CN111691329A - Intelligent mobile robot control system and method for tidal lane - Google Patents
Intelligent mobile robot control system and method for tidal lane Download PDFInfo
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- E—FIXED CONSTRUCTIONS
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- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F15/00—Safety arrangements for slowing, redirecting or stopping errant vehicles, e.g. guard posts or bollards; Arrangements for reducing damage to roadside structures due to vehicular impact
- E01F15/006—Lane control by movable lane separating barriers, e.g. shiftable barriers, retractable kerbs ; Apparatus or barriers specially adapted therefor, e.g. wheeled barriers
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
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Abstract
The invention discloses an intelligent mobile robot control system and method for a tidal lane, which comprises a mobile guardrail group, a base station group and a central processing unit; the mobile guardrail group is arranged on a first lane boundary line of a road, and comprises an isolation guardrail, at least one mobile robot is arranged on the isolation guardrail, and a mobile control unit and a UWB (ultra wide band) tag are arranged on the mobile robot; the central processing unit is in communication connection with at least one UWB base station and is used for receiving the position information and generating a walking instruction according to the position information; the mobile control unit is used for receiving the walking instruction and moving the mobile robot from the first lane boundary to the second lane boundary according to the walking instruction. The invention realizes the real-time positioning of the mobile robot by adopting the mode that the base station marks the position information of the UWB label, and further drives the mobile guardrail group to form the tide lane by the mobile robot, so that the tide lane can be formed without damaging the road surface, and the service life of the road is effectively prolonged.
Description
Technical Field
The invention belongs to the technical field of tidal lanes, and particularly relates to an intelligent mobile robot control system and method for a tidal lane.
Background
With the continuous popularization of vehicles, tidal traffic becomes a common phenomenon existing in large and medium-sized urban roads in China, so that the supply and demand imbalance of bidirectional traffic flow of road sections is caused, the roads have the phenomena of space resource supply and demand dislocation, long traffic flow congestion time and the like, and the operation efficiency of an urban road network is severely restricted. The arrangement of the tidal lane is one of effective measures for solving the problem of tidal traffic, and is also an important subject for researching and solving the problem of unbalanced supply and demand of the flow direction of the traffic flow by expert and scholars at home and abroad at present.
Existing tidal lane changes are typically made using moving guardrails, such as:
the patent with the application number of 201910569124.4 discloses a device and a method for controlling a motor vehicle lane based on time series analysis, wherein independent tracks are arranged at lane separation lines on two sides of a tidal lane, movable guardrail assembly equipment moves along the tracks in a limiting mode, and all movable guardrail assemblies are dispersed and integrated by pushing and pulling a first movable guardrail assembly through a push-pull trolley. Although the system can ensure the moving track of the guardrail, the exposed track is easy to cause traffic accidents.
The application number 201711051620.8 discloses an automatic isolation barrier system of electric lift formula for morning and evening tides lane, its installation underground steel groove track about the morning and evening tides lane on the lane line, the removal that the collocation slider link mechanism realized the guardrail, the controller opens through the vehicle flow information that the underground looped coil vehicle detector buried underground detected, carries out the guardrail and stops. This system guarantees the removal orbit of guardrail through the track, but orbital laying can cause the destruction to road surface, and the construction volume is huge, and construction cost is huge.
The application No. 201710512090.6 discloses a variable automated isolation barrier system for tidal lanes, which installs barriers on the left and right lane lines of the tidal lane, hydraulic systems buried underground the left and right lane lines of the tidal lane to perform lifting and lowering of the barriers, ring coil vehicle detectors buried underground the tidal lane, and real-time transmission of vehicle information to a control module via underground cables. This system adopts the lifting and the fall-back of fixed guardrail bar, can guarantee the accuracy of lane division, but need bury guardrail and hydraulic lifting system underground at the underground of lane line, also can destroy road surface equally, and the engineering volume is very big, the maintenance of being not convenient for.
The patent of application No. 201610815953.2 discloses an automatic morning and evening tides lane that is provided with portable isolation barrier, its portable isolation barrier comprises the insulated column at both ends and the isolated column in the middle of, and drive arrangement includes leading guide rail, track drive guide rail, drive vehicle and rearmounted guide rail, leading guide rail, track drive guide rail with rearmounted guide rail connects gradually and constitutes an S type guide rail, and electron, the mechanization through portable median is from moving, realizes the removal of guardrail. The system drives the movable isolation guardrail to reach the designated position by using the driving vehicle, does not realize the automation of the movable isolation guardrail, wastes manpower and material resources, and drives the vehicle to have illegal behaviors of retrograde motion, so that wrong lane direction information is easily given to the vehicle, and traffic accidents are caused.
