CN106846846A - A kind of robot system for dredging congestion - Google Patents
A kind of robot system for dredging congestion Download PDFInfo
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- CN106846846A CN106846846A CN201710062329.4A CN201710062329A CN106846846A CN 106846846 A CN106846846 A CN 106846846A CN 201710062329 A CN201710062329 A CN 201710062329A CN 106846846 A CN106846846 A CN 106846846A
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- 230000008569 process Effects 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 8
- 238000012549 training Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/095—Traffic lights
- G08G1/0955—Traffic lights transportable
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Abstract
A kind of robot system for dredging congestion is the embodiment of the invention provides, is related to technical field of intelligent traffic.The embodiment of the present invention judges whether each section congestion occurs by monitoring server；When judging that congestion occurs in a section by monitoring server, then sent to the robot in the section and start to dredge instruction；The robot receive it is described start to dredge instruction after, robot storage box where opening the robot simultaneously moves to the crosspoint of congestion；The robot sends stop signal and/or traveling signal after the crosspoint is reached for the vehicle around the crosspoint, is dredged with the vehicle to the section.Solve a large amount of police strength resources of occupancy, cost of labor is high, and work under bad environment problem, achieve the occupancy for reducing police strength resource, the beneficial effect for reducing cost of labor.
Description
Technical field
The present invention relates to technical field of intelligent traffic, more particularly to a kind of robot system for dredging congestion.
Background technology
With the increasingly raising of living standard, increasing user buys vehicle, and increasing vehicle causes to hand over
Logical pressure is increasing.
Collect the sections such as section, such as crossroad, the sub- crossing of fourth in many wagon flows, be easy to produce in wagon flow peak period
Congestion, is substantially artificially dredged in current technology using traffic-police.
And the above-mentioned artificial mode dredged has many shortcomings, such as it takes a large amount of police strength resources, and cost of labor is high.
The content of the invention
In view of the above problems, it is proposed that the present invention so as to provide one kind overcome above mentioned problem or at least in part solve on
The method stated a kind of robot system for dredging congestion of problem and dredge congestion accordingly.
According to one aspect of the present invention, there is provided a kind of robot system for dredging congestion, including：
Monitoring server, and for robot storage box, the robot in each specified section；The robot is preset in the machine
In device people's storage box；
The monitoring server includes：
Congestion judge module, for judging whether each section congestion occurs；
Notification module, for there is congestion when a section, then sends to the robot in the section and starts to dredge instruction；
The robot includes：
Set out module, for receive it is described start to dredge instruction after, open the robot storage box and simultaneously move to congestion
Crosspoint；
Module is dredged, for sending stop signal and/or traveling signal for the vehicle around the crosspoint, with to the road
The vehicle of section is dredged.
Preferably, also include：Electronic signal card；
The module of dredging also includes：
Electronic signal card sends module, for the electronic signal card to be pasted on the vehicle around the crosspoint；
Electronic signal card control module, for sending stop signal and/or traveling signal to the electronic signal card, to control
State electronic signal card and accordingly enable stop light and/or traveling signal lamp, dredged with the vehicle to the section.
Preferably, the robot also includes：
Signal observes judge module, the positional information for receiving the transmission of electronic signal card, and is judged according to the positional information
Whether place vehicle observes corresponding signal；The positional information is obtained by the acquisition module of electronic signal card；
Alert module is dredged, for when judging that a vehicle does not comply with corresponding signal, then to the vehicle to the electronic signal pasted
Card sends caution signal, the sound so that the electronic signal card gives a warning.
Preferably, also include：Camera device, the image in section where for uploading；
Further, the monitoring server also includes：
Crosspoint judge module, for being parsed to described image, determines the crosspoint of congestion.
Preferably, the crosspoint judge module includes：
Crosspoint judging submodule, for the band of position where the crosspoint that is resolved in described image after, according to institute's rheme
The longitude and latitude corresponding relation of region parameter and real road is put, the cross-point locations region of real road is determined.
Preferably, the module of dredging includes：
Dredge submodule, for select vehicle can normally travel to outlet direct of travel as the first direct of travel, to institute
The vehicle for stating the first direct of travel sends traveling signal, and the vehicle to other directions sends stop signal；
Whether traveling timing module, the vehicle wagon flow for judging first direct of travel reaches specified threshold or current speed
Rate is less than rate-valve value；If it is, reselect vehicle can normally travel to outlet vehicle traveling direction as the first row
Enter direction, into dredging submodule.
Preferably, the robot also includes：
Continue to dredge module, for after the period is for wagon flow peak period where judging current time, being dredged to the crosspoint
After success, continuation is dredged until wagon flow peak period is terminated according to traffic rules.
Preferably, the electronic signal card also includes：
Module is given back in prompting, and whether vehicle where for monitoring the electronic signal card reaches designated area；If reached, triggering
Prompting gives back the electronic signal card to fee-collector；The designated area includes expressway charge station entrance.
Preferably, the robot also includes：
Violation logging modle, for when threshold value is reached to vehicle warning number of times, obtaining the vehicle to carry out violation record, and
Generation penalty note notifies the vehicle.
Present invention also offers a kind of method for dredging congestion, including：
Judge whether each section congestion occurs by monitoring server；
When judging that congestion occurs in a section by monitoring server, then sent to the robot in the section and start to dredge instruction；
The robot receive it is described start to dredge instruction after, robot storage box where opening the robot is simultaneously moved
Move the crosspoint of congestion；
The robot sends stop signal and/or traveling after the crosspoint is reached for the vehicle around the crosspoint
Signal, is dredged with the vehicle to the section.
Preferably, also include：
The image in section where being uploaded with camera device.
Preferably, also include：
The image in each section is parsed by monitoring server, determines the crosspoint of congestion.
