CN111691329A - Intelligent mobile robot control system and method for tidal lane - Google Patents

Abstract

The invention discloses an intelligent mobile robot control system and method for tidal lanes, comprising a mobile guardrail group, a base station group and a central processing unit; the mobile guardrail group is arranged on the boundary line of the first lane of the road, and the mobile guardrail group includes The isolation guardrail is provided with at least one mobile robot, and the mobile robot is provided with a mobile control unit and a UWB label; the central processing unit is connected to at least one UWB base station in communication, for receiving position information, and generating a walking instruction according to the position information; The movement 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 calibrating the position information of the UWB tag by the base station, and then drives the mobile guardrail group to form the tidal lane, which can form the tidal lane without destroying the road surface, and effectively prolongs the service life of the road.

Description

An intelligent mobile robot control system and method for tidal lanes

technical field

The invention belongs to the technical field of tidal lanes, and in particular, relates to an intelligent mobile robot control system and method for tidal lanes.

Background technique

With the continuous popularization of vehicles, "tidal traffic" has become a common phenomenon on roads in large and medium-sized cities in my country, which leads to the imbalance of supply and demand of two-way traffic flow on the road section, resulting in the dislocation of supply and demand of space resources on the road, and the long time of traffic congestion. Seriously restrict the operation efficiency of the urban road network. Setting up tidal lanes is one of the effective measures to solve the tidal traffic problem, and it is also an important topic for domestic and foreign experts and scholars to study and solve the imbalance between supply and demand of traffic flow.

Existing tidal lane changing methods usually use moving guardrails, such as:

The patent with the application number of 201910569124.4 discloses a device and method for vehicle lane control based on time series analysis. Independent tracks are provided at the lane dividing lines on both sides of the tidal lane, and the movable guardrail assembly equipment follows the The track is limited to move, and all the movable guardrail assemblies are dispersed and assembled by pushing and pulling the first movable guardrail assembly by the push-pull trolley. Although the system can ensure the moving trajectory of the guardrail, the exposed track is easy to cause traffic accidents.

The patent with the application number of 201711051620.8 discloses an electric lift automatic isolation guardrail system for tidal lanes, which installs underground steel groove tracks on the left and right lane lines of the tidal lanes, and is matched with a slider linkage mechanism to realize the movement of the guardrail and control Based on the traffic flow information detected by the toroidal coil vehicle detector buried in the ground, the guardrail starts and stops. The system uses the track to ensure the moving trajectory of the guardrail, but the laying of the track will cause damage to the road surface, and the construction volume is huge and the construction cost is huge.

The patent with the application number of 201710512090.6 discloses a variable automatic isolation guardrail system for tidal lanes, which installs guardrails on the left and right lane lines of the tidal lane, and the hydraulic system is buried in the underground of the left and right lane lines of the tidal lane to execute the guardrail. A toroidal coil vehicle detector is buried in the underground of the tidal lane, and the information of the vehicle is transmitted to the control module in real time through the underground cable. The system adopts the lifting and lowering of the fixed guardrail, which can ensure the accuracy of lane division, but the guardrail and hydraulic lifting system need to be buried under the lane line, which will also damage the road surface, and the amount of engineering is very large. Easy maintenance.

The patent of application number 201610815953.2 discloses an automatic tidal lane provided with movable isolation guardrails. The movable isolation guardrail consists of isolation columns at both ends and an isolation guardrail in the middle of the isolation columns. The drive device includes a front guide rail, a crawler drive guide rail, The driving vehicle and the rear guide rail, the front guide rail, the crawler driving guide rail and the rear guide rail are sequentially connected to form an S-shaped guide rail, and the movement of the guardrail is realized by the electronic and mechanized self-movement of the movable isolation belt. The system uses the driving vehicle to drive the movable isolation barrier to the designated position, and does not realize the automation of the mobile isolation barrier, wastes manpower and material resources, and the driving vehicle has illegal behaviors in the wrong direction, which is easy to give the vehicle a wrong lane direction information, thus causing traffic ACCIDENT.

SUMMARY OF THE INVENTION

In view of this, the present invention provides an intelligent mobile robot control system and method for a tidal lane, which can automatically form a tidal lane through the real-time position positioning of the mobile robot, and can effectively prevent damage to the road surface and mislead vehicle drivers in the lane direction. information, etc.