Disclosure of Invention
In view of the above, the present invention provides an intelligent mobile robot control system and method for a tidal lane, which automatically form the tidal lane by real-time position positioning of a mobile robot, and also effectively prevent road surface damage and misleading of lane direction information of a vehicle driver.
In order to solve the above technical problems, in one aspect, the present invention provides an intelligent mobile robot control system for a tidal lane, comprising a mobile fence group, a base station group and a central processing unit, wherein the base station group comprises a first UWB base station, a second UWB base station and a third UWB base station; the first UWB base station and the second UWB base station are positioned on one side of the road and are arranged along a first direction, and the first direction is parallel to the extending direction of the road; the third UWB base station is positioned at the other side of the road and is arranged along a second direction with the first UWB base station, and the second direction is intersected with the first direction; the mobile guardrail group is arranged on a first lane boundary line of a road, and comprises an isolation guardrail, at least one mobile robot is arranged on the isolation guardrail, and a mobile control unit and a UWB (ultra wide band) tag are arranged on the mobile robot; the first UWB base station, the second UWB base station and the third UWB base station are in communication connection, and each UWB base station calibrates the position information of the mobile robot through a UWB tag;
the central processing unit is in communication connection with at least one UWB base station and is used for receiving the position information and generating a walking instruction according to the position information; the mobile control unit is in communication connection with the central processing unit and is used for receiving a walking instruction and moving the mobile robot from a first lane boundary to a second lane boundary according to the walking instruction; wherein the traffic flow of the lane on the side of the first lane boundary far away from the second lane boundary is Q1, the traffic flow of the lane between the first lane boundary and the second lane boundary is Q2, and Q1 is more than Q2.
Optionally, two mobile robots are arranged on the isolation guardrail, two directional wheels are arranged at the bottom of each mobile robot, and each directional wheel is powered by a hub motor and changes direction by a stepping motor.
Optionally, when the mobile robot is in a locked state, the wheel shafts of the two directional wheels at the bottom of the mobile robot are perpendicular to each other.
Optionally, a LoRa module is further disposed on the mobile robot, and the mobile control unit is in wireless communication connection with the central processing unit through the LoRa module.
Optionally, the movable guardrail group further comprises at least one audible and visual alarm; and the audible and visual alarm and the antenna of the UWB tag are arranged at the top of the mobile robot.
In another aspect, the present invention further provides an intelligent mobile robot control method for a tidal lane, including the steps of:
receiving the position information of the mobile robot calibrated by the UWB tag in real time by the base station group;
generating a walking instruction of the mobile robot according to the position information;
sending the walking instruction to a mobile control unit, and enabling the mobile control unit to control the mobile robot to move from a first lane boundary to a second lane boundary according to the walking instruction to form a tidal lane;
wherein the traffic flow of the lane on the side of the first lane boundary far away from the second lane boundary is Q1, the traffic flow of the lane between the first lane boundary and the second lane boundary is Q2, and Q1 is more than Q2.
Optionally, before sending the walking instruction to the mobile control unit, the method further includes:
acquiring a current time signal;
judging whether the current time signal is within a preset tide lane opening time period or not;
if the current time signal is within a preset tide lane opening time period, opening a tide lane; otherwise, the locking instruction is sent to the mobile control unit, so that the mobile control unit controls the mobile robot to be in a locking state.
Optionally, in the process that the mobile robot moves from the first lane boundary to the second lane boundary, the method further includes:
judging whether the position information of the mobile robot is located on a reference track;
if the position information of the mobile robot deviates from the reference track, generating a position adjusting instruction, and sending the position adjusting instruction to the mobile control unit, so that the mobile control unit moves the mobile robot to the reference track again according to the adjusting instruction; otherwise, no position adjustment instruction is generated.
Optionally, the position adjustment instruction includes direction adjustment information and distance adjustment information.
Optionally, after the tidal lane is formed, the method further comprises:
acquiring a current time signal;
judging whether the current time signal is within a preset tide lane opening time period or not;
if the current time signal is within a preset tide lane opening time period, a locking instruction is sent to the mobile control unit, so that the mobile control unit controls the mobile robot to be in a locking state; otherwise, a reset instruction is sent to the mobile control unit, so that the mobile control unit controls the mobile robot to return to the first lane boundary from the second lane boundary to close the tidal lane.