Preferably, the image in each section is parsed by monitoring server, determining the crosspoint of congestion includes：
Behind the band of position where being resolved to the crosspoint in described image, according to the band of position parameter and real road
Longitude and latitude corresponding relation, determines the cross-point locations region of real road.
Preferably, the robot sends for the vehicle around the crosspoint after the crosspoint is reached and stops letter
Number and/or traveling signal, with the vehicle to the section dredged including：
Robot Selection vehicle can normally travel to outlet direct of travel as the first direct of travel, advanced to described first
The vehicle in direction sends traveling signal, and the vehicle to other directions sends stop signal；
Judge whether the vehicle wagon flow of first direct of travel reaches specified threshold or current speed less than rate-valve value；Such as
Fruit be then reselect vehicle can normally travel to export vehicle traveling direction as the first direct of travel, into robot
Selection vehicle can normally travel to export direct of travel as the first direct of travel, to the vehicle of first direct of travel
Traveling signal is sent, the step of send stop signal to the vehicle in other directions.
Preferably, also include：
After the period is for wagon flow peak period where robot judges current time, after dredging successfully the crosspoint, continue
Dredged until wagon flow peak period is terminated according to traffic rules.
Preferably, the robot sends for the vehicle around the crosspoint after the crosspoint is reached and stops letter
Number and/or traveling signal, with the vehicle to the section dredged including：
Be pasted on the electronic signal card on the vehicle in the crosspoint by robot；
Robot sends stop signal and/or traveling signal to the electronic signal card, to control the electronic signal card corresponding
Stop light and/or traveling signal lamp are enabled, is dredged with the vehicle to the section.
Preferably, also include：
Robot receives the positional information that electronic signal card sends, and whether the vehicle according to where the positional information judges observes
Corresponding signal；The positional information is obtained by the acquisition module of electronic signal card；
Alert module is dredged by robot, for when judging that a vehicle does not comply with corresponding signal, then to the vehicle to the electricity pasted
Subsignal card sends caution signal, the sound so that the electronic signal card gives a warning.
Preferably, also include：
Whether vehicle where the electronic signal card monitors the electronic signal card reaches designated area；If reached, triggering is carried
Show and give back the electronic signal card to fee-collector；The designated area includes expressway charge station entrance.
Preferably, also include：
When threshold value is reached to vehicle warning number of times, obtaining the vehicle carries out violation record, and generation is penalized for the robot
Single-pass knows the vehicle.
The robot system for dredging congestion of the invention, it includes monitoring server, and for each specified section
Robot storage box, robot, the robot is preset in the robot storage box.Then determined by monitoring server
After congested link, sent to the section robot of the congestion and dredge instruction, the robot described starts to dredge instruction receiving
Afterwards, open the robot storage box and move to the crosspoint of congestion, then sent for the vehicle around the crosspoint
Stop signal and/or traveling signal, are dredged with the vehicle to the section.Thus a large amount of police strength resources of occupancy are solved,
Cost of labor is high, and work under bad environment problem, achieve reduce police strength resource occupancy, reduce cost of labor it is beneficial
Effect.
Described above is only the general introduction of technical solution of the present invention, in order to better understand technological means of the invention,
And can be practiced according to the content of specification, and in order to allow the above and other objects of the present invention, feature and advantage can
Become apparent, below especially exemplified by specific embodiment of the invention.
Brief description of the drawings
By reading the detailed description of hereafter preferred embodiment, various other advantages and benefit is common for this area
Technical staff will be clear understanding.Accompanying drawing is only used for showing the purpose of preferred embodiment, and is not considered as to the present invention
Limitation.And in whole accompanying drawing, identical part is denoted by the same reference numerals.In the accompanying drawings：
Fig. 1 shows the structural representation of the robot system for dredging congestion according to an embodiment of the invention；
Figure 1A shows a kind of traffic dispersion schematic diagram according to an embodiment of the invention；
Figure 1B shows another traffic dispersion schematic diagram according to an embodiment of the invention；
Fig. 2 shows the method for dredging congestion according to an embodiment of the invention.
Specific embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the disclosure in accompanying drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
Limited.Conversely, there is provided these embodiments are able to be best understood from the disclosure, and can be by the scope of the present disclosure
Complete conveys to those skilled in the art.
Reference picture 1, shows the structured flowchart of the robot system for dredging congestion according to an embodiment of the invention, tool
Body can include：
Monitoring server 110, and robot storage box 120, robot 130 for each specified section；The robot 130
It is preset in the robot storage box 120；
The monitoring server 110 includes：
Congestion judge module 111, for judging whether the section congestion occurs；
Notification module 112, for there is congestion when the section, then sends to the robot in the section and starts to dredge instruction；
The robot 130 includes：
Module of setting out 131, for receive it is described start to dredge instruction after, open the robot storage box 120 and move
To the crosspoint of congestion；
Module 132 is dredged, for sending stop signal and/or traveling signal for the vehicle around the crosspoint, with to institute
The vehicle for stating section is dredged.
In embodiments of the present invention, a set of robot 130 and robot storage box 120 can be set at each crossing, so
One monitoring server is set in administrative center afterwards.Robot 130 is wirelessly led to the monitoring server 110
Letter.Certainly camera can also be set at the crossing, gathers image.
Certainly, the robot also include central processing unit, mobile module, power module, various inductors, photographing module,
Memory module etc..
In embodiments of the present invention, monitoring server 110 and robot 130 can be communicated by network.Robot
Including the first wireless module, for receiving the data that the monitoring server sends, and number is sent to the monitoring server
According to.In actual applications, the wireless module can intervene radio data network, such as 2G（Generation Mobile Telecommunication System technology）、3G
（G mobile communication）、4G（Forth generation mobile communication technology）Deng communication network, then by the network and the prison
Control server communication.
