CN111455900B

CN111455900B - Roadblock laying method, terminal, computer equipment and storage medium

Info

Publication number: CN111455900B
Application number: CN202010252231.7A
Authority: CN
Inventors: 王飞跃; 党红民; 薛峰; 段纲; 种杭
Original assignee: Wuxi Gewu Intelligent Technology Co ltd
Current assignee: Wuxi Gewu Intelligent Technology Co ltd
Priority date: 2020-04-01
Filing date: 2020-04-01
Publication date: 2021-11-12
Anticipated expiration: 2040-04-01
Also published as: CN111455900A

Abstract

The application provides a roadblock laying method, a terminal, computer equipment and a storage medium, wherein the roadblock laying terminal comprises: a cabinet body; the cabinet body includes: the device comprises a first accommodating cavity for accommodating a movable roadblock and a loading unit for loading the unmanned aerial vehicle; wherein the movable barricade comprises a movable base and a retractable barricade body. The method and the device can improve the efficiency of laying the roadblocks, increase the safety of rescue personnel in rescue implementation and improve the field processing capacity.

Description

Roadblock laying method, terminal, computer equipment and storage medium

Technical Field

The invention relates to the technical field of roadblock layout, in particular to a roadblock layout method, a terminal, computer equipment and a storage medium.

Background

Generally, when a traffic accident happens, rescuers often need to manually place the roadblock when coming to deal with the accident, but in the process of arranging the roadblock, the rescuers are easy to cause secondary damage, the arrangement of the roadblock also needs to spend a long time, sometimes the traffic accident is serious, multiple rescuers are needed to deal with the accident together, and the burden of a rescue team is greatly increased. In addition, if roadblocks are not laid on a traffic accident site timely, traffic jam is easy to cause, and inevitable troubles are caused for vehicles and pedestrians passing through the site within an accident influence range.

Therefore, it is highly desirable to improve the efficiency and safety of arranging the roadblocks for the rescuers.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, it is an object of the present application to provide a roadblock laying method, a terminal, a computer device, and a storage medium to solve the problems in the prior art.

In order to achieve the above and other related objects, the present application provides a method for laying a roadblock, which is applied to a terminal for laying a roadblock, and the method includes: acquiring an initial planning track for roadblock layout calculated based on an accident scene image; the accident scene image is acquired by an unmanned aerial vehicle loaded in a roadblock laying terminal; and releasing each movable roadblock loaded in the roadblock laying terminal so that each movable roadblock can move to each allocated preset node in the confirmed final planning track.

In an embodiment of the application, the receiving of the start instruction is a communication channel from an external associated device or a physical key channel on the roadblock laying terminal

In an embodiment of the application, the accident scene image is collected by an unmanned aerial vehicle loaded in a roadblock laying terminal, and includes: sending an acquisition instruction to the unmanned aerial vehicle; the unmanned aerial vehicle acquires the accident scene according to preset flight parameters and shooting parameters so as to obtain an accident scene image.

In an embodiment of the present application, the method further includes: and receiving a confirmation instruction for modifying and confirming the initial planning track to obtain the final planning track.

In an embodiment of the present application, the method further includes: receiving an ending instruction, and sending a recall instruction to the unmanned aerial vehicle and each movable roadblock so as to enable the unmanned aerial vehicle and each movable roadblock to automatically return to the central control terminal; and after each movable roadblock returns to the central control terminal, the movable roadblock is stored.

In an embodiment of the application, the ending instruction is received from a communication channel of an external related device or a physical key channel on the roadblock laying terminal.

In an embodiment of the application, the acquiring an initial planned trajectory for roadblock layout calculated based on the accident scene image includes: the initial planning track is calculated by the unmanned aerial vehicle based on the acquired accident scene image; or the initial planning track is obtained by the roadblock laying terminal through calculation according to the accident scene image acquired by the unmanned aerial vehicle.

In an embodiment of the present application, the releasing each movable roadblock loaded in the roadblock laying terminal, so that each movable roadblock moves to each allocated predetermined node in the confirmed final planned trajectory respectively includes: the final planning track is dispersed with a plurality of position nodes, and is associated with corresponding geographic position coordinate information so as to calculate a navigation route from the roadblock laying terminal to each position node; and allocating each navigation route to each movable roadblock so as to enable the movable roadblock to move to each allocated preset position.

To achieve the above and other related objects, there is provided a terminal for laying a road block, the terminal including: a cabinet body; the cabinet body includes: the device comprises a first accommodating cavity for accommodating a movable roadblock and a loading unit for loading the unmanned aerial vehicle; wherein the movable barricade comprises a movable base and a retractable barricade body.

In an embodiment of the present application, a retraction structure for releasing or accommodating the movable barricade is disposed in the first accommodating cavity.

In an embodiment of the application, the retraction structure includes a transmission chain disposed longitudinally, and the transmission chain is provided with a plurality of slots for engaging with one end of the movable barricade, so that the movable barricade can move up and down along with the movement of the transmission chain; or the retractable structure comprises a sliding guide rail which is longitudinally arranged, and a plurality of sliding clamping pieces used for clamping one end of the movable roadblock are arranged on the sliding guide rail, so that the movable roadblock can move up and down along with the movement of the sliding guide rail.

In an embodiment of the present application, the retractable structure includes: the movable roadblock comprises a first transmission chain and a second transmission chain which are longitudinally arranged and synchronously move, wherein a plurality of first clamping plates are arranged on the first transmission chain, a plurality of second clamping plates which are positioned on the same horizontal line with the first clamping plates are arranged on the second transmission chain, and two sides of the movable roadblock are supported by the first clamping plates and the second clamping plates which are positioned on the same horizontal line, so that the movable roadblock can move up and down along with the synchronous movement of the first transmission chain and the second transmission chain; or, the retraction structure comprises: the movable roadblock comprises a first sliding guide rail and a second sliding guide rail which are longitudinally arranged and synchronously move, wherein a plurality of first sliding clamping plates are arranged on the first sliding guide rail, a plurality of second sliding clamping plates which are positioned on the same horizontal line with the first sliding clamping plates are arranged on the second sliding guide rail, and the two sides of the movable roadblock are supported by the first sliding clamping plates and the second sliding clamping plates which are positioned on the same horizontal line, so that the movable roadblock can move up and down along with the synchronous movement of the first sliding guide rail and the second sliding guide rail.

In an embodiment of the present application, at least one side plate of the first receiving cavity can be opened/closed.