Compared with the prior art, the intelligent mobile robot control system and method for the tidal lane provided by the invention at least realize the following beneficial effects:
(1) the invention realizes the real-time positioning of the mobile robot by adopting a mode of calibrating the UWB tag position information by the base station, and then the mobile robot drives the mobile guardrail group to move between lane boundaries of the road, so that a tide lane can be formed without damaging the road surface, the service life of the road is effectively prolonged, and the road surface construction link is also saved; meanwhile, the UWB tag is high in positioning accuracy, the walking track of the mobile robot can be corrected through the mobile control unit in time, the mobile guardrail group is guaranteed to accurately move to a set target position, and the subsequent passing influence on vehicles on the tidal lane is prevented.
(2) According to the tidal lane, the mobile guardrail group is automatically controlled to move to form the tidal lane through data communication between the central processing unit and the mobile control unit, additional driving vehicles are not needed, lane direction information is not misled to vehicle drivers, the road traffic accident rate is favorably reduced, and the construction cost of the tidal lane is favorably reduced.
Drawings
Fig. 1 is a schematic view of one configuration of an intelligent mobile robot control system for tidal lanes provided by the present invention;
FIG. 2 is a state diagram of the motion of the moving underrun protection set of the present invention;
FIG. 3 is a schematic block diagram of an intelligent mobile robot control system for tidal lanes provided by the present invention;
FIG. 4 is a schematic view of one embodiment of the movable fence group of the present invention;
FIG. 5 is a schematic bottom view of the movable fence group of FIG. 4;
FIG. 6 is another schematic block diagram of an intelligent mobile robot control system for tidal lanes provided by the present invention;
fig. 7 is a flowchart of an intelligent mobile robot control method for tidal lanes provided by the present invention;
FIG. 8 is a schematic diagram of track deviation correction for a moving guardrail set according to the present invention.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of steps and components, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
Example one
Referring to fig. 1 to 3, the present invention provides an intelligent mobile robot control system for tidal lanes, which includes a mobile fence group 2, a base station group and a central processing unit 3, wherein the base station group includes a first UWB base station a, a second UWB base station B and a third UWB base station C; the first UWB base station A and the second UWB base station B are positioned on one side of the road 1 and are arranged along a first direction X, and the first direction X is parallel to the extending direction of the road 1; the third UWB base station C is positioned at the other side of the road 1 and is arranged with the first UWB base station A along a second direction Y, and the second direction Y is intersected with the first direction X; the mobile guardrail group 2 is arranged on a first roadway boundary 11 of the roadway 1, the mobile guardrail group 2 comprises an isolation guardrail 21, at least one mobile robot 4 is arranged on the isolation guardrail 21, and a mobile control unit 41 and a UWB tag 43 are arranged on the mobile robot 4; the first UWB base station a, the second UWB base station B, and the third UWB base station C are connected in communication, and each UWB base station calibrates the position information of the mobile robot 4 by the UWB tag 43;
the central processing unit 3 is in communication connection with at least one UWB base station and is used for receiving the position information and generating a walking instruction according to the position information; the mobile control unit 41 is in communication connection with the central processing unit 3, and is configured to receive a walking instruction and move the mobile robot 4 from the first lane boundary 11 to the second lane boundary 12 according to the walking instruction; the traffic flow of the lane on the side of the first lane boundary 11 remote from the second lane boundary 12 is Q1, the traffic flow of the lane between the first lane boundary 11 and the second lane boundary 12 is Q2, and Q1 > Q2.
Specifically, UWB (Ultra Wide Band) is a carrier-free communication technology, and is one of the mainstream technologies for short-distance wireless communication in the future, in which data is transmitted by using non-sinusoidal narrow pulses on the nanosecond to microsecond level. In this embodiment, the mobile fence group 2 is positioned accurately in real time by setting the base station group based on the UWB technology, that is, the first UWB base station a, the second UWB base station B, and the third UWB base station C in the base station group are respectively installed at the set positions on both sides of the road 1, so that the three UWB base stations form a two-dimensional coordinate system in the first direction X and the second direction Y, and further position information calibration can be performed on the mobile robot 4 located in the coordinate system through the UWB tag 43, and the calibration process of the position information is a real-time and continuous process, so that the accurate position of the corresponding mobile robot 4 in the two-dimensional coordinate system can be obtained through the current position information.
