundary reference marks and surrounding obstacles pre-set on the construction equipment and the ground, so as to obtain the relative pose information data of the intelligent mobile cone unit relative to the dynamic boundary. The millimeter-wave radar is used to detect moving objects at long distances; The ultrasonic sensor is used to enable the intelligent mobile cone unit to avoid obstacles at close range.

3. The intelligent moving cone boundary recognition and autonomous motion control system according to claim 1, characterized in that, The working principle of the inter-cone cooperative communication module in constructing the dynamic inter-cone cooperative network is as follows: After each intelligent mobile cone unit is powered on, the inter-cone collaborative communication module broadcasts in the preset communication frequency band, transmitting its own frequency band signal and listening to the neighboring frequency band signal; When the first intelligent mobile cone unit receives the broadcast signal from the second intelligent mobile cone unit and the signal strength exceeds a preset threshold, the two units establish a direct communication link and exchange their respective identifiers and initial pose information data. Each of the intelligent mobile cone units broadcasts its own real-time pose information data and status information data, and forwards real-time pose information data and status information data from other intelligent mobile cone units, as well as collaborative management instructions from the handheld control terminal, so that information within the network is transmitted to all intelligent mobile cone units.

4. The intelligent moving cone boundary recognition and autonomous motion control system according to claim 1, characterized in that, The handheld control terminal includes a boundary task planning interface, a cone grouping and management interface, and an instruction issuing unit; The boundary task planning interface is used to generate and edit the global task blueprint that describes the shape of the target boundary; The cone grouping and management interface is used to monitor the status information data of each of the intelligent mobile cone units; The instruction issuing unit is used to broadcast the global task blueprint and collaborative management instructions to the intercontinental collaborative network.

5. The intelligent moving cone boundary recognition and autonomous motion control system according to claim 4, characterized in that, The global task blueprint is generated by the boundary task planning interface in the following way: The system receives user-imported geometric shapes, coordinate point sequences, and predefined boundary templates, and converts them into a digital task description file containing boundary geometric parameters, which is the global task blueprint. The cone grouping and management interface subscribes to the status information data in the cone-shaped collaborative network, displays the location, power level, and working status of each intelligent mobile cone unit in real time, and allows users to logically group multiple specified intelligent mobile cone units to receive the same global task blueprint and collaborative management instructions for collaborative motion parameters.

6. The intelligent moving cone boundary recognition and autonomous motion control system according to claim 1, characterized in that, The boundary decomposition of the cone decision control module is used to parse the global task blueprint from the handheld control terminal into the local pose target of the intelligent mobile cone unit. The specific steps of the boundary decomposition include: Obtain the global task blueprint and parse a continuous and multi-segment reference boundary path defined by the global task blueprint; Based on the total number of intelligent mobile cone units participating in the task in the cone-shaped collaborative network The reference boundary path is discretized at equal intervals or according to a preset rule. An ordered sequence of path points ; Based on the logical sequence number of each intelligent mobile cone unit in the task grouping Multiple target path points are assigned to it as its local pose targets, wherein... .

7. The intelligent moving cone boundary recognition and autonomous motion control system according to claim 1, characterized in that, The control logic of the cone-shaped decision control module is as follows: The cone decision control module receives relative pose information data from the boundary recognition module as first feedback, and receives real-time pose information data from adjacent intelligent mobile cone units from the inter-cone cooperative communication module as second feedback. The cone-shaped decision control module compares the first feedback with the local pose target, generates a preliminary tracking command through the boundary tracking algorithm, and simultaneously uses the second feedback to coordinately adjust the preliminary tracking command through a consistency and coordination control algorithm, synthesizing the control command for the omnidirectional moving chassis, and sending it to the autonomous motion control module.

8. The intelligent moving cone boundary recognition and autonomous motion control system according to claim 7, characterized in that, The working principle of the boundary tracking algorithm is as follows: based on the intelligent moving cone unit at time... Local pose target and the boundary recognition module at time Provided real-time relative pose information data ,in, Indicates the target's planar position. Indicates the target's facing angle. This indicates the current position and orientation of the intelligent moving cone unit relative to the boundary reference marker, and calculates the pose deviation vector. and apply To generate the initial tracking command ,in, It is a proportional gain matrix. The differential gain matrix is... pose deviation vector The first derivative with respect to time.

9. The intelligent moving cone boundary recognition and autonomous motion control system according to claim 7, characterized in that, The working principle of the consensus collaborative control algorithm is as follows: in the first... The control cycle, for the first The pose state vector of the aforementioned intelligent moving cone unit in the global coordinate system is: ,in, , This represents its planar position coordinates in the global coordinate system. This indicates the transpose operation. This represents its orientation angle in the global coordinate system, and its local pose target state is: The set of neighboring cells obtained through the inter-cone cooperative communication module is ,Neighbor The real-time pose state is ; The consensus coordination control algorithm is used to generate a coordination adjustment amount for the initial tracking command. in, The calculated collaborative control quantity. For the target approach gain matrix, For the consensus gain matrix, The adjacency matrix elements of the inter-cone cooperative network reflect the intelligent mobile cone units. With intelligent mobile cone unit The communication connection relationship, when the intelligent mobile cone unit With intelligent mobile cone unit If direct communication is possible, then It is positive if it is positive, otherwise it is 0. Represents the set of neighbors Sum the state differences of all units in the process; The cone-shaped decision control module will calculate the initial tracking command based on the boundary tracking algorithm. With the aforementioned coordinated control quantity The data is then fused to obtain control commands for driving the omnidirectional moving chassis.

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