Robot control system and control method for traffic direction

Abstract

The application discloses a robot control system and control method for traffic control, the system comprises a robot body and a traffic signal control system, the traffic signal control system is used for issuing traffic signal data to the robot body; the robot body comprises a signal subscription and analysis module, which is used for actively subscribing and receiving traffic signal data, including a signal parser component and a behavior mapper component, the signal parser component is used for checking the received traffic signal data, and extracting the key field used for generating the behavior instruction after the check passes; the behavior mapper component is used for generating the corresponding behavior instruction based on the action library according to the key field, and issuing the behavior instruction to the internal communication network of the robot body to drive the robot body to execute the corresponding action. Compared with the prior art, the application avoids the misidentification and missed identification problems existing in the traditional visual recognition scheme, and improves the reliability of the robot system environment signal interaction.

Description

Technical Field

[0001] This invention relates to the fields of robotics and intelligent transportation technology, and more specifically, to a robot control system and control method for traffic control. Background Technology

[0002] In recent years, mobile robot technology has been widely used in fields such as outdoor inspection, logistics and security due to its autonomy, flexibility and deployability, which provides a new technological path for the innovation of traffic management models.

[0003] Currently, mobile robots or autonomous driving units primarily rely on cameras to continuously capture road images to recognize and respond to traffic signals. However, visual recognition is highly susceptible to interference from various environmental factors; moreover, the data transmission and extensive computation involved in the processing can cause delays of hundreds of milliseconds, causing the robot's response to lag behind the actual changes in the signal. Furthermore, visual recognition typically only outputs basic states such as color, making it difficult to stably and accurately obtain the remaining duration of the signal state, thus limiting the robot's ability to perform efficient and smooth forward-looking behavior planning.

[0004] As can be seen from the above, the relevant technologies do not provide any technical insights into how to improve the reliability of environmental signal interaction in robot systems. Summary of the Invention

[0005] The summary section of this application is intended to provide a brief overview of the concepts, which will be described in detail in the detailed description section below. This summary section is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to limit the scope of the claimed technical solutions.

[0006] Some embodiments of this application propose a robot control system and control method for traffic control to solve the technical problems mentioned in the background section above.

[0007] As a first aspect of this application, some embodiments of this application provide a robot control system for traffic control, including a robot body and a traffic signal control system;

[0008] The traffic signal control system is used to transmit traffic signal data to the robot body; The robot body includes a signal subscription and parsing module, which is connected to the traffic signal control system. The signal subscription and parsing module is used to actively subscribe to and receive traffic signal data. The signal subscription and parsing module includes: The signal parser component is used to verify the received traffic signal data and extract the key fields used to generate behavioral instructions after the verification is passed. Behavior mapper component; used to generate corresponding behavior instructions based on key fields and an action library, and publish the behavior instructions to the robot's internal communication network to drive the robot to perform the corresponding actions.

[0009] Furthermore, the signal subscription and parsing module is also used to read the traffic signal control system server address stored in the robot body configuration file after the robot body is powered on and initialized, actively initiate a connection request to the traffic signal control system server address, and subscribe to the traffic signal data of the traffic signal control system after the connection is established.

[0010] Furthermore, the key fields include at least the light color status, phase number, and remaining duration of the light color status.

[0011] Furthermore, the system also includes a tablet control terminal with a control application installed; The robot body also includes an interactive central server module, which is connected to the tablet control terminal for communication. The interactive central server module includes a protocol conversion unit, which is used to receive control commands in a first format from the tablet control terminal, convert them into control commands in a second format that can be recognized by the robot's internal communication network, so as to drive the robot to perform corresponding actions; and to obtain status information in a second format from the robot's internal communication network, convert it into status information in a first format, and send it to the tablet control terminal for display. Status information includes at least one of robot position information, battery power information, and currently executing task information; control commands include at least one of motion control commands, task scheduling commands, and parameter configuration commands.

[0012] Furthermore, the interactive central server module also includes a communication unit, which is used to establish a communication connection with the tablet control terminal, receive control commands in the first format from the tablet control terminal, and send status information in the first format to the tablet control terminal.

[0013] Furthermore, the first format is JSON, and the second format is ROS 2 topic.