The number of the mobile robots 4 and the length of the isolation guardrails 21 can be set according to actual needs, that is, according to the length of the isolation guardrails 21, only one mobile robot 4 can be set on one isolation guardrail 21, and also two or more mobile robots 4 can be set at the same time, at this time, three UWB base stations can calibrate the real-time position information of the mobile robots 4 through UWB tags 43, and then the mobile robots 4 drive the corresponding isolation guardrails 21 to move, so that the whole mobile guardrail group 2 can move between lane boundaries of the road 1. In consideration of the communication range of the base station group, in the case where the length of the road 1 is small, only one base station group (as shown in fig. 1) may be provided, in the case where the length of the road 1 is large, a plurality of base station groups may be sequentially provided, and the number of the mobile fence groups 2 in the two-dimensional coordinate system formed by each base station group may be one or more, and the first UWB base station a and the second UWB base station B in the base station groups are still arranged in the first direction X.
It should be noted that the first direction X is parallel to the extending direction of the road 1, that is, the first direction X changes with the change of the extending direction of the road 1, at this time, as long as the third UWB base station C is disposed at a suitable position on the roadside, the base station group may still form a two-dimensional coordinate system in the first direction X and the second direction Y, and the included angle between the first direction X and the second direction Y may be set to be a right angle (form a two-dimensional rectangular coordinate system) or a non-right angle (form a two-dimensional oblique coordinate system) according to actual needs.
The movable fence group 2 is provided on the first lane boundary 11 of the road 1, the traffic flow rate of the lane on the side of the first lane boundary 11 away from the second lane boundary 12 is Q1, the traffic flow rate of the lane between the first lane boundary 11 and the second lane boundary 12 is Q2, and when Q1 is larger than Q2, it is necessary to improve the traffic situation of the road 1 by forming a tidal lane. As shown in fig. 2, taking a bidirectional four-lane road 1 as an example (the lane where the right arrow is located is a forward lane, and the lane where the left arrow is located is a reverse lane), before a tidal lane is formed, two forward lanes and two reverse lanes are provided; after the movable guardrail group 2 moves from the first lane boundary 11 to the second lane boundary 12 to form the tide lanes, one reverse lane is changed into a forward lane, at the moment, the number of the forward lanes is three, and the number of the reverse lanes is one, so that the traffic jam condition of the forward lane can be effectively relieved.
It should be noted that the first lane boundary 11 and the second lane boundary 12 are relative, and the moving direction of each tidal lane is defined, that is, the initial lane boundary 11 is the first lane boundary 11 and the final lane boundary 12 is the second lane boundary when the movable guardrail set 2 moves to form the tidal lane, rather than the mandatory limitation of the lane boundary on the road 1.
The first UWB base station a, the second UWB base station B, and the third UWB base station C are in communication connection, and at this time, the central processing unit 3 establishes communication connection with one, two, or three UWB base stations among them, and can receive position information of each UWB base station calibrated for the mobile robot 4. The central processing unit 3 and the movement control unit 41 both preferably adopt an STM32 single chip microcomputer, on one hand, the central processing unit 3 generates a corresponding walking instruction by analyzing the received position information, and further controls the movement direction of the movable guardrail group 2; on the other hand, the movement control unit 41 automatically controls the mobile robot 4 to move from the first lane boundary 11 to the second lane boundary 12 according to the traveling instruction received from the central processing unit 3, without additionally installing a driving vehicle, and without misleading lane direction information to the vehicle driver, which is advantageous for reducing the road traffic accident rate.
The mobile robot 4 generally adopts pulleys to realize movement, and under the guidance of a walking instruction, a tide lane can be formed without damaging the road surface, so that the service life of the road is effectively prolonged, and the road surface construction link is also saved. In addition, because the positioning accuracy of the UWB positioning technology can reach centimeter level, compared with the positioning mode of the GPS/beidou system, the UWB positioning technology has higher positioning accuracy, and can correct the traveling track of the mobile robot 4 in time through the mobile control unit 41, thereby ensuring that the mobile guardrail group 2 accurately moves to a set target position and preventing subsequent passing influence on vehicles on the tidal lane; meanwhile, the setting cost of the base station group and the UWB tag 43 is lower than that of a GPS/Beidou system, so that the system has a wide application prospect.
Example two
On the basis of the first embodiment, please refer to fig. 1, 4 to 6 in combination, two mobile robots 4 are disposed on the isolation fence 21, two directional wheels 42 are disposed at the bottom of each mobile robot 4, and each directional wheel 42 is powered by a hub motor 422 and changes direction by a stepping motor 421.