The monitoring server 110 can receive the transport information in various sections by various modes, then be sentenced by congestion
Disconnected module judges whether each section congestion occurs according to transport information；If there is the section of congestion, then the road of the congestion is searched
Robot identity corresponding to section, identifies the corresponding transmission of robot 130 and starts to dredge instruction to corresponding machine people.
Such as, designated area of the embodiment of the present invention at each crossing is provided with robot storage box, the robot storage box
In placed robot.When monitoring server 110 judges that congestion occur in crossing A, B, then the robot identity of crossing A, B is searched,
Then sent respectively to the robot A, B by aforementioned wireless networks and start to dredge instruction.
The code and related data of its various logic can be stored in memory module in embodiments of the present invention, is being needed
Above-mentioned code is loaded when using and related data is used.
Robot A, B by the wireless network receive it is foregoing start to dredge instruction after, then enter and dredge pattern.
By taking robot A as an example, in actual applications, its wireless module receives and starts to dredge instruction, in being then transferred to
Central processor, central processing unit then notifies the module of setting out of the robot, performs the action for opening robot storage box, Ran Houyi
The robot storage box is moved out of, is continued to move to then in conjunction with mobile module, various inductors, photographing module etc., until moving to
The crosspoint of congestion.
In actual applications, the module of setting out of robot A can control mobile mould with module is dredged according to actual conditions
Block is moved accordingly.Certainly, in moving process, the data that inductor and camera are obtained can be combined, according to preset
Routing algorithm, suitable road driving is selected, so as to reach the crosspoint of the congestion at the crossing.
Certainly, in actual applications, after robot removes the robot storage box, can be controlled to close by robot
The robot storage box.
Specifically, the structure of the robot storage box can be case structure, the side of its chest is opened the door, and facilitates robot
Turnover.The other door can use electronic lock, and the open and close door instruction that the electronic lock can receive robot is opened accordingly
Case, pass case operation.
So, the module of setting out in robot controls robot that congestion friendship out, is then reached from robot storage box
After crunode, the module of dredging of robot then starts to send stop signal for the vehicle around the crosspoint and/or letter of advancing
Number, dredged with the vehicle to the section.
Preferably, the module of dredging includes：
Dredge submodule, for select vehicle can normally travel to outlet direct of travel as the first direct of travel, to institute
The vehicle for stating the first direct of travel sends traveling signal, and the vehicle to other directions sends stop signal；
Whether traveling timing module, the vehicle wagon flow for judging first direct of travel reaches specified threshold or current speed
Rate is less than rate-valve value；If it is, reselect vehicle can normally travel to outlet vehicle traveling direction as the first row
Enter direction, into dredging submodule.
It is a crossroad schematic diagram in such as Figure 1A, wherein the vehicle of A1 to A6 is the car westerly turned left from south
, B1, B2 are the vehicles from south toward north straight trip, and C1, C2 are that, from west left-hand bend vehicle northwards, D1, D2 are from west eastwards straight
Driving, E1, E2 are through vehicles from east to west, and F1, F2 are the left-hand bend vehicles from east orientation south, and H1, H2 are straight from north orientation south
OK, J1, J2 are to turn left from north orientation east.So in the figure, according to road conditions, can be using A3 regions as crosspoint, so
The vehicle of control is needed based on the intersection point selection afterwards.In embodiments of the present invention, process for convenience, and follow-up car is logical
OK, the region in crosspoint can be determined as boundary with the entrance and exit at crossing.
The left-hand bend direction vehicle pass-through from south to west such as A1 to A4 is such as first allowed, because the travel route for turning left does not have
Have and blocked by the driving vehicle in other directions.C2, D2, H1, J1, E1, F1 is forbidden to travel.In the vehicle row turned left to west from south
Sail and reach threshold value such as 8, then forbid the 9th car turned left to west from south to enter left-hand bend crossing, or such as the 7th
Specified in the time after car and be all less than rate-valve value without vehicle, i.e. vehicle pass-through speed, then forbid the vehicle after the 7th car
Travel into left-hand bend crossing.Now, then the travel direction eastwards from west has been got through, then D1, D2 can be allowed to keep straight on, E1, E2's
The direction kept straight on from east to west is blocked by left-hand bend vehicle J1, then forbid E1, E2 to pass through, while forbidding the current of other directions.
After a while, threshold value such as 8 is reached in the vehicle traveling from west to east, then forbidden from west to the of east
9 cars are specified all without vehicle in the time after entering straight trip crossing, or such as the 7th car, i.e. vehicle pass-through speed is less than
Rate-valve value, then forbid the vehicle after the 7th car to travel into straight trip crossing.
So circulation, is dredged with the crosspoint to congestion.
By that analogy, the embodiment of the present invention is not any limitation as other situations to it.
Certainly, the sample of the crosspoint congestion of various situations can be gathered in the embodiment of the present invention, then using sample
This training pattern, robot the crosspoint of congestion can be dredged according to different situations.The specific training process present invention
Embodiment is not any limitation as to it.
Preferably, the robot also includes：
Continue to dredge module, for after the period is for wagon flow peak period where judging current time, being dredged to the crosspoint
After success, continuation is dredged until wagon flow peak period is terminated according to traffic rules.
In embodiments of the present invention, monitoring server can analyze the car in each section according to the wagon flow historical record in each section
Stream rush hour section, is then recorded.And robot can periodically the wagon flow of download respective stretch be high from monitoring server
Peak time section is recorded, in storage to its memory module.
Then whether robot is when being dredged, it is possible to judge current time in wagon flow rush hour section, such as
Fruit is not at, and can be returned in robot storage box after it is determined that dredging and finishing, and is charged, and then waits subsequent operation.