[0014] Furthermore, the instruction parser is used to parse control instructions of the first format and map the control instructions of the first format to the corresponding control instructions of the second format according to the instruction mapping table; The state collector and encapsulator is used to acquire the state information of the robot body and encapsulate it into a first format of state information.

[0015] Furthermore, the robot body also includes an upper limb drive module and a lower limb drive module; The upper limb drive module is used to receive behavioral instructions and / or control instructions in a second format, and drive the upper limbs of the robot body to perform corresponding actions; The lower limb drive module is used to receive behavioral instructions and / or control instructions in a second format, and drive the robot's lower limbs to perform corresponding actions.

[0016] As a second aspect of this application, some embodiments of this application provide a robot control method for traffic control, executed by a robot body, the method comprising: The system receives traffic signal data from the traffic signal control system; verifies the received traffic signal data, and extracts key fields for generating behavioral instructions after the verification is successful; generates corresponding behavioral instructions based on the action library according to the key fields, and publishes the behavioral instructions to the internal communication network of the robot body to drive the robot body to perform the corresponding actions.

[0017] Furthermore, the method also includes: receiving control commands from the tablet control terminal and publishing the control commands to the internal communication network to drive the robot body to perform corresponding actions; acquiring internal status information and sending it to the tablet control terminal for display via the communication connection.

[0018] Compared with the prior art, the advantages of this invention are: (1) Compared with existing technologies that rely on cameras to collect images and then use algorithms to identify traffic lights, which are affected by environmental factors, this technical solution actively subscribes to and receives traffic signal data directly released by the traffic signal control system through the signal subscription and parsing module, thus avoiding the problems of misidentification and omission in visual recognition solutions.

[0019] (2) Compared to existing technologies where the entire process from image acquisition and transmission to algorithm recognition takes hundreds of milliseconds, this technical solution eliminates these time-consuming steps. Traffic signal data is released by the traffic signal control system, and the robot actively subscribes and directly parses and executes the data, resulting in extremely low latency. At the same time, since the received traffic signal data includes the remaining duration, the robot can know in advance how long the signal will change, allowing it to prepare in advance and have sufficient reaction time, achieving true real-time response and ensuring smoother and safer traffic flow. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of a robot control system for traffic control in one embodiment of the present invention.

[0021] The numbers in the diagram are as follows: 100, tablet control terminal; 200, robot body; 210, signal subscription and parsing module; 220, interaction central server module; 230, upper limb drive module; 240, lower limb drive module; 300, traffic signal control system. Detailed Implementation

[0022] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0023] like Figure 1 As shown, the present invention provides a robot control system for traffic control, including a robot body 200, a traffic signal control system 300, and a tablet control terminal 100.

[0024] The traffic signal control system 300 is used to transmit traffic signal data to the robot body 200.

[0025] Specifically, the traffic signal control system 300 is deployed at traffic intersections, typically as a traffic signal controller or its backend server, with a built-in or external signaling server capable of publishing structured signal data. The signaling server supports the WebSocket protocol and can push real-time traffic light status messages to authorized devices (such as robots) in a broadcast or point-to-point manner.

[0026] The robot body 200 runs a robot operating system (such as ROS 2).

[0027] The robot body 200 includes a signal subscription and parsing module 210, an interaction central server module 220, an upper limb drive module 230, and a lower limb drive module 240. These modules communicate loosely via the robot body 200's internal communication network (such as ROS 2's DDS network). The tablet control terminal 100 is equipped with a control application for remote monitoring and control of the robot body 200.

[0028] Specifically, the signal subscription and parsing module 210 is connected to the traffic signal control system 300 in a communication manner. The signal subscription and parsing module 210 is used to actively subscribe to and receive the traffic signal data.

[0029] The signal subscription and parsing module 210 includes a signal parser component, a behavior mapper component, and a WebSocket client component.

[0030] The signal parser component is used to verify the received traffic signal data and extract the key fields used to generate behavioral instructions after the verification is successful.

[0031] The behavior mapper component is used to generate corresponding behavior instructions based on the action library according to the key fields, and publish the behavior instructions to the internal communication network of the robot body 200 to drive the robot body 200 to perform the corresponding actions.