In an embodiment of the present application, the side plate rotates with the bottom edge as an axis.

In an embodiment of the present application, the loading unit is a cavity, and is disposed at a top of the first accommodating cavity or at one side of the first accommodating cavity.

In an embodiment of the present application, the top cover or at least one side plate of the cavity can be opened/closed.

In an embodiment of the present application, the loading unit is any one of a hook, a snap ring, a fixing band, a fixing bracket, a magnet, a slot, and a fixing clip.

In an embodiment of the application, the roadblock laying terminal further includes a positioning navigation device.

To achieve the above and other related objects, the present application provides a computer apparatus, comprising: a memory, a processor, and a communicator; the memory stores computer instructions, and the processor executes the computer instructions to implement the method as described above; the communicator is used for communicating with an external device.

To achieve the above and other related objects, the present application provides a computer readable storage medium storing computer instructions which, when executed, perform the method as described above.

In summary, the present application provides a method for laying roadblocks, a terminal, a computer device, and a storage medium.

Has the following beneficial effects:

the roadblock laying efficiency can be improved, the rescue safety of rescue workers is improved, and the field processing capacity is improved.

Drawings

Fig. 1 is a schematic view illustrating a road block layout scenario in an embodiment of the present application.

Fig. 2 is a schematic flow chart illustrating a method for laying a road block according to an embodiment of the present disclosure.

Fig. 3 is a schematic interface diagram illustrating the confirmation of the initial planned trajectory according to an embodiment of the present application.

Fig. 4 is a schematic structural diagram of a roadblock laying terminal in an embodiment of the present application.

Fig. 5A is a schematic structural diagram of a retractable structure in the first embodiment of the present application.

Fig. 5B is a schematic structural diagram of another retractable structure in the first embodiment of the present application.

Fig. 5C is a schematic structural diagram of the retractable structure in the second embodiment of the present application.

Fig. 5D is a schematic structural diagram of a retractable structure in the third embodiment of the present application.

Fig. 5E is a schematic structural diagram of a retractable structure in the fourth embodiment of the present application.

Fig. 6 is a schematic structural diagram of a computer device according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application is provided by way of specific examples, and other advantages and effects of the present application will be readily apparent to those skilled in the art from the disclosure herein. The present application is capable of other and different embodiments and its several details are capable of modifications and/or changes in various respects, all without departing from the spirit of the present application. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

Embodiments of the present application will be described in detail below with reference to the accompanying drawings so that those skilled in the art to which the present application pertains can easily carry out the present application. The present application may be embodied in many different forms and is not limited to the embodiments described herein.

In order to clearly explain the present application, components that are not related to the description are omitted, and the same reference numerals are given to the same or similar components throughout the specification.

Throughout the specification, when a component is referred to as being "connected" to another component, this includes not only the case of being "directly connected" but also the case of being "indirectly connected" with another element interposed therebetween. In addition, when a component is referred to as "including" a certain constituent element, unless otherwise stated, it means that the component may include other constituent elements, without excluding other constituent elements.

When an element is referred to as being "on" another element, it can be directly on the other element, or intervening elements may also be present. When a component is referred to as being "directly on" another component, there are no intervening components present.

Although the terms first, second, etc. may be used herein to describe various elements in some instances, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, the first interface and the second interface, etc. are described. Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes" and/or "including," when used in this specification, specify the presence of stated features, steps, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, steps, operations, elements, components, species, and/or groups thereof. The terms "or" and/or "as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a; b; c; a and B; a and C; b and C; A. b and C ". An exception to this definition will occur only when a combination of elements, functions, steps or operations are inherently mutually exclusive in some way.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the singular forms "a", "an" and "the" include plural forms as long as the words do not expressly indicate a contrary meaning. The term "comprises/comprising" when used in this specification is taken to specify the presence of stated features, regions, integers, steps, operations, elements, and/or components, but does not exclude the presence or addition of other features, regions, integers, steps, operations, elements, and/or components.

Terms indicating "lower", "upper", and the like relative to space may be used to more easily describe a relationship of one component with respect to another component illustrated in the drawings. Such terms are intended to include not only the meanings indicated in the drawings, but also other meanings or operations of the device in use. For example, if the device in the figures is turned over, elements described as "below" other elements would then be oriented "above" the other elements. Thus, the exemplary terms "under" and "beneath" all include above and below. The device may be rotated 90 or other angles and the terminology representing relative space is also to be interpreted accordingly.

In order to avoid secondary damage to accident personnel or rescue personnel when a traffic accident occurs, reduce accident handling time and save the number of rescue personnel, the application provides a roadblock laying method, a terminal, computer equipment and a storage medium.

It should be noted that the traffic accidents described in the present application are not limited to accidents caused by vehicles, but also include road blocking caused by sudden accidents or natural disasters, such as road collapse, bridge collapse, tree collapse, building collapse, mud-rock flow, landslide, and rockfall.

Fig. 1 is a schematic view of a road block layout scenario according to an embodiment of the present disclosure. As shown in the figure, in the present scenario, a main roadblock laying terminal 110 completes roadblock laying at an accident site, and the roadblock laying terminal 110 may load an unmanned aerial vehicle 120 and a plurality of movable roadblocks 130.

The loaded unmanned aerial vehicle 120 is used for acquiring an accident scene image, calculating a planning track for roadblock layout based on the accident scene image, and then moving each movable roadblock 130 to each allocated predetermined node in the planning track respectively to complete the roadblock layout.

It should be noted that the structure of the roadblock laying terminal 110 is not limited to the structure shown in fig. 1, and may be a structure of other combinations or architectures. Additionally, the scenario of the roadblock layout depicted in fig. 1 is merely illustrative and in no way implies any limitation of the invention, its application or use.

Fig. 2 is a schematic flow chart of a method for laying a road block according to an embodiment of the present disclosure. As shown, the method comprises:

step S201: receiving a starting instruction, and acquiring an initial planning track for roadblock layout calculated based on an accident scene image; the accident scene image is collected by an unmanned aerial vehicle loaded in the roadblock laying terminal.

In this embodiment, the receiving of the start instruction is a communication channel from an external related device or a physical key channel on the roadblock laying terminal.

On one hand, the starting instruction can be started by pressing a physical starting button on the roadblock laying terminal, for example, the starting button is arranged on the roadblock laying terminal, and the starting instruction is formed after being pressed by an operator.