If current time is in rush hour, can be entered according to the vehicle flowrate situation continued of traffic rules and all directions
Row is dredged, and is reached until vehicle flowrate rush hour, is then return in robot storage box, is charged, and then waits behaviour's next time
Make.
Certainly, during dredging, robot can also monitor the electricity of oneself, when electricity is less than power threshold, to
Monitoring server sends warning message, and monitoring server can then be alerted to staff, so as to quickly be supported.
Preferably, in another preferred embodiment of the invention, also include：Electronic signal card.
Further, the module of dredging of the robot also includes：
Electronic signal card sends module, for the electronic signal card to be pasted on the vehicle around the crosspoint；
Electronic signal card control module, for sending stop signal and/or traveling signal to the electronic signal card, to control
State electronic signal card and accordingly enable stop light and/or traveling signal lamp, dredged with the vehicle to the section.
In actual applications, the electronic signal card includes wireless transport module, central processing unit, power module and signal
Lamp.The signal lamp can be LED（Light-Emitting Diode, light emitting diode）Miniature signal Deng foundation etc., in this
Central processor can be single-chip microcomputer, above-mentioned module it is low in energy consumption, its power module can set smaller.The embodiment of the present invention is in institute
State robot interior and one space is set, during multiple electronic signal cards can be defaulted in into the space.
So robot confirms the vehicle in crosspoint after crosspoint is reached, and then the electronic signal card of robot sends
Module is placed with the electronic signal card to these vehicles by traffic rules.The electronic signal card can be placed with vehicles hood,
Signal lamp side is to driver direction.Meanwhile, robot dredge module can to the electronic signal card send advance instruction or stop
Only instruct, the electronic signal card can according to enter instruction or halt instruction control signal lamp be changed.For signal lamp,
Left-hand bend, straight trip, right turn signal lamp can be included, which direction running robot can control according to actual conditions.
It is a crossroad schematic diagram in such as Figure 1A, wherein the vehicle of A1 to A6 is the car westerly turned left from south
, B1, B2, B3 are the vehicles from south toward north straight trip, C1, C2 be from west left-hand bend vehicle northwards, D1, D2 be from west eastwards
Through vehicles, E1, E2 are through vehicles from east to west, and F1, F2 are the left-hand bend vehicles from east orientation south, and H1, H2 are southern from north orientation
Straight trip, J1, J2 are to turn left from north orientation east.So in the figure, according to road conditions, can using A3 regions as crosspoint,
Being then based on the intersection point selection needs the vehicle of control.In embodiments of the present invention, process for convenience, and follow-up car
It is current, the region in crosspoint can be determined as boundary with the entrance and exit at crossing.
A1 to A5 etc. is such as first allowed from south to western left-hand bend direction vehicle pass-through, because the travel route for turning left does not have
Blocked by the driving vehicle in other directions.C2, D2, H1, J1, E1, F1 is forbidden to travel.Allow B1 right-hand rotation direction runnings, forbid B2, B3
Straight trip.
So in the embodiment of the present invention, electronic signal card, Ran Houxiang can be sticked to vehicle C2, D2, H1, J1, E1, F1
The electronic signal card pasted on C2, D2, H1, J1, E1, F1 vehicle sends stop signal, and the electronic signal clamping receives stopping letter
After number, control is turned left, keeps straight on, right turn signal lamp reddens.Electronic signal card is sticked to B1, the electronic signal pasted on backward B1 vehicles
Card sends right-hand rotation traveling signal, and after the electronic signal clamping receives the right-hand rotation traveling signal, control is turned left, straight trip lamp reddens, right
Transfering the letter signal lamp greening.Electronic signal card can not be pasted for A1-A5, the vehicle turned left from south orientation west can be with a direct line.It is complete
After into being placed with of electronic card, robot may stand in the porch westerly turned left from south, in the vehicle turned left to west from south
Traveling reaches threshold value such as 8, then forbids the 9th car turned left to west from south to enter left-hand bend crossing, to 9, ground car
Electronic signal card and notify that the card is specified in the time all without vehicle, i.e. car after becoming red light, or such as the 7th car in stickup
Current speed is less than rate-valve value, then forbid the vehicle after the 7th car to travel into left-hand bend crossing, that is, forbid the 8th car
Traveling, the 8th car to reaching is stained with electronic signal card, and notifies that the card becomes red light.Now, then the row eastwards from west has been got through
Direction is sailed, then D1, D2 can be allowed to keep straight on, then electronic signal card control module sends straight trip row to the electronic signal card of D1, D2
Inlet signal, after corresponding electronic signal card receives the straight trip traveling signal, by lamp greening of keeping straight on, other grades keep red.Meanwhile, prohibit
Only other directions is current.
After a while, threshold value such as 8 is reached in the vehicle traveling from west to east, then forbidden from west to the of east
9 cars enter straight trip crossing, paste upper electronic signal card to 9, ground car and notify that the card becomes red light, or such as the 7th car
Specify in the time afterwards and be all less than rate-valve value without vehicle, i.e. vehicle pass-through speed, then forbid the vehicle row after the 7th car
Sail straight trip crossing into, the 8th car to reaching is stained with electronic signal card, and notifies that the card becomes red light.
By that analogy, the embodiment of the present invention is not any limitation as other situations to it.
Preferably, the robot also includes：
Signal observes judge module, the positional information for receiving the transmission of electronic signal card, and is judged according to the positional information
Whether place vehicle observes corresponding signal；The positional information is obtained by the acquisition module of electronic signal card；
Alert module is dredged, for when judging that a vehicle does not comply with corresponding signal, then to the vehicle to the electronic signal pasted
Card sends caution signal, the sound so that the electronic signal card gives a warning.