[0032] In one alternative implementation, the traffic signal control system includes a signaling server that publishes the operating status of traffic lights to the outside world in the form of structured data.

[0033] Specifically, the signaling server supports communication based on the WebSocket protocol, pushing traffic signal data to authorized client devices in real time through long-lived connections. The robot itself actively initiates a connection request to the signaling server through its internal signal subscription and parsing module, establishing a WebSocket connection to subscribe to traffic signal data. When the traffic light status changes or its remaining duration is updated, the signaling server can push the corresponding traffic signal data to the robot in real time.

[0034] In this way, the robot can directly acquire traffic signal data from the traffic signal control system without relying on a camera for visual recognition of traffic lights. Compared to traditional visual recognition-based signal perception methods, this implementation directly acquires real-time data from the signal control system through the data interface on the infrastructure side, thereby avoiding recognition errors caused by factors such as changes in lighting, rain, snow, or obstructions, and improving the accuracy and stability of traffic signal information acquisition.

[0035] Furthermore, compared to existing polling-based ordinary communication, which consumes a large amount of unnecessary communication resources during the polling process, reducing these unnecessary resources requires lowering the polling frequency, leading to higher communication latency. This makes it unsuitable for traffic control applications where channel resources are limited and latency requirements are high. However, with the solution shown in this application, the traffic signal control system can proactively push the operating status of traffic lights when necessary. The robot only needs to subscribe to continuously listen to and receive the necessary information, thus reducing communication latency and minimizing the consumption of communication resources.

[0036] In one specific embodiment, the traffic signal data is a JSON format message. After receiving the traffic signal data, the signal subscription and parsing module 210 can perform structural verification on the JSON message through the signal parser component to confirm the message integrity. After the verification is successful, the signal parser component extracts key fields for behavioral decision-making from the message.

[0037] Key fields include at least the light color status, phase number, and remaining duration of the light color status. The light color status indicates the current color state of the traffic light, the phase number indicates the traffic phase to which the current light belongs, and the remaining duration of the light color status indicates the time remaining until the next state transition. By parsing these key fields, the robot body 200 can not only obtain the current instantaneous state of the traffic light but also the estimated duration of that state, thus providing basic data for subsequent behavioral decisions.

[0038] Specifically, after receiving traffic signal data, the signal parser component first performs JSON format validation to ensure the integrity of the message structure. If the validation passes, it extracts key fields, including: LampStatus (light color status), phase No. (phase number), and remaining duration of the light color status (LampLeft). LampStatus indicates the current signal light color, such as "red," "green," or "yellow"; phase No. (phase number) indicates the phase of the current signal, such as north-south straight, east-west left turn, etc.; and remaining duration of the light color status (LampLeft) indicates the remaining duration of the current signal color.

[0039] The behavior mapper component generates corresponding behavior instructions based on the key fields extracted by the signal parser component and a predefined action library. The action library is a predefined signaling-action mapping strategy library that stores various mapping rules.

[0040] Optionally, the mapping rules include: when the light is red and the remaining duration is greater than a preset threshold, the behavior mapper component generates a stop-and-wait instruction; when the light is green and the remaining duration is greater than a preset passage time threshold, a permission-to-pass instruction is generated; when the light is yellow or the remaining duration of the green light is less than a preset threshold, a deceleration or hold-and-wait instruction is generated. By introducing the remaining duration of the light status as a behavior decision parameter, the robot body 200 can adjust its actions in advance when the traffic signal status is about to change, thereby achieving proactive behavior control, avoiding frequent starts and stops, and improving the smoothness and execution efficiency of traffic control actions.

[0041] For example, when the light color is "red" and the remaining time is greater than 3 seconds, it is mapped to a "stop and wait" command; when the light color is "green," it is mapped to a "permission to proceed" command; and when the light color is "yellow," it is mapped to a "decelerate and prepare" command. The behavior mapper component publishes the generated behavior commands to the internal communication network of the robot body 200 to drive the robot body 200 to perform the corresponding actions.

[0042] In one specific embodiment, the workflow of the WebSocket client component is as follows: After the robot body 200 is powered on and initialized, the WebSocket client component reads the server address of the traffic signal control system 300 stored in the robot body 200's configuration file. The configuration file can be in JSON, YAML, or XML format and is pre-programmed into the robot body 200's local storage.