On the other hand, the starting instruction can also be a communication channel through external associated equipment. The external associated device may be a remote controller that is matched with the roadblock laying terminal, for example, by pressing a start button on the remote controller, the roadblock laying terminal is started; in addition, the external associated device may also be a mobile terminal or a remote server, such as a smart phone, a PAD, a notebook computer, a cloud, a remote server, etc., which is installed with an APP application program for controlling the roadblock laying terminal, for example, by selecting a start option or a start option on the APP application program, the external associated device is sent to the roadblock laying terminal.

In this embodiment, the accident scene image is collected by the unmanned aerial vehicle loaded in the terminal is laid through the roadblock, and includes:

A. sending an acquisition instruction to the unmanned aerial vehicle;

B. the unmanned aerial vehicle acquires the accident scene according to preset flight parameters and shooting parameters so as to obtain an accident scene image.

For example, after the roadblock laying terminal receives a start instruction, the roadblock laying terminal enters a working state:

firstly, a loading unit for loading the unmanned aerial vehicle is opened, for example, in some embodiments, the loading unit may be a closed space, for example, the loading unit is an accommodating cavity, and a top cover or a side plate of the accommodating cavity is opened for the unmanned aerial vehicle to fly out; in addition, the unit of loading can also be open space, if the unit of loading is parts that trip, snap ring, fixed band, mount, magnet, draw-in groove, fixation clamp can fix or carry on unmanned aerial vehicle, and is not limited to this, when loading unmanned aerial vehicle, fixes unmanned aerial vehicle through the unit of loading as the part of example, mainly play when loading unmanned aerial vehicle let it be difficult for about topple over can, and when needs unmanned aerial vehicle flight, these parts can not influence unmanned aerial vehicle's direct flight.

Secondly, in some embodiments, the roadblock laying terminal further sends a corresponding airplane instruction to the unmanned aerial vehicle to enable the unmanned aerial vehicle to automatically fly and shoot accident scene images according to certain parameters, and corresponding to the embodiment, the unmanned aerial vehicle and the roadblock laying terminal need to be associated in advance and set up a communication connection relationship; in other embodiments, the drone may also be operated by a person, such as by controlling the flight and filming of the drone with a drone remote control device.

After the unmanned aerial vehicle passes through the scene of an accident image acquired by the aircraft above the scene of the accident, it is necessary to analyze how the roadblocks should be laid.

In this embodiment, first, the specific accident location can be determined by analyzing the distribution characteristics of the pixel values in the accident scene image.

The pixel value is a value given by a computer when an image of an original is digitized, and represents average luminance information of a certain small block of the original, or average reflection (transmission) density information of the small block. When a digital image is converted into a halftone image, the dot area ratio (dot percentage) has a direct relationship with the pixel value (gray value) of the digital image, i.e., the dots represent the average brightness information of a certain small square of the original document by their size.

For example, in an accident scene where two vehicles collide, the two vehicles may be close to each other, the distance between the two vehicles may also be different from 1 to 50 meters, and the directions of the vehicle heads of the two vehicles are deviated with a high probability, that is, the two vehicles do not travel along the road, in addition, the two vehicles are generally in a stationary state, or accident personnel or parts falling from the vehicles are gathered around the two vehicles, and the environment presented by the position where the accident occurs (for example, on a lane in a certain direction) is obviously different from the environment presented by the position where the accident does not occur (for example, on a lane beside the vehicle), that is, the pixel values of different areas in the image of the accident scene are also obviously different. For example, the distribution of pixel values in an image is irregular, or areas with lower pixel values (darker colors) are areas where an accident occurs.

After the accident occurrence position or area is determined, the route planning of the roadblock layout can be carried out at the front end and the rear end of the accident occurrence area, at one side of the road or around the accident occurrence area according to the actual traffic accident roadblock layout rule, so as to obtain the initial planning track for the roadblock layout.

For example, if the accident happens on the road is identified according to the accident scene image, the route planning of road block arrangement is automatically carried out at the front-back distance of 50-100 meters of the accident occurrence area; or if no isolation equipment such as an isolation pier, an isolation fence and the like is detected between the lanes in the opposite directions in the accident scene image, route planning for arranging roadblocks between the lanes in the opposite directions is also included; or, if some accidents are serious and the accident site needs to be strictly protected, the route planning of the roadblock layout can be performed according to the route planning of the surrounding roadblock layout in the accident occurrence area.

Any one of the rules for laying the roadblocks can be selected as a default, and the rules can be changed by external associated equipment (such as a mobile phone used by rescuers) so as to be more suitable for specific actual conditions.

In this embodiment, after obtaining the preliminary planned trajectory for roadblock layout, for example, the planned trajectory for roadblock layout is drawn on one side of the road in the accident occurrence area, and a plurality of node positions are discretized based on the planned trajectory, so that each movable roadblock moves to the corresponding designated position according to the position node in the trajectory.

In an embodiment of the present application, the acquiring an initial planned trajectory for roadblock layout calculated based on an accident scene image includes:

the initial planning track is calculated by the unmanned aerial vehicle based on the acquired accident scene image; or the initial planning track is obtained by a roadblock laying terminal through the accident scene image acquired by the unmanned aerial vehicle and is obtained through calculation.

The calculation of the initial planning track can be completed by the unmanned aerial vehicle, and can also be completed by the unmanned aerial vehicle on a roadblock laying terminal after the unmanned aerial vehicle sends the accident scene image to the roadblock laying terminal.

In this embodiment, when unmanned aerial vehicle gathered the scene of an accident image, unmanned aerial vehicle still can shoot the angle in order to calculate the size of the scene of an accident region through predetermined altitude, according to the positioner on the unmanned aerial vehicle in addition, can make the scene of an accident image be associated to geographical position coordinate information. In addition, the roadblock laying terminal is also provided with a positioning device, namely, no matter on the unmanned aerial vehicle or the roadblock laying terminal, an initial planning track for laying roadblocks is calculated, and the initial planning track can be associated with geographic position coordinate information, so that the corresponding laying position can be found by subsequent movable roadblocks.

Of course, the initial planned trajectory for roadblock deployment may not be very accurate, but it enables a solution for rapid roadblock deployment for complex accident sites, saving time for accident handling. On the basis, the initial planning track can be adjusted by rescuers or operators according to actual conditions, so that the roadblock can be more reasonably and accurately laid.

And the confirmation instruction is received from a communication channel of external associated equipment or a physical key channel on the roadblock laying terminal.