In actual applications, the positioners such as GPS, gyroscope and warning device can also be set in electronic signal card,
The positional information of vehicle can be sent to robot by it.Robot can be according to the positional information and being sent to the electronic signal
The signal of card, judges whether the vehicle has observed instruction.Stop signal is such as have sent, and according to the position of electronic signal card transmission
Confidence ceases, and judges that the vehicle there occurs movement, then can send caution signal to the electronic signal card, and the electronic signal is stuck in
After receiving the caution signal, then can be given a warning sound using warning device.
Certainly, after certain car is travelled in violation of rules and regulations, the jam situation in crosspoint can be rejudged according to actual conditions, weight
New distributing an electronic signal card, management and control is carried out according to aforementioned logic to vehicle.
The electronic signal card also includes：
Module is given back in prompting, and whether vehicle where for monitoring the electronic signal card reaches designated area；If reached, triggering
Prompting gives back the electronic signal card to fee-collector；The designated area includes expressway charge station entrance.
In actual applications, possible robot cannot in time reclaim the electronic signal card pasted on vehicle, then can be with
Cooperate to reclaim electronic signal card with the manager of highway.In embodiments of the present invention, glued in electronic signal card
After the vehicle of patch rolls congested link away from, then robot can send dormancy instruction to the electronic signal card, make the electronic signal card
Other modules all dormancy in addition to recycling module, with power saving.Then recycling module periodic wakeup locating module, judges vehicle
Current position whether enter freeway toll station region, or other designated areas such as traffic police Administrative Area.If
Into then pointing out user to give expressway by the electronic signal card by alert module and handle official business people or the collection box specified
In, or give administrative staff or the collection box of designated area.Then the electronic signal card division that traffic department will reclaim again
It is distributed to each robot.Improve cyclic utilization rate.
In actual applications, in robot storage box, electronic signal card can be stored, what robot can be carried at it
Electronic signal card quantity is supplemented when being less than threshold value from the storage box.In addition, to the electronic signal card of the storage box
Quantity can also be monitored, and when the quantity of electronic signal card in the storage box is less than threshold value, then can be sent out to monitoring server
Warning is sent, to point out staff to supplement electronic signal card as early as possible.
Preferably, the robot also includes：
Violation logging modle, for when threshold value is reached to vehicle warning number of times, obtaining the vehicle to carry out violation record, and
Generation penalty note notifies the vehicle.
In embodiments of the present invention, the robot can also monitor the number of times of warning, if warning number of times exceedes threshold value,
Violation record can be carried out to the vehicle, such as video recording etc., then generate penalty note and notify the vehicle.
In actual applications, the crosspoint of congestion can be analyzed by monitoring server and be obtained, and it can combine respective stretch
Camera device upload traffic image information determine crosspoint.Preferably, also include：Camera device, for uploading
In the image in section；
Further, the monitoring server also includes：
Congestion image collection module, parses for the image to each section, determines the crosspoint of congestion.
In embodiments of the present invention, can be in the setting camera device at each crossing, it is of course possible in different angles
Camera device is set, and the camera device can be uploaded to monitoring by image that is wired or will wirelessly photographing
Server.
For monitoring server, it directly can carry out preliminary graphical analysis according to the image, judge the section
Whether there is congestion, if there is congestion, then the crosspoint of congestion can be further determined to image.
Preferably, the crosspoint judge module includes：
Crosspoint judging submodule, for the band of position where the crosspoint that is resolved in described image after, according to institute's rheme
The longitude and latitude corresponding relation of region parameter and real road is put, the cross-point locations region of real road is determined.
In embodiments of the present invention, due to camera device be it is fixed, can in advance by the two dimension of the image of camera
Coordinates regional carries out corresponding with the longitude and latitude on actual road surface.Then can be special according to the vehicle of training in advance for image
Levy, vehicle location is identified from image, the congestion junction recognition model further according to vehicle location and training in advance determines to hand over
Crunode two-dimensional coordinate region in the picture, then the two-dimensional coordinate according to image is corresponding with the longitude and latitude on actual road surface closes
System, the longitude and latitude region it is determined that the longitude and latitude region in the crosspoint of congestion in actual road surface, then write and described start to dredge
Instruction is led to be sent to robot.
Robot is received after this starts to dredge instruction, then can therefrom parse the longitude and latitude region in crosspoint, is then controlled
Make it and move to the crosspoint, proceed by and dredge work.
In actual applications, there is power interface in the robot storage box, the robot is entering the robot
During storage box, the power module of oneself can be accessed the power interface and be charged.
The embodiment of the present invention utilizes monitoring server, and robot storage box, robot for each specified section etc.
Equipment, after determining congested link by monitoring server, sends to the section robot of the congestion and dredges instruction, and the robot is connecing
Receive it is described start to dredge instruction after, open the robot storage box and move to the crosspoint of congestion, then for around
The vehicle in the crosspoint sends stop signal and/or traveling signal, is dredged with the vehicle to the section.Thus solve
Occupancy a large amount of police strength resources, cost of labor is high, and work under bad environment problem, achieving reduces accounting for for police strength resource
With, reduce cost of labor beneficial effect.
Reference picture 2, show it is according to an embodiment of the invention dredge congestion method the step of flow chart, specifically may be used
To include：
Step 210, judges whether each section congestion occurs by monitoring server；
In embodiments of the present invention, a set of robot and robot storage box can be set at each crossing, then in management
The heart sets a monitoring server.Robot is wirelessly communicated with the monitoring server.Certainly can also be
The crossing sets camera, gathers image.
Certainly, the robot also include central processing unit, mobile module, power module, various inductors, photographing module,
Memory module etc..
In embodiments of the present invention, monitoring server and robot can be communicated by network.Robot includes the
One wireless module, for receiving the data that the monitoring server sends, and sends data to the monitoring server.In reality
In the application of border, the wireless module can intervene radio data network, such as 2G（Generation Mobile Telecommunication System technology）、3G（The third generation
Mobile communication technology）、4G（Forth generation mobile communication technology）Deng communication network, then by the network and the monitoring server
Communication.