In this embodiment, due to the arrangement of the stepping motor 421 and the hub motor 422, the mobile robot 4 has two functions of moving and changing directions under the action of the directional wheel 42, so that after the mobile control unit 41 receives a walking instruction, the mobile robot 4 can be controlled to freely move in a set direction, and compared with a traditional crawler-type trolley, the mobile mode is more flexible and controllable. Meanwhile, as the two mobile robots 4 are arranged on the isolation barrier 21, that is, each mobile barrier group 2 has four directional wheels 42, the whole mobile barrier group 2 has better balance.
Optionally, when the isolation barrier 21 is in a locked state, the wheel shafts of the two directional wheels 42 at the bottom of the mobile robot 4 are perpendicular to each other, and at this time, both the two mobile robots 4 cannot move, so that the whole mobile barrier group 2 can be stably located on a lane boundary line and cannot move randomly, and the traffic influence on vehicles on the lane is prevented; meanwhile, the locking state is realized by directly changing the wheel shaft of the directional wheel 42, a brake structure is not required to be added, and the construction cost of the tidal lane is further reduced.
The time quantum that isolation barrier 21 is in the locking state can have two, one is before forming the morning and evening tides lane, and another is after forming the morning and evening tides lane, and under the circumstances that the whole weight of removal guardrail group 2 reaches certain degree, even under the bad weather condition such as strong wind, heavy rain, still can normal use, can effectively prevent the emergence that the abnormal movement caused the circumstances such as collide with the vehicle, is favorable to further improving road traffic safety nature.
Optionally, an LoRa module 45 is further disposed on the mobile robot 4, and the mobile control unit 41 is connected to the central processing unit 3 through the LoRa module 45 in a wireless communication manner. The LoRa is a low power consumption local area network wireless standard created by semtech company, and is characterized in that the distance of propagation is longer than that of other wireless modes under the same power consumption condition, and the low power consumption and long distance unification can be realized, so that long distance wireless communication between the mobile control unit 41 and the central processing unit 3 in the mobile robot 4 can be realized, at the moment, the central processing unit 3 can be arranged at a place far away from the mobile robot 4, such as being arranged at the road side or being directly arranged on a UWB base station, and does not need to be arranged closely following the mobile robot 4, and one central processing unit 3 can simultaneously process the position information of one or more base station groups in the wireless communication range, thereby effectively reducing the construction cost of the central processing unit 3.
Optionally, the mobile siderail group 2 further comprises at least one audible and visual alarm 46; the audible and visual alarm 46 and the antenna 44 of the UWB tag 43 are both disposed on the top of the mobile robot 4. The audible and visual alarm 46 is mainly used for forming sound and light double warning effects for vehicle drivers in the starting time period of the tide lane, and the audible and visual alarm 46 is arranged at the top of the mobile robot 4, so that the vehicle drivers can be effectively reminded of paying attention to the running condition of the tide lane. The antenna 44 of the UWB tag 43 is disposed on the top of the mobile robot 4, so that the antenna 44 has a wider signal receiving range, real-time communication between the mobile robot 4 and a UWB base station is ensured, and the antenna 44 is effectively prevented from being damaged due to a collision between a vehicle and the side of the mobile robot 4.
Optionally, a plurality of reflective strips 47 are arranged on the side surface of the mobile robot 4 at intervals, so that a more striking warning mark can be provided for a vehicle driver through the reflective strips 47, and the vehicle is further prevented from colliding with the side surface of the mobile robot 4, so that the tide lane formed by isolating the mobile guardrail group 2 can run normally.
EXAMPLE III
Referring to fig. 1, fig. 3 to fig. 5 and fig. 7, the present embodiment provides an intelligent mobile robot control method for a tidal lane, and an intelligent mobile robot control system for a tidal lane based on any of the above embodiments, the control method includes the following steps:
s1, receiving the position information of the mobile robot 4 calibrated by the base station group through the UWB tag 43 in real time;
s2, generating a travel command for the mobile robot 4 based on the position information;
s3, sending the walking instruction to the movement control unit 41, so that the movement control unit 41 controls the mobile robot 4 to move from the first lane boundary 11 to the second lane boundary 12 according to the walking instruction, thereby forming a tidal lane;
the traffic flow of the lane on the side of the first lane boundary 11 remote from the second lane boundary 12 is Q1, the traffic flow of the lane between the first lane boundary 11 and the second lane boundary 12 is Q2, and Q1 > Q2.