In an embodiment of one aspect, after an initial planning track for roadblock laying is calculated by an unmanned aerial vehicle or a roadblock laying terminal, the roadblock laying terminal sends the initial planning track to an external associated device (e.g., a mobile phone used by a rescuer). Fig. 3 is a schematic interface diagram illustrating the confirmation of the initial planned trajectory in an embodiment of the present application. The left graph in the graph is a received initial planning track and an interface to be confirmed, a rescuer modifies the initial planning track to some extent according to actual conditions, as shown in the right graph in the graph, nodes at the two uppermost positions of the initial planning track are adjusted, if the nodes at the positions to be adjusted are pressed by a finger touch screen and slide to the right to a desired position, and finally, the OK is clicked to complete confirmation; or, if the initial planning trajectory does not need to be adjusted, click "OK" in the left image directly to complete the confirmation. After the confirmation, the confirmed final planned trajectory as shown in the right drawing is sent back to the roadblock laying terminal.

In another embodiment, the confirmation instruction can be sent by confirming through a physical key channel on the roadblock laying terminal. For example, a touch screen is further disposed on the roadblock laying terminal, such as the initial planning trajectory and the interface to be confirmed shown in the left diagram in fig. 3, and the rescuers modify the initial planning trajectory to some extent according to the actual situation, as shown in the right diagram in the diagram, the nodes at the top two positions of the initial planning trajectory are adjusted, and if the nodes at the positions to be adjusted are pressed by a finger touch screen and slide to the right to the desired position, and finally "OK" is clicked to complete confirmation; or, if the initial planning trajectory does not need to be adjusted, click "OK" in the left image directly to complete the confirmation. After the confirmation, the confirmed final planned trajectory as shown in the right drawing is sent back to the roadblock laying terminal.

Step S204: and releasing each movable roadblock loaded in the roadblock laying terminal so that each movable roadblock can move to each allocated preset node in the confirmed final planning track.

In an embodiment of the present application, the step S204 specifically includes:

A. the final planning track is dispersed with a plurality of position nodes, and the final planning track is associated with corresponding geographic position coordinate information so as to calculate a navigation route from the roadblock laying terminal to each position node.

Reference may be made to the discrete location nodes on the final planned trajectory as shown in fig. 3, where not only the final planned trajectory is discrete with a plurality of location nodes, but the initial planned trajectory is also discrete with a plurality of location nodes.

In this embodiment, when unmanned aerial vehicle gathered the scene of an accident image, unmanned aerial vehicle still can shoot the angle in order to calculate the size of the scene of an accident region through predetermined altitude, according to the positioner on the unmanned aerial vehicle in addition, can make the scene of an accident image be associated to geographical position coordinate information. In addition, the roadblock laying terminal is also provided with a positioning device, namely, no matter on the unmanned aerial vehicle or the roadblock laying terminal, an initial planning track for roadblock laying is calculated, the initial planning track can be associated with geographic position coordinate information, correspondingly, the terminal planning track is also associated with position coordinate information, so that a subsequent movable roadblock can find a corresponding preset position.

Specifically, firstly, the current geographical position information is determined according to a positioning device of the roadblock laying terminal, and the position of the roadblock laying terminal in the data map can be determined according to the current geographical position information.

Secondly, the size of the accident scene area is calculated through shooting angles according to the flight height preset by the unmanned aerial vehicle, namely the proportion of an accident scene image to an actual accident scene can be obtained, and the actual distance and the relative position between a position node in each final planning track and a roadblock laying terminal in the actual scene can be obtained through the drawing distance and the relative position between the final planning track calculated in the accident scene image and the roadblock laying terminal.

And then, the real distance is corresponding to the data map, so that the real geographic position information of each node position can be positioned in the data map. For example, in the final planned track on the accident scene image, if the position of a certain node is 1cm in the due north direction of the roadblock laying terminal, the position of the node can be automatically determined at the position 50 meters in the due north direction of the roadblock laying terminal in the data map according to the ratio of the accident scene image to the actual accident scene of 1: 5000.

And finally, determining a navigation route according to the geographical position coordinate information of the roadblock layout terminal and each node position in the data map, namely, calculating the navigation route reaching a preset position for each movable terminal to move according to the navigation route and finally moving to each node position in the corresponding final planning track. Correspondingly, positioning devices are also arranged in each movable roadblock so as to detect whether the specified position is reached.

B. And allocating each navigation route to each movable roadblock so as to enable the movable roadblock to move to each allocated preset position.

And each movable roadblock receives the navigation route and can automatically drive to a specified position at a certain speed.

In some embodiments, the navigation route corresponding to each movable barrier may include a partially repeated route, that is, a partially repeated route to be taken, and in the repeated route, if an obstacle avoidance route adjustment is made due to an obstacle appearing on the foremost movable barrier, the adjustment scheme may also be sent to a subsequent movable barrier including the repeated route for subsequent direct adjustment to avoid the obstacle.

In some embodiments, after the accident handling is completed, the unmanned aerial vehicle may be shut down by manual operation and placed back into the accommodating cavity of the roadblock laying terminal where the unmanned aerial vehicle is loaded, or each movable roadblock may be manually retracted.

In other embodiments, the methods described herein include a one-touch recall method.

In an embodiment of the present application, the method further includes:

A. receiving an ending instruction, and sending a recall instruction to the unmanned aerial vehicle and each movable roadblock so as to enable the unmanned aerial vehicle and each movable roadblock to automatically return to the roadblock laying terminal;

B. and after each movable roadblock returns to the central control terminal, the movable roadblock is stored.

In some embodiments, after the accident handling is completed, the flown unmanned aerial vehicle and the driven movable roadblock can be recalled one-key, and specifically, a recall instruction is sent to the unmanned aerial vehicle and each movable roadblock.

Specifically, the unmanned aerial vehicle is provided with a positioning device, the positions of the roadblock laying terminals are positioned, the relative positions of the roadblock laying terminals are positioned, and a flight path is planned according to the relative positions so as to fly into the roadblock laying terminals.

The movable roadblock is provided with a positioning device, a navigation route of the returned roadblock laying terminal is calculated by positioning the position of the roadblock laying terminal, or the initial position and the final position are adjusted according to the navigation route sent to the corresponding position node by the roadblock laying terminal, and the original returning is carried out.

In some embodiments, the ending instruction may be recalled by pressing a physical ending key on the roadblock laying terminal, for example, a shutdown key or a recall key is provided on the roadblock laying terminal, and the ending instruction is formed after being pressed by an operator.