[0043] The WebSocket client component initiates a WebSocket connection request to the traffic signal control system 300 based on the server address it reads.

[0044] After the connection is established, the WebSocket client component sends heartbeat messages (such as ping frames) to establish a heartbeat mechanism with the traffic signal control system 300 to maintain connection activity and monitor connection status in real time. Simultaneously, the WebSocket client component subscribes to traffic signal data from the traffic signal control system 300.

[0045] If the connection is unexpectedly lost, the WebSocket client component will automatically attempt to reconnect and resume the subscription to ensure the continuity of traffic signal data reception.

[0046] The interactive central server module 220 is the core hub connecting the external tablet control terminal 100 and the internal communication network of the robot body 200: the interactive central server module 220 and the tablet control terminal 100 form a communication connection; at the same time, the interactive central server module 220 also forms a communication connection with the upper limb drive module 230 and the lower limb drive module 240 inside the robot body 200.

[0047] The interactive central server module 220 includes a protocol conversion unit and a communication unit.

[0048] By setting up an interaction hub server module 220 inside the robot body 200, this invention deploys the core communication node for remote control locally on the robot body, rather than relying on an external cloud server for relay. In this case, when the tablet control terminal 100 sends control commands to the robot, the commands can directly reach the robot body 200 and be parsed and executed, thereby reducing communication latency caused by network jumps and improving the real-time performance of remote control. Furthermore, even if the remote control link is temporarily interrupted, the robot body 200 can still independently perform traffic control tasks based on the real-time signal data provided by the traffic signal control system 300, thus ensuring that the system maintains high reliability and autonomous operation capabilities even in complex network environments.

[0049] Specifically, the protocol conversion unit receives control commands in a first format from the tablet control terminal 100 and converts them into control commands in a second format that can be recognized by the internal communication network of the robot body 200, so as to drive the robot body 200 to perform corresponding actions.

[0050] Specifically, the protocol conversion unit obtains the status information in the second format from the internal communication network of the robot body 200, converts it into status information in the first format, and sends it to the tablet control terminal 100 for display.

[0051] The protocol conversion unit includes an instruction parser and a status collector and encapsulator.

[0052] The instruction parser is used to parse the received control instructions in a first format. Then, according to a preset instruction mapping table, it maps the parsed first-format control instructions to the corresponding second-format control instructions.

[0053] The state collector and encapsulator is used to acquire the state information of the robot body 200. The protocol conversion unit collects the state information that needs to be reported in real time by subscribing to multiple state topics (such as / battery_status, / amcl_pose, / current_signal, etc.) on the robot's internal communication network. Then, the state collector and encapsulator encapsulates this state information into a first format and pushes it to the tablet control terminal 100 through the communication unit.

[0054] In one specific embodiment, the first format is JSON format, and the second format is a ROS 2 topic.

[0055] Status information includes robot position, battery level, and current task information. Control commands include motion control commands, task scheduling commands, and parameter configuration commands.

[0056] The communication unit is used to establish a physical communication connection with the tablet control terminal 100. It is used to form a communication connection with the tablet control terminal 100, receive control commands in a first format from the tablet control terminal 100, and send status information in a first format to the tablet control terminal 100.

[0057] In one specific embodiment, the communication unit is a server component based on the WebSocket protocol, which runs on the robot body 200, listens to a specific port (such as 8899), and waits for the tablet control terminal 100 to connect.

[0058] The tablet control terminal 100 initiates a connection by inputting the IP address and port number (e.g., 192.168.7.210:8899) of the robot body 200. After the connection is established, the communication unit is responsible for receiving control commands in the first format sent by the tablet control terminal 100 and sending the status information in the first format generated by the protocol conversion unit to the tablet control terminal 100.

[0059] The robot body 200 also includes an upper limb drive module 230 and a lower limb drive module 240, which serve as specific action execution modules.

[0060] The upper limb drive module 230 is used to receive behavioral instructions and / or control instructions in a second format, and drive the upper limbs of the robot body 200 to perform corresponding actions. These corresponding actions include, for example, raising, lowering, and pointing the arm.