In order to solve the above technical problems, on the one hand, the present invention provides an intelligent mobile robot control system for tidal lanes, including a mobile guardrail group, a base station group and a central processing unit, the base station group includes a first UWB base station, a second UWB base station and The third UWB base station; the first UWB base station and the second UWB base station are located on one side of the road, and they are arranged along the first direction, and the first direction is parallel to the extending direction of the road; the third UWB base station is located on the other side of the road side, and is arranged along the second direction with the first UWB base station, and the second direction intersects with the first direction; the mobile guardrail group is arranged on the first lane dividing line of the road, and the mobile guardrail group includes an isolation guardrail, which is set on the isolation guardrail. There is at least one mobile robot, and the mobile robot is provided with a mobile control unit and a UWB tag; the first UWB base station, the second UWB base station, and the third UWB base station are communicated and connected, and each UWB base station calibrates the position information of the mobile robot through the UWB tag ;

The central processing unit is connected in communication with at least one UWB base station for receiving position information and generating walking instructions according to the position information; the mobile control unit is in communication connection with the central processing unit for receiving the walking instructions, and moves the mobile robot from the first position according to the walking instructions. The first lane boundary is moved to the second lane boundary; wherein, the traffic flow of the lane on the side of the first lane boundary far from the second lane boundary is Q1, and the lane between the first lane boundary and the second lane boundary The traffic flow is Q2, and Q1>Q2.

Optionally, two mobile robots are arranged on the isolation guardrail, and two directional wheels are arranged at the bottom of each mobile robot.

Optionally, when the mobile robot is in a locked state, the axles of the two directional wheels at the bottom of the mobile robot are perpendicular to each other.

Optionally, a LoRa module is also provided on the mobile robot, and the mobile control unit is wirelessly connected to the central processing unit through the LoRa module.

Optionally, the mobile guardrail group further includes at least one sound and light alarm; both the sound and light alarm and the antenna of the UWB tag are arranged on the top of the mobile robot.

On the other hand, the present invention also provides an intelligent mobile robot control method for a tidal lane, comprising the following steps:

Receive the position information of the mobile robot calibrated by the base station group through the UWB tag in real time;

Generate the walking instructions of the mobile robot according to the position information;

Send the walking instruction to the mobile control unit, so that the mobile control unit controls the mobile robot to move from the first lane boundary to the second lane boundary according to the walking instruction to form a tidal lane;

The traffic flow of the lane on the side of the first lane boundary far from the second lane boundary is Q1, and the traffic flow of the lane between the first lane boundary and the second lane boundary is Q2, and Q1>Q2.

Optionally, before sending the walking instruction to the mobile control unit, the method further includes:

Get the current time signal;

Determine whether the current time signal is within the preset tidal lane opening time period;

If the current time signal is within the preset tidal lane opening time period, the tidal lane is opened; 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 locked state.

Optionally, the process of moving the mobile robot from the first lane boundary to the second lane boundary further includes:

Determine whether the position information of the mobile robot is located on the reference trajectory;

If the position information of the mobile robot deviates from the reference trajectory, a position adjustment instruction is generated, and the position adjustment instruction is sent to the mobile control unit, so that the mobile control unit re-moves the mobile robot to the reference trajectory according to the adjustment 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 includes:

Get the current time signal;

Determine whether the current time signal is within the preset tidal lane opening time period;

If the current time signal is within the preset tidal lane opening time period, the lock command is sent to the mobile control unit, so that the mobile control unit controls the mobile robot to be in a locked state; otherwise, the reset command is sent to the mobile control unit to make The mobile control unit controls the mobile robot to return from the second lane boundary to the first lane boundary to close the tidal lane.

Compared with the prior art, the intelligent mobile robot control system and method for tidal lanes provided by the present invention achieves at least the following beneficial effects:

(1) The present invention realizes the real-time positioning of the mobile robot by calibrating the position information of the UWB tag by the base station, and then drives the mobile guardrail group to move between the lane boundaries of the road by the mobile robot, without destroying the road surface to form a tidal lane, effectively extending The service life of the road is shortened, and the construction process of the road is saved; at the same time, the positioning accuracy of the UWB tag is high, and the walking trajectory of the mobile robot can be corrected in time through the mobile control unit to ensure that the mobile guardrail group accurately moves to the set target position, preventing the follow-up Traffic impact on vehicles on tidal lanes.