In other embodiments, the ending instruction may also be formed on an external associated device, for example, on an APP application on a mobile phone, and the ending instruction is sent to the roadblock laying terminal to recall. And if so, selecting a shutdown option or a recall option on the APP to send an end instruction to the roadblock laying terminal. For another example, the man-machine terminal may also be a remote controller adapted to the roadblock laying terminal, and the shutdown button or the recall button on the remote controller is pressed to enable the roadblock laying terminal to recall the unmanned machine and each movable roadblock.

In one or more embodiments, the drone may also control the drone flying barrier deployment terminal by manually operating a remote control device.

The roadblock laying terminal is internally provided with a retractable structure for releasing or accommodating each movable roadblock, and when the roadblock is required to be laid, each movable roadblock loaded in the roadblock laying terminal is released through the retractable structure; when the movable roadblocks need to be stored, the movable roadblocks can be stored and stored through the storing and releasing structure after being moved into the roadblock laying terminal.

Fig. 4 is a schematic structural diagram of a terminal for arranging a road block according to an embodiment of the present disclosure. As shown, the terminal 400 includes: a cabinet 410.

The cabinet 410 includes: a first housing compartment 411 for a device movable barrier 420, and a loading unit 422 for loading a drone 430; wherein the movable barricade 420 includes a movable base 421 and a retractable barricade body 422.

Unmanned plane 430

In some embodiments, the unmanned aerial vehicle 430 is pre-associated with the roadblock laying terminal 400, and a communication connection relationship is established, that is, the unmanned aerial vehicle 430 and the roadblock laying terminal 400 are configured in a matching manner, so that the roadblock laying terminal 400 can control or communicate with the unmanned aerial vehicle 430.

In other embodiments, the drone may be independently configured, that is, the loading unit 422 is only used for loading the drone 430, and the drone 430 has an independent control device (such as a drone remote control device) for performing flight or shooting work through manual operation, and may be any type or model of drone, a remote control flight device, or a drone shooting device.

Movable roadblock 420

The first receiving chamber 411 can receive a plurality of the movable barriers 420.

It is emphasized that the movable barricade 420 is retractable, comprising: a movable base 421 and a retractable barricade body 422. As shown in fig. 4, the movable base 421 can be a plate with a plurality of wheels, wherein at least two wheels on the same side have power devices to drive the movable barricade 420 to move automatically. The barrier body 422 is capable of assuming a retracted state, to the left in fig. 4, and an extended state, to the right in fig. 4.

In one or more embodiments, the retractable manner of the movable barricade 420 includes: any one of inflatable, spring type and folding type. For example, the inflatable barrier body 422 may be inflated or deflated to achieve an extended or collapsed state of the formed cavity, the spring-type barrier body 422 may be deflated or released to achieve a collapsed or extended state of the formed cavity, and the collapsible barrier body 422 may act as a barrier body with a collapsible rod that collapses or expands to assume a collapsed or extended state.

In addition, the cavity of the movable barricade 420 in the extended state may be any one of a cylinder, a polygonal prism, and a cone. The movable barricade 420 may further include: a radar unit operable to detect an obstacle; the positioning navigation device is used for positioning and navigating; and the image acquisition device is used for acquiring the accident scene image.

First accommodation cavity 411

In this embodiment, the first accommodating cavity 411 is provided with a retractable structure for releasing or accommodating the movable barricade 420.

In some implementations, when the roadblock laying terminal 400 receives a start instruction/end instruction from a physical key channel on the roadblock laying terminal or a start instruction/end instruction from a communication channel of an external related device, the roadblock laying terminal 400 controls the first accommodating cavity 411 to release or accommodate the movable roadblock 420, and specifically, may output different electrical signals to enable the retractable structure to perform operations in different directions to achieve the function of releasing or accommodating the movable roadblock 420.

The retractable structure including various embodiments in the present application can realize the function of releasing or storing the movable barricade 420, and the following embodiments will be described in detail.

First embodiment

Fig. 5A is a schematic structural view of the retractable structure in the first embodiment of the present application. As shown in the figure, the retractable structure 500 includes a transmission chain 510 disposed longitudinally, and a plurality of slots 511 for engaging with one end of the movable barricade are disposed on the transmission chain 510, so that the movable barricade can move up and down along with the movement of the transmission chain 510.

In this embodiment, the two ends of the transmission chain 510 are further provided with rotating shafts 512 capable of rotating clockwise or counterclockwise, and the rotating shafts 512 can be driven by a stepping motor to rotate.

In one aspect, the slot 511 can be formed by two teeth protruding from the driving chain 510 as shown in fig. 5A. On the other hand, the slot 511 may also be formed by being recessed into the driving chain 510 as shown in fig. 5B.

For example, as shown in fig. 5A or fig. 5B, when the retraction structure 500 receives a start instruction sent by a roadblock layout, the stepping motor is powered on to rotate the rotating shaft 512 clockwise in the drawing, the rotating shaft 512 rotates to drive the transmission chain 510 to rotate clockwise, and accordingly, each movable roadblock clamped in the clamping groove 511 is driven to move downward, when the clamping groove 511 clamped by the movable roadblock at the lowest layer rotates to the periphery of the rotating shaft 512 at the lowest layer, the clamping groove 511 is deformed under the action of the rotating shaft 512, the opening and closing angle of the clamping groove 511 is increased, so that one end of the movable roadblock cannot be fixed by the clamping groove 511, and the other end of the movable roadblock abuts against the bottom of the first accommodating cavity, so that the movable roadblock is separated from the clamping groove 511 and stays at the bottom of the first accommodating cavity to achieve automatic release, and so on, the automatic removal of the rear movable barricade is also achieved in the manner described above.

Or, when the card slot 511 corresponding to the clamping of the movable roadblock at the lowest layer rotates to the periphery of the lowest rotating shaft 512, the stepping motor is suspended, and here, the number of rotations of the stepping motor can be set according to the distance between the slots 511, for example, the stepping motor is suspended for 30 seconds every 30 rotations; alternatively, a sensing device adapted to detect whether an end of the movable barricade is within the slot 511 may be provided at the slot 511, such as a magnetic sensing device, an electric sensing device, or an infrared sensing device. At this time, the clamping groove 511 may deform due to the acting force of the rotating shaft 512, the opening and closing angle thereof becomes large, the force for clamping the movable barricade is greatly reduced, and the other end of the movable barricade also collides with the bottom of the first accommodating cavity, accordingly, the movable barricade is automatically moved at this time, and the movable barricade is driven away from the clamping groove 511 by the force for moving the movable barricade outwards, or the movable barricade can be manually taken out due to the reduction of the clamping force. And by analogy, the rear movable roadblock is moved out in the manner.