In this embodiment, in step S1, the UWB-based base station set is used to calibrate the position information of the mobile robot 4 in real time, and the mobile robot 4 is installed on the isolation barrier 21, so that the whole mobile barrier set 2 can be accurately positioned in real time according to the positioning of the mobile robot 4. The setting manner and the working principle of the first UWB base station a, the second UWB base station B and the third UWB base station C in the base station group are described in the above embodiments, and the description of this embodiment is omitted.
The position information calibrated by the base station group is mainly coordinate information of the mobile robot 4 in a two-dimensional coordinate system, in order to realize that the mobile robot 4 moves along a predetermined track, the position information needs to be converted into a walking instruction through the step S2, and then the mobile robot 4 is controlled to move according to the walking instruction, after the step S3 is completed, a lane between the first lane boundary 11 and the second lane boundary 12 is changed into a tidal lane, so that the traffic condition of the road 1 is improved, a driving vehicle does not need to be additionally arranged, misguidance of lane direction information is not caused to a vehicle driver, and the occurrence rate of road traffic accidents is favorably reduced.
Optionally, before sending the walking instruction to the movement control unit in step S3, the method further includes:
301, acquiring a current time signal;
step 302, judging whether the current time signal is within a preset tide lane opening time period; if the current time signal is within a preset tide lane opening time period, opening a tide lane; otherwise, a lock instruction is sent to the movement control unit 41, so that the movement control unit 41 controls the mobile robot 4 to be in a lock state.
Specifically, the step 301 and the step 302 are mainly used for determining whether to open the tidal lane, that is, whether to automatically enter the step S3 to form the tidal lane, and if and only if the acquired current time signal is within the preset tidal lane opening time period, the mobile robot 4 drives the mobile fence group 2 to move to form the tidal lane, otherwise the mobile robot 4 is in the locked state, so that the mobile fence group 2 is in the standing state as a whole. Therefore, through the setting of the step 301 and the step 302, the automatic opening of the tide lane can be realized, and the time and the labor are saved.
Optionally, after the step S3 of forming the tidal lane, the method further includes:
step 311, acquiring a current time signal;
step 312, judging whether the current time signal is within a preset tide lane opening time period; if the current time signal is within the preset tide lane opening time period, sending a locking instruction to the mobile control unit 41, so that the mobile control unit 41 controls the mobile robot 4 to be in a locking state; otherwise, a reset instruction is sent to the movement control unit 41, causing the movement control unit 41 to control the mobile robot 4 to return from the second lane boundary 12 to the first lane boundary 11 to close the tidal lane.
Specifically, step 311-312 is mainly used to determine whether to close the started tidal lane, that is, whether to recover the lane distribution before the formation of the tidal lane, and if the obtained current time signal is within the preset opening time period of the tidal lane, it indicates that the passing condition of the road 1 needs to be improved by continuously passing through the formed tidal lane, and at this time, the mobile robot 4 is in a locked state, so as to prevent the traffic passing from being affected by the movement of the mobile guardrail group 2; if the current time signal exceeds the on-period, the moving barrier group 2 should be moved again to the initial position by the mobile robot 4. Therefore, through the setting of the step 311 and the step 312, the tidal lane can be automatically closed, and time and labor are saved.
The on-time period of the tidal lane may be set according to the actual vehicle traffic conditions of the road 1. Meanwhile, the setting of the steps 301-; when only the tidal lane needs to be automatically closed, step 311-; when the tidal lane needs to automatically complete the opening and closing operations, the step 301-.
Alternatively, referring to fig. 8 in combination, in the process that the mobile robot 4 moves from the first lane boundary 11 to the second lane boundary 12 in step 3, the method further includes:
judging whether the position information of the mobile robot 4 is located on the reference track L; if the position information of the mobile robot 4 deviates from the reference track L, generating a position adjustment instruction, and sending the position adjustment instruction to the mobile control unit 41, so that the mobile control unit 41 moves the mobile robot 4 to the reference track L again according to the adjustment instruction; otherwise, no position adjustment instruction is generated.
Specifically, the base station group performs the calibration of the position information of the mobile robot 4 in real time, that is, before, during, and after the formation of the tidal lane, the first UWB base station a, the second UWB base station B, and the third UWB base station C in the base station group continuously transmit the calibrated position information of the mobile robot 4 to the central processing unit 3. Of course, in some alternative embodiments, if the on-time period of the tidal lane has been preset, the base station group only needs to continuously transmit the position information of the calibrated mobile robot 4 to the central processing unit 3 during the start-time period.