(2) The present invention automatically controls the movement of the mobile guardrail group to form a tidal lane through data communication between the central processing unit and the mobile control unit, without the need for additional driving vehicles, and will not cause misleading lane direction information to vehicle drivers. It is beneficial to reduce the incidence of road traffic accidents, and at the same time, it is also beneficial to reduce the construction cost of tidal lanes.

Description of drawings

1 is a schematic structural diagram of an intelligent mobile robot control system for a tidal lane provided by the present invention;

Fig. 2 is the motion state diagram of moving guardrail group in the present invention;

3 is a schematic block diagram of an intelligent mobile robot control system for a tidal lane provided by the present invention;

Fig. 4 is a kind of structural representation of moving guardrail group in the present invention;

Fig. 5 is the bottom view structure schematic diagram of the mobile guardrail group shown in Fig. 4;

Fig. 6 is another principle block diagram of the intelligent mobile robot control system for tidal lanes provided by the present invention;

Fig. 7 is a kind of flow chart of the intelligent mobile robot control method for tidal lane provided by the present invention;

FIG. 8 is a schematic diagram of the track deviation correction of the moving guardrail group in the present invention.

Detailed ways

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, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the 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 devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, these techniques, methods, and devices should be considered part of the specification.

Example 1

1 to 3, the present invention provides an intelligent mobile robot control system for tidal lanes, including a mobile guardrail group 2, a base station group and a central processing unit 3, and the base station group includes a first UWB base station A, The second UWB base station B and the third UWB base station C; the first UWB base station A and the second UWB base station B are located on one side of the road 1, and they are arranged along the first direction X, and the first direction X and the road 1 The extension direction is parallel; the third UWB base station C is located on the other side of the road 1, and is arranged along the second direction Y with the first UWB base station A, and the second direction Y intersects with the first direction X; the mobile guardrail group 2 is arranged on the road 1, and the mobile guardrail group 2 includes an isolation guardrail 21, at least one mobile robot 4 is provided on the isolation guardrail 21, and a mobile control unit 41 and a UWB label 43 are provided on the mobile robot 4; the first UWB The base station A, the second UWB base station B, and the third UWB base station C are in communication connection, and each UWB base station calibrates the location information of the mobile robot 4 through the UWB tag 43;

The central processing unit 3 is communicatively connected with at least one UWB base station for receiving position information and generating a walking instruction according to the position information; the mobile control unit 41 is communicatively connected with the central processing unit 3 for receiving the walking instruction, and will move according to the walking instruction. The robot 4 moves from the first lane boundary 11 to the second lane boundary 12; wherein, the traffic flow of the lane on the side of the first lane boundary 11 away from the second lane boundary 12 is Q1, and the first lane boundary 11 and The traffic flow of the lanes between the second lane boundaries 12 is Q2, and Q1>Q2.

Specifically, UWB (Ultra Wide Band, Ultra Wide Band) is a carrier-free communication technology that transmits data using nanosecond to microsecond non-sinusoidal narrow pulses, and is also one of the mainstream technologies for short-distance wireless communication in the future. In this embodiment, the real-time and precise positioning of the mobile guardrail group 2 is realized by setting up a base station group based on 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 installed respectively. The set positions on both sides of the road 1 make the three UWB base stations form a two-dimensional coordinate system in the first direction X and the second direction Y, and then the mobile robot 4 located in the coordinate system can be positioned through the UWB tag 43 Information calibration, 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 mobile robots 4 and the length of the isolation guardrail 21 can be set according to actual needs, that is, according to the length of the isolation guardrail 21, only one mobile robot 4 can be set on one isolation guardrail 21, or two or more mobile robots can be set at the same time. Robot 4, at this time, the three UWB base stations can calibrate the real-time position information of these mobile robots 4 through the UWB tag 43, and then drive the corresponding isolation guardrail 21 to move through the mobile robot 4, and the entire mobile guardrail group 2 can be divided into the lanes of the road 1. move between boundaries. Considering the communication range of the base station group, when the length of road 1 is small, only one base station group can be set (as shown in Figure 1), and when the length of road 1 is long, multiple base station groups can be set in sequence, And the number of moving guardrail 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 group are still arranged along the first direction X.