Otherwise, the movable roadblock can be automatically positioned and navigated to move from the outside into the first accommodating cavity, or can be manually replaced into the first accommodating cavity. At this time, a card slot 511 waits for the clamping of the movable barricade at the rotating shaft 512 at an opening and closing angle, and the movable barricade continues to move forward after entering the accommodating cavity until one end of the movable barricade is embedded into the card slot 511 in the opening and closing state, or one end of the movable barricade is directly pushed into the card slot 511 in the opening and closing state by manpower. Here, an adaptive sensing device, such as a magnetic sensing device, an electric sensing device, or an infrared sensing device, may be provided at the card slot 511 to detect whether one end of the movable barricade is within the card slot 511. Then, a telecommunication signal is sent to enable the stepping motor to rotate reversely to enable the rotating shaft 512 to rotate anticlockwise, and as the clamping groove 511 leaves the rotating shaft 512, the clamping groove 511 deforms and the clamping angle of the clamping groove 511 is reduced, so that the clamping groove 511 can bear enough force to fix one end, embedded into the clamping groove 511, of the movable roadblock, the movable roadblock is driven to move upwards through the anticlockwise rotation of the rotating shaft 512, the movable roadblock moved in the rear is analogized in sequence, and therefore storage and storage of all the movable roadblocks are achieved.

Second embodiment

Fig. 5C is a schematic structural view of the retractable structure in the second embodiment of the present application. As shown in the figure, the retractable structure 500 includes a sliding rail 510 disposed longitudinally, and a plurality of sliding fasteners 511 for fastening one end of the movable roadblock are disposed on the sliding rail 510, so that the movable roadblock can move up and down along with the movement of the sliding rail 510.

The sliding engaging member 511 is driven by a stepping motor provided therein to move up and down.

For example, after the retraction structure 500 receives a start instruction sent by the roadblock layout, the sliding locking piece 511 at the lowest layer slides downwards through the stepping motor, and drives the movable roadblock locked by the sliding locking piece to slide downwards, and when the movable roadblock slides to the bottom platform, the movable roadblock is moved outwards to leave the sliding locking piece 511, or the movable roadblock is taken out manually. And by analogy, the rear movable roadblock is moved out in the manner. When sliding to the ground platform, it is possible to detect whether the movable barrier is on the sliding catch 511 by setting the number of revolutions of the motor or by setting a sensing device at the sliding catch 511 or the bottom platform as in the first embodiment.

Otherwise, the movable roadblock can be automatically positioned and navigated to move from the outside into the first accommodating cavity, or can be manually replaced into the first accommodating cavity. At this time, a sliding fastener 511 slides to a position corresponding to the bottom platform to wait for the movable barricade to be clamped in, and the movable barricade continues to move forward after entering the accommodating cavity until one end of the movable barricade is embedded into the sliding fastener 511, or one end of the movable barricade is directly pushed into the sliding fastener 511 by a person. Here, a sensing device adapted to detect whether one end of the movable barrier is inside the slide fastener 511, such as a magnetic sensing device, an electric sensing device, or an infrared sensing device, may be provided at the slide fastener 511. Then, a step motor is operated by sending a telecommunication signal to move the sliding clamping piece 511 upwards so as to drive the movable roadblock to move upwards, and the movable roadblock moved in the rear is analogized in turn, so that the storage and the storage of all the movable roadblocks are realized.

Third embodiment

Fig. 5D is a schematic structural view of the retractable structure in the third embodiment of the present application. As shown, the retraction structure 500 includes: the roadblock is characterized by comprising a first transmission chain 510 and a second transmission chain 520 which are longitudinally arranged and synchronously move, wherein a plurality of first clamping plates 511 are arranged on the first transmission chain 510, a plurality of second clamping plates 521 which are positioned on the same horizontal line with the first clamping plates 511 are arranged on the second transmission chain 520, and two sides of the roadblock are supported by the first clamping plates 511 and the second clamping plates 521 which are positioned on the same horizontal line, so that the roadblock can move up and down along with the synchronous movement of the first transmission chain 510 and the second transmission chain 520.

In this embodiment, the first transmission chain 510 and the second transmission chain 520 are further respectively provided with a rotating shaft 512 and a rotating shaft 522 capable of rotating clockwise or counterclockwise, and the

rotating shafts

512 and 522 can be driven by a stepping motor to rotate.

For example, when the retractable structure 500 receives a start command from a roadblock layout, the rotating shaft 512 is rotated clockwise in the drawing by the stepping motor in the first driving chain 510, the rotation shaft 522 is symmetrically rotated counterclockwise in the drawing by the step motor in the second driving chain 520, so that the first card board 511 and the second card board 521 between the first transmission chain 510 and the second transmission chain 520 and on the same horizontal line synchronously move downwards in parallel, thereby driving the movable roadblock which is supported by the two roadblocks to move downwards, when the movable roadblock is driven to move to the bottom of the first accommodating cavity, as the first transmission chain 510 and the second transmission chain 520 continue to rotate, the first catch plate 511 and the second catch plate 521 leave the carried movable barricade, so as to realize automatic release, and so on, the movable roadblock behind realizes the release through the mode also. The movable roadblock can be automatically moved to leave the first accommodating cavity, or can be manually taken out manually due to the reduction of the clamping force.

On the contrary, the movable roadblock can be automatically positioned and navigated to move from the outside to a designated position in the first accommodating cavity, or can be manually replaced to the designated position in the first accommodating cavity, and the position is located between the first transmission chain 510 and the second transmission chain 520, so that the first clamping plate 511 and the second clamping plate 521 can clamp the movable roadblock. The rotating shaft 512 in the figure is rotated counterclockwise by the stepping motor in the first transmission chain 510, the rotating shaft 522 in the figure is rotated clockwise symmetrically by the stepping motor in the second transmission chain 520, so that the first clamping plate 511 and the second clamping plate 521 which are positioned between the first transmission chain 510 and the second transmission chain 520 and on the same horizontal line synchronously move upward in parallel, when the first clamping plate 511 bypasses the rotating shaft 512 at the bottom and the corresponding second clamping plate 521 bypasses the rotating shaft 522 at the bottom, the first clamping plate 511 and the second clamping plate 521 can clamp two ends of the movable barricade, further, the movable barricade is driven to move upward, the movable barricade moved in the back is analogized in sequence, and accordingly, the storage and the storage of all the movable barricades are realized.