On the basis, whether the mobile robot 4 moves along the reference track L to form a tidal lane can be obtained by judging whether the position information of the mobile robot 4 is located on the reference track L, and then the deviation of the moving track of the mobile guardrail group 2 is corrected. Taking the example of a rectangular two-dimensional coordinate system formed by the base station set (the first direction X is perpendicular to the second direction Y):
the coordinates of the first UWB base station a are (0, 0), and the coordinates of the second UWB base station B are (d)10), the coordinates of the third UWB base station C are (0, d)2) I.e. d1Is the distance between a first UWB base station A and a second UWB base station B, d2Is the distance between the first UWB base station A and the third UWB base station C, at this time d1And d2The distance measurement method can be obtained by utilizing a base station group to carry out calculation in a bilateral distance measurement mode.
Then, the coordinate of the initial position D of the mobile robot 4 is calibrated to be (X) through the base station group1，Y1) And calculating the coordinate of the termination position E of the mobile robot 4 according to the lane width as (X)1，YN) And the real-time position coordinate of the mobile robot 4 after the movement is (X)n，Yn) At this time, if Xn、YnThe position of the mobile robot 4 may be determined to have deviated without the numerical value of either or both of them being on the reference trajectory L, and correction by the position adjustment command is required. For example, if the real-time position of the mobile robot 4 is on the left side of the reference trajectory L, the mobile control unit 41 makes the mobile robot 4 move to the right according to the received position adjustment instruction; similarly, if the real-time position of the mobile robot 4 is on the right side of the reference trajectory L, the mobile control unit 41 moves the mobile robot 4 to the left according to the received position adjustment instruction until the mobile robot 4 moves onto the reference trajectory L again. Of course, during the trajectory rectification process, the moving direction of the mobile robot 4 is not limited to moving only in the left or right direction along the first direction X, but also can be a direction having a certain included angle with respect to the first direction X, and therefore, the position adjustment instruction can include direction adjustment information and distance adjustment information.
Therefore, the track of the mobile robot 4 is corrected, so that the mobile robot 4 can move to the end position according to the set reference track L, that is, the mobile robot 4 ensures that each mobile guardrail group 2 can accurately move to the boundary line of the target lane, and the influence on the passing of vehicles on the tidal lane is prevented. In addition, in order to ensure the traffic order and the traffic safety, before the tidal lane is formed in a moving way, a period of clearing time (for example, 5 to 8 minutes) can be set according to the actual passing condition of the road 1, when the tidal lane is cleared, a certain lane signal lamp of the tidal lane to be formed displays that the passing is forbidden, and meanwhile, the audible and visual alarm 46 and other measures can be matched to ensure the safety when the tidal lane is cleared. After the clearing is finished, the whole movable guardrail group 2 can be driven to move by the movable robot 4 to form a tide lane.
The reference trajectory L is a trajectory route virtually set in a two-dimensional coordinate system formed by the base station group according to actual needs, and is not a mark line directly drawn on the road 1, and therefore does not affect the traffic situation of the road 1.
The intelligent mobile robot control system and method for the tidal lane, provided by the invention, at least realize the following beneficial effects:
(1) the invention realizes the real-time positioning of the mobile robot by adopting a mode of calibrating the UWB tag position information by the base station, and then the mobile robot drives the mobile guardrail group to move between lane boundaries of the road, so that a tide lane can be formed without damaging the road surface, the service life of the road is effectively prolonged, and the road surface construction link is also saved; meanwhile, the UWB tag is high in positioning accuracy, the walking track of the mobile robot can be corrected through the mobile control unit in time, the mobile guardrail group is guaranteed to accurately move to a set target position, and the subsequent passing influence on vehicles on the tidal lane is prevented.
(2) According to the tidal lane, the mobile guardrail group is automatically controlled to move to form the tidal lane through data communication between the central processing unit and the mobile control unit, additional driving vehicles are not needed, lane direction information is not misled to vehicle drivers, the road traffic accident rate is favorably reduced, and the construction cost of the tidal lane is favorably reduced.
The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention cannot be limited thereby, and any modification made on the basis of the technical scheme according to the technical idea proposed by the present invention falls within the protection scope of the present invention; the technology not related to the invention can be realized by the prior art.