It should be noted that the first direction X is parallel to the extension direction of the road 1, that is, the first direction X changes with the change of the extension direction of the road 1. At this time, the third UWB base station C only needs to be set at a suitable position on the roadside. , the base station group can still form a two-dimensional coordinate system in the first direction X and the second direction Y, and the angle between the first direction X and the second direction Y can be set to a right angle according to actual needs (forming a two-dimensional right angle coordinate system) or non-rectangular (forming a two-dimensional oblique coordinate system).

The moving guardrail group 2 is set on the first lane boundary line 11 of the road 1. The traffic flow of the lane on the side of the first lane boundary line 11 away from the second lane boundary line 12 is Q1. The first lane boundary line 11 and the second lane The traffic flow of the lanes between the boundary lines 12 is Q2. When Q1 is greater than Q2, it is necessary to improve the traffic conditions of the road 1 by forming a tidal lane. As shown in Figure 2, taking road 1 with two-way four-lane as an example (the lane where the right arrow is located is the forward lane, and the lane where the left arrow is located is the reverse lane), before the tidal lane is formed, there are two forward lanes and two reverse lanes. ; When the mobile guardrail group 2 moves from the first lane boundary 11 to the second lane boundary 12 to form a tidal lane, one of the reverse lanes is changed to a forward lane, and there are three forward lanes and one reverse lane. It can effectively alleviate the traffic congestion in the forward lane.

It should be noted that the first lane boundary 11 and the second lane boundary 12 are relative terms, and are subject to the moving direction of each tidal lane, that is, each time the moving guardrail group 2 moves to form a tidal lane, The starting lane dividing line 11 is the first lane dividing line 11 , and the ending lane dividing line 12 is the second lane dividing line, rather than a mandatory limitation on the lane dividing line on the road 1 .

The communication connection between the first UWB base station A, the second UWB base station B, and the third UWB base station C is established. The position information that the UWB base station calibrates the mobile robot 4 . Both the central processing unit 3 and the mobile control unit 41 preferably use STM32 single-chip microcomputers. On the one hand, the central processing unit 3 generates corresponding walking instructions by analyzing the received position information, and then controls the moving direction of the mobile guardrail group 2; The control unit 41 automatically controls the mobile robot 4 to move from the first lane dividing line 11 to the second lane dividing line 12 according to the walking instruction received from the central processing unit 3, without the need for additional driving vehicles, and without causing a lane for the driver of the vehicle. Misleading direction information is conducive to reducing the incidence of road traffic accidents.

The mobile robot 4 generally uses pulleys to move. Under the guidance of the walking command, a tidal lane can be formed without destroying the road surface, which effectively prolongs the service life of the road and saves the construction of the road surface. In addition, since the positioning accuracy of UWB positioning technology can reach centimeter level, compared with the positioning method of GPS/Beidou system, it has higher positioning accuracy, and can correct the walking trajectory of the mobile robot 4 through the mobile control unit 41 in time to ensure that The mobile guardrail group 2 accurately moves to the set target position to prevent the subsequent impact on the traffic on the tidal lane; at the same time, the installation cost of the base station group and the UWB tag 43 is also lower than that of the GPS/Beidou system, so it has a wide range of advantages. application prospects.

Embodiment 2

On the basis of the first embodiment, please refer to FIG. 1 and FIG. 4 to FIG. 6 , two mobile robots 4 are arranged on the isolation guardrail 21 , and two directional wheels 42 are arranged at the bottom of each mobile robot 4 . The directional wheels 42 are powered by in-wheel motors 422 and change directions are realized by stepping motors 421 .