The monitoring server can receive the transport information in various sections by various modes, then judge mould by congestion
Root tuber judges whether each section congestion occurs according to transport information；If there is the section of congestion, then the section institute of the congestion is searched
Corresponding robot identity, identifies corresponding robot transmission and starts to dredge instruction to corresponding machine people.
In actual applications, the crosspoint of congestion can be analyzed by monitoring server and be obtained, and it can combine respective stretch
Camera device upload traffic image information determine crosspoint.
Preferably, also include：
Step B11, the image in section where being uploaded with camera device；
Further, also include：
Step B12, is parsed by monitoring server to the image in each section, determines the crosspoint of congestion.
In embodiments of the present invention, can be in the setting camera device at each crossing, it is of course possible in different angles
Camera device is set, and the camera device can be uploaded to monitoring by image that is wired or will wirelessly photographing
Server.
For monitoring server, it directly can carry out preliminary graphical analysis according to the image, judge the section
Whether there is congestion, if there is congestion, then the crosspoint of congestion can be further determined to image.
Preferably, step B12, including：
Sub-step B121, behind the band of position where being resolved to the crosspoint in described image, according to the band of position parameter
With the longitude and latitude corresponding relation of real road, the cross-point locations region of real road is determined.
In embodiments of the present invention, due to the camera device in a section be it is fixed, can in advance by camera
The two-dimensional coordinate region of image carries out corresponding with the longitude and latitude on actual road surface.Then can be according to training in advance for image
Vehicle characteristics, vehicle location is identified from image, further according to vehicle location and the congestion junction recognition mould of training in advance
Type determines crosspoint two-dimensional coordinate region in the picture, then the two-dimensional coordinate according to image and the longitude and latitude on actual road surface
Corresponding relation, it is determined that the longitude and latitude region in the crosspoint of congestion in actual road surface, then described by longitude and latitude region write-in
Start to dredge robot of the instruction to be sent to respective stretch.
Robot is received after this starts to dredge instruction, then can therefrom parse the longitude and latitude region in crosspoint, is then controlled
Make it and move to the crosspoint, proceed by and dredge work.
Step 220, when judging that congestion occurs in a section by monitoring server, then sends to the robot in the section and starts
Dredge instruction；
Step 230, the robot receive it is described start to dredge instruction after, the robot where opening the robot is deposited
Storage tank simultaneously moves to the crosspoint of congestion；
Such as, designated area of the embodiment of the present invention at each crossing is provided with robot storage box, is put in the robot storage box
Zhi Liao robots.When monitoring server judges that congestion occur in crossing A, B, then the robot identity of crossing A, B is searched, then passed through
Aforementioned wireless networks send and start to dredge instruction respectively to the robot A, B.
The code and related data of its various logic can be stored in memory module in embodiments of the present invention, is being needed
Above-mentioned code is loaded when using and related data is used.
Robot A, B by the wireless network receive it is foregoing start to dredge instruction after, then enter and dredge pattern.
By taking robot A as an example, in actual applications, its wireless module receives and starts to dredge instruction, in being then transferred to
Central processor, central processing unit then notifies the module of setting out of the robot, performs the action for opening robot storage box, Ran Houyi
The robot storage box is moved out of, is continued to move to then in conjunction with mobile module, various inductors, photographing module etc., until moving to
The crosspoint of congestion.
In actual applications, the module of setting out of robot A can control mobile mould with module is dredged according to actual conditions
Block is moved accordingly.Certainly, in moving process, the data that inductor and camera are obtained can be combined, according to preset
Routing algorithm, suitable road driving is selected, so as to reach the crosspoint of the congestion at the crossing.
Certainly, in actual applications, after robot removes the robot storage box, can be controlled to close by robot
The robot storage box.
Specifically, the structure of the robot storage box can be case structure, the side of its chest is opened the door, and facilitates robot
Turnover.The other door can use electronic lock, and the open and close door instruction that the electronic lock can receive robot is opened accordingly
Case, pass case operation.
So, the module of setting out in robot controls robot that congestion friendship out, is then reached from robot storage box
After crunode, the module of dredging of robot then starts to send stop signal for the vehicle around the crosspoint and/or letter of advancing
Number, dredged with the vehicle to the section.
Step 240, the robot sends for the vehicle around the crosspoint after the crosspoint is reached and stops
Signal and/or traveling signal, are dredged with the vehicle to the section.
The module of setting out of robot control robot from robot storage box out, then reach congestion crosspoint
Afterwards, the module of dredging of robot then starts to send stop signal and/or traveling signal for the vehicle around the crosspoint, with
Vehicle to the section is dredged.
Preferably, step 240 includes：
Sub-step 241, Robot Selection vehicle can normally travel to outlet direct of travel as the first direct of travel, to institute
The vehicle for stating the first direct of travel sends traveling signal, and the vehicle to other directions sends stop signal；
Sub-step 242, judges whether the vehicle wagon flow of first direct of travel reaches specified threshold or current speed is less than
Rate-valve value；If it is, reselect vehicle can normally travel to outlet vehicle traveling direction as the first direct of travel,
Into sub-step 241.
It is a crossroad schematic diagram in such as Figure 1A, wherein the vehicle of A1 to A6 is the car westerly turned left from south
, B1, B2 are the vehicles from south toward north straight trip, and C1, C2 are that, from west left-hand bend vehicle northwards, D1, D2 are from west eastwards straight
Driving, E1, E2 are through vehicles from east to west, and F1, F2 are the left-hand bend vehicles from east orientation south, and H1, H2 are straight from north orientation south
OK, J1, J2 are to turn left from north orientation east.So in the figure, according to road conditions, can be using A3 regions as crosspoint, so
The vehicle of control is needed based on the intersection point selection afterwards.In embodiments of the present invention, process for convenience, and follow-up car is logical
OK, the region in crosspoint can be determined as boundary with the entrance and exit at crossing.