Claims (10)
1. An intelligent mobile robot control system for tidal lanes is characterized by comprising a mobile guardrail group, a base station group and a central processing unit, wherein the base station group comprises a first UWB base station, a second UWB base station and a third UWB base station;
the first UWB base station and the second UWB base station are positioned on one side of a road and are arranged along a first direction, and the first direction is parallel to the extending direction of the road;
the third UWB base station is positioned at the other side of the road and is arranged along a second direction with the first UWB base station, and the second direction is intersected with the first direction;
the mobile guardrail group is arranged on a first lane boundary line of the road and comprises an isolation guardrail, at least one mobile robot is arranged on the isolation guardrail, and a mobile control unit and a UWB (ultra wide band) tag are arranged on the mobile robot;
the first UWB base station, the second UWB base station and the third UWB base station are in communication connection, and each UWB base station calibrates the position information of the mobile robot through the UWB tag;
the central processing unit is in communication connection with at least one UWB base station and is used for receiving the position information and generating a walking instruction according to the position information;
the mobile control unit is in communication connection with the central processing unit and is used for receiving the walking instruction and moving the mobile robot from a first lane boundary to a second lane boundary according to the walking instruction; wherein the traffic flow of the lane on the side of the first lane boundary away from the second lane boundary is Q1, the traffic flow of the lane between the first lane boundary and the second lane boundary is Q2, and Q1 > Q2.
2. The intelligent mobile robot control system for tidal lanes of claim 1, wherein two mobile robots are disposed on the isolation barrier, two orientation wheels are disposed on the bottom of each mobile robot, each orientation wheel is powered by a hub motor and changes direction by a stepper motor.
3. The intelligent mobile robot control system for tidal lanes of claim 2, wherein the axles of the two directional wheels on the bottom of the mobile robot are perpendicular to each other when the mobile robot is in a locked state.
4. The intelligent mobile robot control system for tidal lanes of claim 1, wherein the mobile robot is further provided with an LoRa module, and the mobile control unit is in wireless communication connection with the central processing unit through the LoRa module.
5. The intelligent mobile robot control system for tidal lanes of claim 1, wherein the set of mobile guardrails further comprises at least one audible and visual alarm;
the audible and visual alarm and the UWB tag antenna are arranged at the top of the mobile robot.
6. An intelligent mobile robot control method for tidal lanes, based on the intelligent mobile robot control system for tidal lanes of any of claims 1-5, comprising the steps of:
receiving the position information of the mobile robot calibrated by the UWB tag in real time by the base station group;
generating a walking instruction of the mobile robot according to the position information;
sending the walking instruction to a mobile control unit, and enabling the mobile control unit to control the mobile robot to move from a first lane boundary to a second lane boundary according to the walking instruction to form a tidal lane;
the traffic flow of the lane of which the first lane boundary is far away from the second lane boundary is Q1The traffic flow of the lane between the first lane boundary and the second lane boundary is Q2And Q is1＞Q2。
7. The intelligent mobile robot control method for tidal lanes according to claim 6, wherein before sending the walking instructions to the mobile control unit, further comprising:
acquiring a current time signal;
judging whether the current time signal is within a preset tide lane opening time period or not;
if the current time signal is within a preset tide lane opening time period, opening the tide lane; otherwise, a locking instruction is sent to the mobile control unit, so that the mobile control unit controls the mobile robot to be in a locking state.
8. The intelligent mobile robot control method for tidal lanes according to claim 6, wherein in the process of the mobile robot moving from the first lane boundary to the second lane boundary, further comprising:
judging whether the position information of the mobile robot is located on a reference track;
if the position information of the mobile robot deviates from the reference track, generating a position adjusting instruction, and sending the position adjusting instruction to the mobile control unit, so that the mobile control unit moves the mobile robot to the reference track again according to the adjusting instruction; otherwise, no position adjustment instruction is generated.
9. The intelligent mobile robot control method for tidal lanes of claim 8, wherein the position adjustment instructions include direction adjustment information and distance adjustment information.
10. The intelligent mobile robot control method for tidal lanes according to claim 6, further comprising, after the tidal lane is formed:
acquiring a current time signal;
judging whether the current time signal is within a preset tide lane opening time period or not;
if the current time signal is within a preset tide lane opening time period, a locking instruction is sent to the mobile control unit, so that the mobile control unit controls the mobile robot to be in a locking state; otherwise, sending a reset instruction to the mobile control unit, so that the mobile control unit controls the mobile robot to return to the first lane boundary from the second lane boundary to close the tidal lane.
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| CN113110483A (en) * | 2021-04-30 | 2021-07-13 | 南通大学 | Control method of carrying robot for tidal lane isolation guardrail |
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