In this embodiment, due to the setting of the stepping motor 421 and the hub motor 422, the mobile robot 4 has both the functions of moving and changing direction under the action of the directional wheel 42. Therefore, after the mobile control unit 41 receives the walking instruction, The mobile robot 4 can be controlled to move freely in a set direction, and its movement mode is more flexible and controllable compared to the traditional crawler trolley. At the same time, since two mobile robots 4 are set on the isolation guardrail 21 , that is, each mobile guardrail group 2 has four directional wheels 42 , the overall balance of the mobile guardrail group 2 can be better.

Optionally, when the isolation guardrail 21 is in the locked state, the axles of the two directional wheels 42 at the bottom of the mobile robot 4 are perpendicular to each other, and at this time, the two mobile robots 4 cannot move, so that the mobile guardrail group 2 can be stably located in the lane as a whole. At the same time, the locked state is realized directly by the axle change of the directional wheel 42, so there is no need to increase the braking structure, which is beneficial to further reduce the construction of the tidal lane cost.

There can be two time periods when the isolation guardrail 21 is in the locked state, one is before the formation of the tidal lane, and the other is after the formation of the tidal lane. When the overall weight of the moving guardrail group 2 reaches a certain level, even in strong winds, heavy rains, etc. In bad weather, it can still be used normally, which can effectively prevent the occurrence of collision with vehicles caused by abnormal movement, and is conducive to further improving road traffic safety.

Optionally, the mobile robot 4 is further provided with a LoRa module 45 , and the mobile control unit 41 is wirelessly connected to the central processing unit 3 through the LoRa module 45 . Among them, LoRa is a low-power local area network wireless standard created by semtech. Its biggest feature is that it can travel farther than other wireless methods under the same power consumption conditions, and can achieve the unity of low power consumption and long distance, so it can achieve The long-distance wireless communication between the mobile control unit 41 and the central processing unit 3 in the mobile robot 4. At this time, the central processing unit 3 can be set at a place far away from the mobile robot 4, such as installed on the roadside or directly installed on the UWB The base station does not need to be installed immediately after the mobile robot 4 , and one central processing unit 3 can simultaneously process the location information of one or more base station groups within the wireless communication range, effectively reducing the construction cost of the central processing unit 3 .

Optionally, the mobile guardrail group 2 further includes at least one sound and light alarm 46 ; the sound and light alarm 46 and the antenna 44 of the UWB tag 43 are both arranged on the top of the mobile robot 4 . Among them, the sound and light alarm 46 is mainly used to form a dual warning effect of sound and light for the vehicle driver during the opening time period of the tidal lane. By setting the sound and light alarm 46 on the top of the mobile robot 4, it can effectively remind the vehicle to drive. Personnel pay attention to the operation of tidal lanes. The antenna 44 of the UWB tag 43 is arranged on the top of the mobile robot 4, so that the antenna 44 has a wider signal receiving range, ensuring real-time communication between the mobile robot 4 and the UWB base station, and also effectively preventing the antenna 44 from being damaged by vehicles. Damage caused by side collision with mobile robot 4.

Optionally, a plurality of reflective strips 47 are provided at intervals on the side of the mobile robot 4, so that more conspicuous warning marks can be provided to the driver of the vehicle through the reflective strips 47, and the collision between the vehicle and the side of the mobile robot 4 can be further prevented. The tidal lane formed by the isolation of guardrail group 2 can operate normally.

Embodiment 3

Please refer to FIG. 1 , FIG. 3 to FIG. 5 , and FIG. 7 , this embodiment provides a method for controlling an intelligent mobile robot for a tidal lane, based on the control method of an intelligent mobile robot for a tidal lane based on any of the above embodiments system, the control method includes the following steps:

S1, receive in real time the position information of the mobile robot 4 calibrated by the base station group through the UWB tag 43;

S2, generate the walking instruction of the mobile robot 4 according to 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 to form a tidal lane;

Among them, the traffic flow of the lane on the side of the first lane boundary 11 away 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 location information of the mobile robot 4 is calibrated in real time by setting up a base station group based on UWB technology, and the mobile robot 4 is installed on the isolation guardrail 21, so that the positioning of the mobile robot 4 can be realized. The real-time and precise positioning of the mobile guardrail group 2 as a whole. For the setting manner and 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, refer to the corresponding descriptions in the foregoing embodiments, which are not repeated in this embodiment.