Fourth embodiment

Fig. 5E is a schematic structural diagram of a retractable structure in the fourth embodiment of the present application. As shown, the retraction structure 500 further comprises: the movable roadblock comprises a first sliding guide rail 510 and a second sliding guide rail 520 which are longitudinally arranged and synchronously move, wherein a plurality of first sliding clamping plates 511 are arranged on the first sliding guide rail 510, a plurality of second sliding clamping plates 521 which are positioned on the same horizontal line with the first sliding clamping plates 511 are arranged on the second sliding guide rail 520, and two sides of the movable roadblock are supported by the first sliding clamping plates 511 and the second sliding clamping plates 521 which are positioned on the same horizontal line, so that the movable roadblock can move up and down along with the synchronous movement of the first sliding guide rail 510 and the second sliding guide rail 520.

The first sliding clamping plate 511 and the second sliding clamping plate 521 are driven by built-in stepping motors to respectively move up and down in the first sliding guide rail 510 and the second sliding guide rail 520.

For example, after the retraction structure 500 receives a start instruction sent by the roadblock layout, the first sliding card 511 and the second sliding card 521 located at the same lowest layer slide downwards through the stepping motor, and drive the movable roadblock supported by the first sliding card 511 and the second sliding card 521 to slide downwards, and when the movable roadblock slides to the bottom platform, the movable roadblock is moved outwards to leave the sliding card assembly 511, or the movable roadblock is taken out manually, for example, a side plate on the front side in the figure is turned over and contacts with the ground, so that the movable roadblock is moved out. And by analogy, the rear movable roadblock is moved out in the manner. When sliding to the formation platform, it can be detected whether the movable barrier is still on the first sliding clamp 511 and the second sliding clamp 521 by setting the number of revolutions of the motor or setting a sensing device at the sliding clamp 511 or the bottom platform as in the first embodiment.

Otherwise, the movable roadblock can be automatically positioned and navigated to move from the outside into the first accommodating cavity, or can be manually replaced into the first accommodating cavity. At this time, the first sliding clamp plate 511 and the second sliding clamp plate 521 on a group of the same horizontal line slide to the corresponding positions of the bottom platform to wait for the movable roadblock to move in. When detecting that the movable barricade is located on the first sliding card plate 511 and the second sliding card plate 521, sending a signal to operate the stepping motor to make the first sliding card plate 511 and the second sliding card plate 521 slide upwards synchronously, and repeating the moving movable barricade moving in the rear, so as to store and store all the movable barricades.

In this embodiment, at least one side plate of the first receiving cavity 411 can be opened/closed. The openable or closable side panels are used for access to and from the movable barrier.

In this embodiment, the side plate rotates with the bottom side as an axis.

As shown in any of fig. 4, 5A-5E, the side panels rotate about a bottom edge, which may act as a ramp for movement of the movable barrier.

Loading unit 412

As shown in fig. 4, in the present embodiment, the loading unit 412 is a cavity, and is disposed at the top of the first accommodating chamber 411 or at one side of the top of the first accommodating chamber 411.

The cabinet 410 may have other structures besides the structure and combination shown in fig. 4.

In this embodiment, the top cover or at least one side plate of the cavity can be opened/closed. That is, the cavity can supply unmanned aerial vehicle 430 to fly out upwards at the top opening, can also supply unmanned aerial vehicle 430 to transversely fly out at the side opening.

In this embodiment, the loading unit 412 is any one of a hook, a snap ring, a fixing strap, a fixing bracket, a magnet, a slot, and a fixing clip.

Opening a loading unit 412 for loading the unmanned aerial vehicle 430, wherein the loading unit 412 can be a closed space as shown in fig. 4, and if the loading unit is a cavity, opening a top cover or a side plate of the cavity for the unmanned aerial vehicle to fly out; in addition, load unit 412 can also be open space, if load unit 412 for trip, snap ring, fixed band, mount, magnet, draw-in groove, fixation clamp etc. can fix or carry on unmanned aerial vehicle's part, and be not limited to this, when loading unmanned aerial vehicle 430, fix unmanned aerial vehicle 430 through as above part, mainly play let it be difficult for when loading unmanned aerial vehicle 430 about topple over can, and when needs unmanned aerial vehicle 430 flight, these parts can not influence unmanned aerial vehicle 430's direct flight.

In this embodiment, the roadblock laying terminal 400 further includes a positioning navigation device.

For example, the positioning navigation device 400 can be a GPS positioning navigation device, or a beidou positioning navigation device

Fig. 6 is a schematic structural diagram of a computer device according to an embodiment of the present application. As shown, the computer device 600 includes: a memory 601, a processor 602, and a communicator 603; the memory stores computer instructions, and the processor executes the computer instructions to implement the method of FIG. 2; the communicator is used for communicating with an external device.

The computer device 600 includes a memory 601, a processor 602, and a communicator 603; the memory 601 stores computer instructions, and the processor 602 executes the computer instructions to implement the method of fig. 2; the communicator 603 is used for communicating with an external device.

The external device may include: the roadblock layout terminal comprises a remote controller which is arranged in a related mode of the roadblock layout terminal, or a mobile terminal or a remote server which is provided with an APP (application) program for controlling the roadblock layout terminal, such as a smart phone, a PAD (PAD application), a notebook computer, a cloud end, a remote server and the like.

In some embodiments, the number of the memories 601 in the computer device 600 may be one or more, the number of the processors 602 may be one or more, the number of the communicators 603 may be one or more, and fig. 6 illustrates one example.

The Memory 601 may include a Random Access Memory (RAM) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The memory 601 stores an operating system and operating instructions, executable modules or data structures, or a subset or an expanded set thereof, wherein the operating instructions may include various operating instructions for performing various operations. The operating system may include various system programs for implementing various basic services and for handling hardware-based tasks.

The Processor 602 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.

The communicator 603 is used for implementing communication connection between the database access device and other devices (such as a client, a read-write library and a read-only library). The communicator 603 may include one or more sets of modules of different communication means, for example, a CAN communication module communicatively connected to a CAN bus. The communication connection may be one or more wired/wireless communication means and combinations thereof. The communication method comprises the following steps: any one or more of the internet, CAN, intranet, Wide Area Network (WAN), Local Area Network (LAN), wireless network, Digital Subscriber Line (DSL) network, frame relay network, Asynchronous Transfer Mode (ATM) network, Virtual Private Network (VPN), and/or any other suitable communication network. For example: any one or a plurality of combinations of WIFI, Bluetooth, NFC, GPRS, GSM and Ethernet.