[0061] Specifically, the upper limb drive module 230 simultaneously receives behavioral instructions generated by the signal subscription and parsing module 210 (such as the "stop and wait" instruction triggering the upper limb to make a stop gesture) and control instructions in a second format converted by the interaction center server module 220 (such as the tablet directly controlling the upper limb posture).

[0062] The lower limb drive module 240 is used to receive behavioral instructions and / or control instructions in a second format, and drive the lower limbs of the robot body 200 to perform corresponding actions. These corresponding actions include forward movement, backward movement, and turning.

[0063] Specifically, the lower limb drive module 240 simultaneously receives behavioral commands (such as a "green light pass" command to trigger the lower limb to move forward) and control commands in a second format (such as tablet remote control movement).

[0064] In one specific embodiment, the upper limb drive module 230 and the lower limb drive module 240 can select or merge behavioral commands and control commands according to preset priority rules, for example, control commands have higher priority.

[0065] Through the above design, the robot body 200 can perform actions completely autonomously based on traffic signal data when no one intervenes, and can also be remotely controlled when needed, realizing the synergy of autonomy and intervention.

[0066] In one specific embodiment, the behavior mapper component generates corresponding behavior instructions based on the action library according to the phase number in the key field extracted by the signal parser component, and drives the robot body 200 to perform the corresponding actions.

[0067] For example, the behavior mapper component queries the action library based on the phase number extracted by the signal parser component to generate instructions for guiding straight north-south traffic. The upper limb drive module 230 drives the robot body 200 to turn in the north-south direction and performs corresponding traffic control actions. At the same time, the robot body 200 broadcasts voice instructions for straight north-south traffic through its built-in voice module.

[0068] The behavior mapper component generates a "permission to pass" command based on the light color status extracted by the signal parser component as "green" and the remaining duration as greater than 5 seconds. This command is then sent to the internal communication network of the robot body 200, and the upper limb drive module 230 drives the robot body 200 to make a traffic control action to indicate passage to the vehicle.

[0069] In one specific embodiment, the robot body 200 further includes a data acquisition module and a detection module. The data acquisition module is used to acquire images of pedestrians or non-motorized vehicles in real time, and the detection module is used to detect targets and target behaviors based on the acquired images.

[0070] When the detection module detects that the target is an electric bicycle rider, it detects the target's head area: if no helmet is detected for 5 consecutive frames, it is determined that the target is not wearing a helmet. At this time, the behavior mapper component generates a voice warning command, which is then broadcast by the voice module built into the robot body 200. If the same target is detected again without a helmet within 30 seconds, the detection module uploads the captured image to the traffic management platform through the interaction central server module 220.

[0071] The detection module determines that the target has run a red light based on the "red" light status extracted by the behavior mapper component and the detection that the target has crossed the stop line into the intersection. At this point, the behavior mapper component generates an action command, and the upper limb drive module 230 drives the robot body 200 to perform an interception action. Simultaneously, the behavior mapper component generates a voice warning command, which is then broadcast by the built-in voice module of the robot body 200. If the target continues to run the red light, the detection module uploads the captured image to the traffic management platform via the interaction central server module 220.

[0072] Specifically, the behavior mapper component has a built-in event queue, which sorts events according to a preset priority. The behavior mapper component retrieves the highest priority event from the event queue each time and executes the corresponding action instruction.

[0073] In one specific embodiment, the robot body 200 can dynamically switch the traffic signal control system it is connected to through the signal subscription and parsing module 210, based on its current location or task.

[0074] For example, the robot body 200 is currently performing a task at the first intersection. According to the control commands from the tablet control terminal 100, the lower limb drive module 240 drives the robot body 200 to move from the first intersection to the second intersection (for example, at least one of millimeter-wave radar and lidar can be installed on the robot body to achieve movement between intersections using existing intelligent driving algorithms; this embodiment does not limit the intelligent driving algorithms involved in the robot). During the movement, the signal subscription and parsing module 210 maintains a connection with the signal system of the first intersection and continuously receives signal data. When the robot body 200 reaches a preset range at the second intersection, the signal subscription and parsing module 210 connects to the signal system of the second intersection and disconnects from the signal system of the first intersection. The behavior mapper component then drives the robot body 200 to perform corresponding actions based on the signal data from the second intersection.