The position information calibrated by the base station group is mainly the coordinate information of the mobile robot 4 in the two-dimensional coordinate system. In order to realize that the mobile robot 4 moves along the predetermined trajectory, it is necessary to convert these position information into walking instructions through step S2, and then according to the walking instructions The instruction controls the mobile robot 4 to move, and after the completion of step S3, the lane between the first lane boundary line 11 and the second lane boundary line 12 becomes a tidal lane, so as to improve the traffic situation of the road 1, without additionally setting up a driving vehicle, and without It will cause misleading lane direction information to vehicle drivers, which is beneficial to reduce the incidence of road traffic accidents.

Optionally, before the step S3 sends the walking instruction to the mobile control unit, it also includes:

Step 301, obtaining a current time signal;

Step 302: Determine whether the current time signal is within the preset tidal lane opening time period; if the current time signal is within the preset tidal lane opening time period, then open the tidal lane; otherwise, send 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 locked state.

Specifically, steps 301-302 are mainly used to determine whether to open a tidal lane, that is, whether to automatically enter step S3 to form a tidal lane, if and only when the acquired current time signal is within the preset tidal lane opening time period. The mobile guardrail group 2 is driven by the mobile robot 4 to move to form a tidal lane, otherwise the mobile guardrail group 2 will be in a static state as a whole because the mobile robot 4 is in a locked state. Therefore, through the settings of steps 301-302, the automatic opening of the tidal lane can be realized, which saves time and effort.

Optionally, after the tidal lane is formed in step S3, the method further includes:

Step 311, obtain the current time signal;

Step 312: Determine whether the current time signal is within the preset tidal lane opening time period; if the current time signal is within the preset tidal lane opening time period, send 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 locked state; otherwise, a reset instruction is sent to the mobile control unit 41, so that the mobile control unit 41 controls the mobile robot 4 to return from the second lane boundary 12 to the first lane boundary 11 to close tidal lane.

Specifically, steps 311-312 are mainly used to determine whether to close the activated tidal lane, that is, whether to restore the lane distribution before the formation of the tidal lane. If the acquired current time signal is within the preset tidal lane opening time period, it indicates that It is necessary to continue to improve the traffic conditions of road 1 through the formed tidal lane. At this time, the mobile robot 4 is in a locked state to prevent the mobile guardrail group 2 from affecting traffic due to its movement; if the current time signal exceeds the opening time period, it should be moved by moving The robot 4 moves the mobile guardrail group 2 to the initial position again. Therefore, through the settings of steps 311-312, the automatic closing of the tidal lane can be realized, which saves time and effort.

The opening time period of the tidal lane can be set according to the actual traffic conditions of road 1. At the same time, the settings of steps 301-302 and 311-312 can also be set according to the actual operation of the system, that is, when only the automatic opening of the tidal lane is required, steps 301-302 are set; when only the automatic closing of the tidal lane is required , set steps 311-312; when it is necessary to automatically complete the opening and closing operations of the tidal lane, set steps 301-302 and 311-312 at the same time, and the current time signal obtained in real time can be used for these two operations at the same time.

Optionally, referring to FIG. 8 , in step 3, the process of moving the mobile robot 4 from the first lane boundary 11 to the second lane boundary 12 further includes:

Determine whether the position information of the mobile robot 4 is located on the reference trajectory L; if the position information of the mobile robot 4 deviates from the reference trajectory L, a position adjustment instruction is generated, and the position adjustment instruction is sent to the mobile control unit 41, so that the mobile control unit 41 according to The adjustment command moves the mobile robot 4 to the reference trajectory L again; otherwise, no position adjustment command is generated.

Specifically, the location information of the mobile robot 4 is calibrated in real time by the base station group, that is, before, during and after the formation of the tidal lane, the first UWB base station A, the second UWB base station B, the third UWB base station B in the base station group The UWB base station C is constantly sending the calibrated position information of the mobile robot 4 to the central processing unit 3 . Of course, in some optional embodiments, if the opening time period of the tidal lane has been preset, the base station group only needs to continuously send the calibrated position information of the mobile robot 4 to the central processing unit within the starting time period 3 is enough.