The left-hand bend direction vehicle pass-through from south to west such as A1 to A4 is such as first allowed, because the travel route for turning left does not have
Have and blocked by the driving vehicle in other directions.C2, D2, H1, J1, E1, F1 is forbidden to travel.In the vehicle row turned left to west from south
Sail and reach threshold value such as 8, then forbid the 9th car turned left to west from south to enter left-hand bend crossing, or such as the 7th
Specified in the time after car and be all less than rate-valve value without vehicle, i.e. vehicle pass-through speed, then forbid the vehicle after the 7th car
Travel into left-hand bend crossing.Now, then the travel direction eastwards from west has been got through, then D1, D2 can be allowed to keep straight on, E1, E2's
The direction kept straight on from east to west is blocked by left-hand bend vehicle J1, then forbid E1, E2 to pass through, while forbidding the current of other directions.
After a while, threshold value such as 8 is reached in the vehicle traveling from west to east, then forbidden from west to the of east
9 cars are specified all without vehicle in the time after entering straight trip crossing, or such as the 7th car, i.e. vehicle pass-through speed is less than
Rate-valve value, then forbid the vehicle after the 7th car to travel into straight trip crossing.
So circulation, is dredged with the crosspoint to congestion.
By that analogy, the embodiment of the present invention is not any limitation as other situations to it.
Certainly, the sample of the crosspoint congestion of various situations can be gathered in the embodiment of the present invention, then using sample
This training pattern, robot the crosspoint of congestion can be dredged according to different situations.The specific training process present invention
Embodiment is not any limitation as to it.
Preferably, also include：
Sub-step 243, after the period is for wagon flow peak period where robot judges current time, dredges into the crosspoint
After work(, continuation is dredged until wagon flow peak period is terminated according to traffic rules.
In embodiments of the present invention, monitoring server can analyze the car in each section according to the wagon flow historical record in each section
Stream rush hour section, is then recorded.And robot can periodically the wagon flow of download respective stretch be high from monitoring server
Peak time section is recorded, in storage to its memory module.
Then whether robot is when being dredged, it is possible to judge current time in wagon flow rush hour section, such as
Fruit is not at, and can be returned in robot storage box after it is determined that dredging and finishing, and is charged, and then waits subsequent operation.
If current time is in rush hour, can be entered according to the vehicle flowrate situation continued of traffic rules and all directions
Row is dredged, and is reached until vehicle flowrate rush hour, is then return in robot storage box, is charged, and then waits behaviour's next time
Make.
Certainly, during dredging, robot can also monitor the electricity of oneself, when electricity is less than power threshold, to
Monitoring server sends warning message, and monitoring server can then be alerted to staff, so as to quickly be supported.
Preferably, in embodiments of the present invention, electronic signal card can also be set.
Further step 240, also includes：
Be pasted on the electronic signal card on the vehicle in the crosspoint by sub-step 244, robot；
Sub-step 245, robot sends stop signal and/or traveling signal to the electronic signal card, to control the electronics
Signal card accordingly enables stop light and/or traveling signal lamp, is dredged with the vehicle to the section.
In actual applications, the electronic signal card includes wireless transport module, central processing unit, power module and signal
Lamp.The signal lamp can be LED（Light-Emitting Diode, light emitting diode）Miniature signal Deng foundation etc., in this
Central processor can be single-chip microcomputer, above-mentioned module it is low in energy consumption, its power module can set smaller.The embodiment of the present invention is in institute
State robot interior and one space is set, during multiple electronic signal cards can be defaulted in into the space.
So robot confirms the vehicle in crosspoint after crosspoint is reached, and then the electronic signal card of robot sends
Module is placed with the electronic signal card to these vehicles by traffic rules.The electronic signal card can be placed with vehicles hood,
Signal lamp side is to driver direction.Meanwhile, robot dredge module can to the electronic signal card send advance instruction or stop
Only instruct, the electronic signal card can according to enter instruction or halt instruction control signal lamp be changed.For signal lamp,
Left-hand bend, straight trip, right turn signal lamp can be included, which direction running robot can control according to actual conditions.
It is a crossroad schematic diagram in such as Figure 1A, wherein the vehicle of A1 to A6 is the car westerly turned left from south
, B1, B2, B3 are the vehicles from south toward north straight trip, C1, C2 be from west left-hand bend vehicle northwards, D1, D2 be from west eastwards
Through vehicles, E1, E2 are through vehicles from east to west, and F1, F2 are the left-hand bend vehicles from east orientation south, and H1, H2 are southern from north orientation
Straight trip, J1, J2 are to turn left from north orientation east.So in the figure, according to road conditions, can using A3 regions as crosspoint,
Being then based on the intersection point selection needs the vehicle of control.In embodiments of the present invention, process for convenience, and follow-up car
It is current, the region in crosspoint can be determined as boundary with the entrance and exit at crossing.
A1 to A5 etc. is such as first allowed from south to western left-hand bend direction vehicle pass-through, because the travel route for turning left does not have
Blocked by the driving vehicle in other directions.C2, D2, H1, J1, E1, F1 is forbidden to travel.Allow B1 right-hand rotation direction runnings, forbid B2, B3
Straight trip.