[0075] Specifically, before the robot body 200 enters the range of the second intersection, the signal subscription and parsing module 210 continuously initiates a connection with the signal system of the second intersection until the connection with the signal system of the second intersection is successful or other high-priority operations (such as stopping movement or switching to other intersections) are received from the tablet control terminal 100.

[0076] When the robot body 200 receives the instruction to move from the first intersection to the second intersection, the robot body 200 maintains the connection with the signal system of the first intersection and continues to receive the traffic signal data sent by the signal system of the first intersection. At this time, the robot body 200 will control its own movement state according to the traffic signal data sent by the signal system of the first intersection (that is, when the robot body moves from the first intersection, it will also abide by the traffic rules indicated by the traffic signal data of the current intersection).

[0077] When the robot body 200 moves a specified distance, or detects that the distance between itself and the first intersection signal system is greater than a distance threshold, the connection with the first intersection signal system is disconnected.

[0078] Furthermore, when the robot body 200 moves to the designated area where the third intersection is located (the third intersection is any intersection in the path between the first and second intersections), it will actively initiate a connection request to the signaling server through the internal signal subscription and parsing module and establish a WebSocket connection to subscribe to traffic signal data.

[0079] At this point, the robot will receive traffic signal data from the third intersection signal system, and control its own movement through the traffic signal data until the robot leaves the designated area where the third intersection is located.

[0080] In other words, the robot body in this application embodiment can not only direct road traffic at a single intersection, but also travel within the urban area according to specified traffic rules or routes as needed. This allows the robot body to move to the next congested intersection as needed after handling one congested intersection. Furthermore, during the movement at the intersection, it can connect to the traffic signal control system of the current intersection, enabling passage through the intersection without the need for visual sensors.

[0081] Optionally, if the robot body 200 fails to connect to the second intersection signal system multiple times (e.g., three times), the signal subscription and parsing module 210 will send an alarm to the tablet control terminal 100 through the interaction hub server module 220. Simultaneously, the robot body 200 will remain in its current position and execute actions based on the last received signal data.

[0082] In one specific embodiment, the robot body 200 can be pre-configured with a work area, which includes multiple intersections. The robot body 200 can patrol or guard designated intersections within the work area.

[0083] Specifically, the robot body 200 switches between patrol mode and duty mode according to the instructions issued by the tablet control terminal 100. In patrol mode, the robot body 200 moves to various intersections in the work area according to the preset patrol route to perform traffic control tasks; in duty mode, the robot body 200 is fixed at a designated intersection to continuously perform traffic control tasks.

[0084] More specifically, the robot body 200 communicates with the dispatch center through the interaction hub server module 220, subscribing to traffic status data of each intersection within the area. When the dispatch center detects congestion at an intersection, it sends a notification to the robot body 200 within the work area of ​​the congested intersection. The behavior mapper component then drives the robot body 200 to move to the congested intersection to perform traffic management tasks. After the congestion is relieved, the robot body 200 continues patrolling or returns to its original position.

[0085] Based on the above-mentioned robot control system for traffic control, the present invention also provides a robot control method for traffic control executed by the robot body 200, comprising the following steps: Step S1: Receive traffic signal data sent by the traffic signal control system 300.

[0086] Step S2: Verify the received traffic signal data, and extract the key fields used to generate behavioral instructions after successful verification. The key fields include at least the light color status, phase number, and remaining duration of the light color status.

[0087] Step S3: Based on the key fields, generate corresponding behavior instructions based on the preset action library, and publish the behavior instructions to the internal communication network of the robot body 200 to drive the robot body 200 to perform the corresponding actions.

[0088] Step S4: Receive control commands from the tablet control terminal 100 and send the control commands to the internal communication network to drive the robot body 200 to perform corresponding actions.

[0089] Step S5: Obtain internal status information (such as location, battery level, and current task) and send it to the tablet control terminal 100 for display via the communication connection with the tablet control terminal 100.

[0090] Specifically, step S4 includes: the interaction hub server module 220 of the robot body 200 receives the first format control command sent by the tablet control terminal 100, converts it into the second format control command, and then publishes it to the internal communication network.