On this basis, by determining whether the position information of the mobile robot 4 is located on the reference trajectory L, it can be obtained whether the mobile robot 4 moves along the reference trajectory L to form a tidal lane, and then the movement trajectory of the mobile guardrail group 2 is corrected. Take the base station group forming a rectangular two-dimensional coordinate system as an example (the first direction X is perpendicular to the second direction Y):

The coordinates of the first UWB base station A are (0, 0), the coordinates of the second UWB base station B are (d ₁ , 0), and the coordinates of the third UWB base station C are (0, d ₂ ), that is, d ₁ is the first The distance between a UWB base station A and a second UWB base station B, d ₂ is the distance between the first UWB base station A and the third UWB base station C, at this time d ₁ and d ₂ can be calculated by using the base station group to perform bilateral ranging. .

Then, the coordinates of the starting position D of the mobile robot 4 are calibrated by the base station group as (X ₁ , Y ₁ ), and the coordinates of the ending position E of the mobile robot 4 are calculated according to the lane width as (X ₁ , Y _N ), and the mobile robot 4 4. The real-time position coordinates after moving are (X _n , Y _n ). At this time, if the value of either or both of X _n and Y _n is not on the reference trajectory L, it can be determined that the position of the mobile robot 4 has deviated, It needs to be corrected by the position adjustment command. For example, the real-time position of the mobile robot 4 is on the left side of the reference trajectory L, then the mobile control unit 41 moves the mobile robot 4 to the right according to the received position adjustment instruction; similarly, the real-time position of the mobile robot 4 is on the right side of the reference trajectory L , the movement control unit 41 moves the mobile robot 4 to the left according to the received position adjustment instruction until the mobile robot 4 moves to the reference trajectory L again. Of course, during the trajectory correction process of the mobile robot 4, its moving direction is not limited to moving to the left or right along the first direction X, but can also be a movement with a certain angle relative to the first direction X, Therefore, the position adjustment instruction may include direction adjustment information and distance adjustment information.

It can be seen that by rectifying the trajectory of the mobile robot 4, the mobile robot 4 can be moved to the end position according to the set reference trajectory L, that is, the mobile robot 4 can ensure that each mobile guardrail group 2 can accurately move to the target lane boundary line, Prevent subsequent impact on vehicle traffic on tidal lanes. In addition, in order to ensure traffic order and traffic safety, before moving to form a tidal lane, a period of clearing time (such as 5-8 minutes) can be set according to the actual traffic conditions of road 1. The signal light indicates that passage is prohibited, and at the same time, it can cooperate with the sound and light alarm 46 and other means to ensure the safety during clearing. After the clearing is completed, the mobile robot 4 can drive the entire mobile guardrail group 2 to move to form a tidal lane.

It should be noted that the reference trajectory L is a trajectory route that is virtually set in the two-dimensional coordinate system formed by the base station group according to actual needs, rather than a marking line drawn directly on the road 1, so it will not affect the road 1. impact on traffic.

The intelligent mobile robot control system and method for tidal lanes provided by the present invention achieves at least the following beneficial effects:

(1) The present invention realizes the real-time positioning of the mobile robot by calibrating the position information of the UWB tag by the base station, and then drives the mobile guardrail group to move between the lane boundaries of the road by the mobile robot, without destroying the road surface to form a tidal lane, effectively extending The service life of the road is shortened, and the construction process of the road is saved; at the same time, the positioning accuracy of the UWB tag is high, and the walking trajectory of the mobile robot can be corrected in time through the mobile control unit to ensure that the mobile guardrail group accurately moves to the set target position, preventing the follow-up Traffic impact on vehicles on tidal lanes.

(2) The present invention automatically controls the movement of the mobile guardrail group to form a tidal lane through data communication between the central processing unit and the mobile control unit, without the need for additional driving vehicles, and will not cause misleading lane direction information to vehicle drivers. It is beneficial to reduce the incidence of road traffic accidents, and at the same time, it is also beneficial to reduce the construction cost of tidal lanes.

The above embodiments are only to illustrate the technical idea of the present invention, and cannot limit the protection scope of the present invention. Any modification made on the basis of the technical solution according to the technical idea proposed by the present invention falls within the protection scope of the present invention. The technology not involved in the present invention can be realized by the existing technology.