In some specific applications, the various components of the computer device 600 are coupled together by a bus system that may include a power bus, a control bus, a status signal bus, etc., in addition to a data bus. But for clarity of explanation the various busses are referred to in figure 6 as the bus system.

In an embodiment of the present application, a computer-readable storage medium is provided, storing computer instructions, which when executed, perform the method of fig. 2.

The computer-readable storage medium, as will be appreciated by one of ordinary skill in the art: the embodiment for realizing the functions of the system and each unit can be realized by hardware related to computer programs. The aforementioned computer program may be stored in a computer readable storage medium. When the program is executed, the embodiment including the functions of the system and the units is executed; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

In summary, the present application provides a roadblock laying method, a terminal, a computer device, and a storage medium.

The application effectively overcomes various defects in the prior art and has high industrial utilization value.

The above embodiments are merely illustrative of the principles and utilities of the present application and are not intended to limit the invention. Any person skilled in the art can modify or change the above-described embodiments without departing from the spirit and scope of the present application. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present application.

Claims

1. A roadblock laying method is applied to a roadblock laying terminal and comprises the following steps:

receiving a starting instruction, and acquiring an initial planning track for roadblock layout calculated based on an accident scene image; the accident scene image is acquired by an unmanned aerial vehicle loaded in a roadblock laying terminal;

and releasing each movable roadblock loaded in the roadblock laying terminal so that each movable roadblock can move to each allocated preset node in the confirmed final planning track.

2. The method of claim 1, wherein the receipt of the activation instruction is from a communication channel of an external associated device or a physical key channel on the roadblock laying terminal.

3. The method of claim 1, wherein the accident site images are collected by a drone onboard a roadblock deployment terminal, comprising:

after receiving a starting instruction, sending an acquisition instruction to the unmanned aerial vehicle;

the unmanned aerial vehicle acquires the accident scene according to preset flight parameters and shooting parameters so as to obtain an accident scene image.

4. The method of claim 1, further comprising:

and receiving a confirmation instruction for modifying and confirming the initial planning track to obtain the final planning track.

5. The method of claim 1, further comprising:

receiving an ending instruction, and sending a recall instruction to the unmanned aerial vehicle and each movable roadblock so as to enable the unmanned aerial vehicle and each movable roadblock to automatically return to the central control terminal;

and after each movable roadblock returns to the central control terminal, the movable roadblock is stored.

6. The method of claim 5, wherein the receiving of the end instruction is from a communication channel of an external associated device or a physical key channel on the roadblock laying terminal.

7. The method of claim 1, wherein obtaining an initial planned trajectory for roadblock deployment calculated based on the incident scene images comprises:

the initial planning track is calculated by the unmanned aerial vehicle based on the acquired accident scene image; or the initial planning track is obtained by the roadblock laying terminal through calculation according to the accident scene image acquired by the unmanned aerial vehicle.

8. The method of claim 1, wherein the releasing each movable barrier loaded in the barrier deployment terminal for movement to each assigned predetermined node in the validated final planned trajectory comprises:

the final planning track is dispersed with a plurality of position nodes, and is associated with corresponding geographic position coordinate information so as to calculate a navigation route from the roadblock laying terminal to each position node;

and allocating each navigation route to each movable roadblock so as to enable the movable roadblock to move to each allocated preset position.

9. A terminal for laying a road block, the terminal comprising: a cabinet body;

the cabinet body includes: the device comprises a first accommodating cavity for accommodating a movable roadblock and a loading unit for loading the unmanned aerial vehicle; wherein the movable barricade comprises a movable base and a retractable barricade body;

a retractable structure for releasing or containing the movable roadblock is arranged in the first containing cavity;

the retractable structure comprises a transmission chain which is longitudinally arranged, and a plurality of clamping grooves used for clamping one end of the movable roadblock are arranged on the transmission chain, so that the movable roadblock can move up and down along with the movement of the transmission chain;

or the retractable structure comprises a sliding guide rail which is longitudinally arranged, and a plurality of sliding clamping pieces used for clamping one end of the movable roadblock are arranged on the sliding guide rail, so that the movable roadblock can move up and down along with the movement of the sliding guide rail.

10. The terminal of claim 9, wherein the retraction structure comprises: the movable roadblock comprises a first transmission chain and a second transmission chain which are longitudinally arranged and synchronously move, wherein a plurality of first clamping plates are arranged on the first transmission chain, a plurality of second clamping plates which are positioned on the same horizontal line with the first clamping plates are arranged on the second transmission chain, and two sides of the movable roadblock are supported by the first clamping plates and the second clamping plates which are positioned on the same horizontal line, so that the movable roadblock can move up and down along with the synchronous movement of the first transmission chain and the second transmission chain;

or, the retraction structure comprises: the movable roadblock comprises a first sliding guide rail and a second sliding guide rail which are longitudinally arranged and synchronously move, wherein a plurality of first sliding clamping plates are arranged on the first sliding guide rail, a plurality of second sliding clamping plates which are positioned on the same horizontal line with the first sliding clamping plates are arranged on the second sliding guide rail, and the two sides of the movable roadblock are supported by the first sliding clamping plates and the second sliding clamping plates which are positioned on the same horizontal line, so that the movable roadblock can move up and down along with the synchronous movement of the first sliding guide rail and the second sliding guide rail.

11. A terminal according to claim 9, wherein at least one side panel of the first receiving chamber is openable/closable.

12. A terminal as claimed in claim 11, wherein the side plates are pivoted about a base edge.

13. The terminal of claim 9, wherein the loading unit is a cavity disposed at the top of the first receiving cavity or at one side of the first receiving cavity.

14. A terminal according to claim 9, wherein the top cover or at least one side panel of the cavity is openable/closable.

15. The terminal according to claim 9, wherein the loading unit is any one of a hook, a snap ring, a fixing band, a fixing bracket, a magnet, a slot, and a fixing clip.

16. The terminal of claim 9, wherein the roadblock-laying terminal further comprises a positioning navigation device.

17. A computer device, the device comprising: a memory, a processor, and a communicator; the memory stores computer instructions that when executed by the processor implement the method of any one of claims 1 to 8; the communicator is used for communicating with an external device.

18. A computer-readable storage medium having stored thereon computer instructions which, when executed, perform the method of any one of claims 1 to 8.