[0091] The invention and its embodiments have been described above illustratively. This description is not restrictive, and the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. The accompanying drawings are only one embodiment of the invention, and the actual structure is not limited thereto. No reference numerals in the claims should limit the scope of the claims. Therefore, if a person skilled in the art is inspired by this description and designs a similar structure and embodiment without departing from the spirit of the invention, such design should fall within the scope of protection of this patent. Furthermore, the word "comprising" does not exclude other elements or steps, and the word "a" preceding an element does not exclude the inclusion of "a plurality" of that element. Multiple elements stated in the product claims may also be implemented by a single element through software or hardware. The terms "first," "second," etc., are used to indicate names and do not indicate any specific order.

Claims

1. A robot control system for traffic control, characterized in that, include: The robot itself; as well as A traffic signal control system is used to transmit traffic signal data to the robot body; The robot body includes a signal subscription and parsing module, which is connected in communication with the traffic signal control system. The signal subscription and parsing module is used to actively subscribe to and receive traffic signal data. The signal subscription and parsing module includes: A signal parser component is used to verify the received traffic signal data and extract key fields for generating behavioral instructions after the verification is passed. A behavior mapper component is used to generate corresponding behavior instructions based on the key fields and an action library, and to publish the behavior instructions to the internal communication network of the robot body to drive the robot body to perform the corresponding actions.

2. The robot control system for traffic control according to claim 1, characterized in that, The signal subscription and parsing module is also used to read the traffic signal control system server address stored in the robot body configuration file after the robot body is powered on and initialized, actively initiate a connection request to the traffic signal control system server address, and subscribe to the traffic signal data of the traffic signal control system after the connection is established.

3. The robot control system for traffic control according to claim 1, characterized in that, The key fields include at least the light color status, phase number, and remaining duration of the light color status.

4. The robot control system for traffic control according to any one of claims 1 to 3, characterized in that, Also includes: The tablet control unit has a control application installed. The robot body also includes an interactive central server module, which is connected to the tablet control terminal in a communication connection. The interactive central server module includes a protocol conversion unit, which is used to receive control commands in a first format from the tablet control terminal, and convert them into control commands in a second format that can be recognized by the robot's internal communication network, so as to drive the robot to perform corresponding actions; and to obtain status information in a second format from the robot's internal communication network, convert it into status information in the first format, and send it to the tablet control terminal for display. The status information includes at least one of robot position information, battery power information, and currently executing task information; the control commands include at least one of motion control commands, task scheduling commands, and parameter configuration commands.

5. The robot control system for traffic control according to claim 4, characterized in that, The interactive central server module also includes a communication unit, which is used to establish a communication connection with the tablet control terminal, receive control commands in a first format from the tablet control terminal, and send status information in a first format to the tablet control terminal.

6. The robot control system for traffic control according to claim 4, characterized in that, The first format is JSON, and the second format is a ROS 2 topic.

7. The robot control system for traffic control according to claim 4, characterized in that, The protocol conversion unit includes: An instruction parser is used to parse control instructions of the first format and map the control instructions of the first format to corresponding control instructions of the second format according to the instruction mapping table. A state collector and encapsulator is used to acquire the state information of the robot body and encapsulate it into the state information in the first format.

8. The robot control system for traffic control according to claim 4, characterized in that, The robot body also includes: The upper limb drive module is used to receive the behavior instructions and / or control instructions in the second format, and drive the upper limbs of the robot body to perform corresponding actions; The lower limb drive module is used to receive the behavior instructions and / or control instructions in the second format, and drive the robot's lower limbs to perform corresponding actions.

9. A robot control method for traffic control, executed by the robot body, characterized in that, include: Receive traffic signal data sent by the traffic signal control system; The received traffic signal data is verified, and after the verification is passed, the key fields used to generate behavioral instructions are extracted. Based on the key fields, corresponding behavior instructions are generated from the action library and published to the internal communication network of the robot body to drive the robot body to perform the corresponding actions.

10. The robot control method for traffic control according to claim 9, characterized in that, Also includes: The system receives control commands from the tablet control terminal and publishes the control commands to the internal communication network to drive the robot body to perform corresponding actions. The system acquires internal status information and sends it to the tablet control terminal for display via a communication connection.

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