Claims (10)

1. An intelligent mobile robot control system for a tidal lane, comprising a mobile guardrail group, a base station group and a central processing unit, the base station group comprising 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 located on one side of the road, and the two 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 located on the other side of the road, and is arranged along a second direction with the first UWB base station, and the second direction intersects the first direction; The mobile guardrail group is arranged on the first lane dividing line of the road, and the mobile guardrail group includes an isolation guardrail, at least one mobile robot is set on the isolation guardrail, and a mobile control unit is set on the mobile robot and UWB tags; The first UWB base station, the second UWB base station, and the third UWB base station are communicated and connected, and each UWB base station calibrates the location information of the mobile robot through the UWB tag; The central processing unit is connected in communication with at least one UWB base station, for receiving the location information, and generating a walking instruction according to the location information; The mobile control unit is connected in communication with the central processing unit to receive the walking instruction, and move the mobile robot from the first lane boundary to the second lane boundary according to the walking instruction; wherein, the The traffic flow of the lane on the side of the first lane boundary far 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 a tidal lane according to claim 1 , wherein two mobile robots are arranged on the isolation guardrail, and two mobile robots are arranged at the bottom of each of the mobile robots. 3 . Directional wheels, each of which is powered by an in-wheel motor and changed in direction by a stepper motor. 3 . The intelligent mobile robot control system for tidal lanes according to claim 2 , wherein when the mobile robot is in a locked state, the axles of the two directional wheels at the bottom of the mobile robot are perpendicular to each other. 4 . . 4. The intelligent mobile robot control system for a tidal lane according to claim 1, wherein the mobile robot is also provided with a LoRa module, and the mobile control unit communicates with the central processing unit through the LoRa module. Unit wireless communication connection. 5. The intelligent mobile robot control system for tidal lanes according to claim 1, wherein the mobile guardrail group further comprises at least one sound and light alarm; Both the sound and light alarm and the antenna of the UWB tag are arranged on the top of the mobile robot. 6. An intelligent mobile robot control method for tidal lane, characterized in that, based on the intelligent mobile robot control system for tidal lane as described in any one of claims 1-5, comprising the following steps: Receive the position information of the mobile robot calibrated by the base station group through the UWB tag in real time; generating a walking instruction of the mobile robot according to the position information; sending the walking instruction to the mobile control unit, so that the mobile control unit controls the mobile robot to move from the first lane boundary to the 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 from the second lane boundary is Q ₁ , and the traffic flow of the lane between the first lane boundary and the second lane boundary is Q 1 . is Q ₂ , and Q ₁ >Q ₂ . 7. The intelligent mobile robot control method for a tidal lane according to claim 6, wherein before the sending the walking instruction to the mobile control unit, the method further comprises: Get the current time signal; judging whether the current time signal is within the preset tidal lane opening time period; If the current time signal is within the preset tidal lane opening time period, the tidal lane is opened; otherwise, a lock instruction is sent to the mobile control unit, so that the mobile control unit controls the mobile robot to be locked stop state. 8 . The method for controlling an intelligent mobile robot for a tidal lane according to claim 6 , wherein, in the process of moving the mobile robot from the first lane boundary to the second lane boundary, the include: judging whether the position information of the mobile robot is located on the reference trajectory; If the position information of the mobile robot deviates from the reference trajectory, a position adjustment instruction is generated, and the position adjustment instruction is sent to the movement control unit, so that the movement control unit adjusts the position adjustment instruction according to the adjustment instruction. The mobile robot moves to the reference trajectory again; otherwise, no position adjustment instruction is generated. 9 . The intelligent mobile robot control method for a tidal lane according to claim 8 , wherein the position adjustment instruction includes direction adjustment information and distance adjustment information. 10 . 10. The intelligent mobile robot control method for a tidal lane according to claim 6, wherein after forming the tidal lane, further comprising: Get the current time signal; judging whether the current time signal is within the preset tidal lane opening time period; If the current time signal is within the preset tidal 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 locked state; otherwise, reset An instruction is sent to the movement control unit, so that the movement control unit controls the mobile robot to return from the second lane boundary to the first lane boundary to close the tidal lane.

Images