So in the embodiment of the present invention, electronic signal card, Ran Houxiang can be sticked to vehicle C2, D2, H1, J1, E1, F1
The electronic signal card pasted on C2, D2, H1, J1, E1, F1 vehicle sends stop signal, and the electronic signal clamping receives stopping letter
After number, control is turned left, keeps straight on, right turn signal lamp reddens.Electronic signal card is sticked to B1, the electronic signal pasted on backward B1 vehicles
Card sends right-hand rotation traveling signal, and after the electronic signal clamping receives the right-hand rotation traveling signal, control is turned left, straight trip lamp reddens, right
Transfering the letter signal lamp greening.Electronic signal card can not be pasted for A1-A5, the vehicle turned left from south orientation west can be with a direct line.It is complete
After into being placed with of electronic card, robot can be accounted in the porch westerly turned left from south, in the vehicle turned left to west from south
Traveling reaches threshold value such as 8, then forbids the 9th car turned left to west from south to enter left-hand bend crossing, to the 9th car
Electronic signal card and notify that the card is specified in the time all without vehicle, i.e. car after becoming red light, or such as the 7th car in stickup
Current speed is less than rate-valve value, then forbid the vehicle after the 7th car to travel into left-hand bend crossing, that is, forbid the 8th car
Traveling, the 8th car to reaching is stained with electronic signal card, and notifies that the card becomes red light.Now, then the row eastwards from west has been got through
Direction is sailed, then D1, D2 can be allowed to keep straight on, then electronic signal card control module sends straight trip row to the electronic signal card of D1, D2
Inlet signal, after corresponding electronic signal card receives the straight trip traveling signal, by lamp greening of keeping straight on, other grades keep red.Meanwhile, prohibit
Only other directions is current.
After a while, threshold value such as 8 is reached in the vehicle traveling from west to east, then forbidden from west to the of east
9 cars enter straight trip crossing, upper electronic signal card is pasted to the 9th car and notifies that the card becomes red light, or such as the 7th car
Specify in the time afterwards and be all less than rate-valve value without vehicle, i.e. vehicle pass-through speed, then forbid the vehicle row after the 7th car
Sail straight trip crossing into, the 8th car to reaching is stained with electronic signal card, and notifies that the card becomes red light.
By that analogy, the embodiment of the present invention is not any limitation as other situations to it.
Preferably, also include：
Sub-step 246, robot receives the positional information that electronic signal card sends, and the car according to where the positional information judges
Whether observe corresponding signal；The positional information is obtained by the acquisition module of electronic signal card；
Sub-step 247, alert module is dredged by robot, for when judging that a vehicle does not comply with corresponding signal, then to the vehicle
Caution signal, the sound so that the electronic signal card gives a warning are sent to the electronic signal card pasted.
In actual applications, the positioners such as GPS, gyroscope and warning device can also be set in electronic signal card,
The positional information of vehicle can be sent to robot by it.Robot can be according to the positional information and being sent to the electronic signal
The signal of card, judges whether the vehicle has observed instruction.Stop signal is such as have sent, and according to the position of electronic signal card transmission
Confidence ceases, and judges that the vehicle there occurs movement, then can send caution signal to the electronic signal card, and the electronic signal is stuck in
After receiving the caution signal, then can be given a warning sound using warning device.
Certainly, after certain car is travelled in violation of rules and regulations, the jam situation in crosspoint can be rejudged according to actual conditions, weight
New distributing an electronic signal card, management and control is carried out according to aforementioned logic to vehicle.
Preferably, also include：
Whether step 250, vehicle where the electronic signal card monitors the electronic signal card reaches designated area；If arrived
Reach, triggering prompting gives back the electronic signal card to fee-collector；The designated area includes expressway charge station entrance.If not
Reach, then continue dormancy, whether vehicle where then periodic wakeup judges to state electronic signal card reaches designated area.
In actual applications, possible robot cannot in time reclaim the electronic signal card pasted on vehicle, then can be with
Cooperate to reclaim electronic signal card with the manager of highway.In embodiments of the present invention, glued in electronic signal card
After the vehicle of patch rolls congested link away from, then robot can send dormancy instruction to the electronic signal card, make the electronic signal card
Other modules all dormancy in addition to recycling module, with power saving.Then recycling module periodic wakeup locating module, judges vehicle
Current position whether enter freeway toll station region, or other designated areas such as traffic police Administrative Area.If
Into then pointing out user to give expressway by the electronic signal card by alert module and handle official business people or the collection box specified
In, or give administrative staff or the collection box of designated area.Then the electronic signal card division that traffic department will reclaim again
It is distributed to each robot.Improve cyclic utilization rate.
In actual applications, in robot storage box, electronic signal card can be stored, what robot can be carried at it
Electronic signal card quantity is supplemented when being less than threshold value from the storage box.In addition, to the electronic signal card of the storage box
Quantity can also be monitored, and when the quantity of electronic signal card in the storage box is less than threshold value, then can be sent out to monitoring server
Warning is sent, to point out staff to supplement electronic signal card as early as possible.
Preferably, also include：
Step 260, when threshold value is reached to vehicle warning number of times, obtaining the vehicle carries out violation record for the robot,
And generate penalty note and notify the vehicle.
In embodiments of the present invention, the robot can also monitor the number of times of warning, if warning number of times exceedes threshold value,
Violation record can be carried out to the vehicle, such as video recording etc., then generate penalty note and notify the vehicle.
In actual applications, the crosspoint of congestion can be analyzed by monitoring server and be obtained, and it can combine respective stretch
Camera device upload traffic image information determine crosspoint.Preferably, also include：Camera device, for uploading
In the image in section；
The embodiment of the present invention utilizes monitoring server, and the equipment such as robot storage box, robot for each specified section,
After determining congested link by monitoring server, sent to the section robot of the congestion and dredge instruction, the robot is being received
It is described start to dredge instruction after, open the robot storage box and move to the crosspoint of congestion, then for around described
The vehicle in crosspoint sends stop signal and/or traveling signal, is dredged with the vehicle to the section.Thus solve and account for
With a large amount of police strength resources, cost of labor is high, and work under bad environment problem, achieve occupancy, the drop for reducing police strength resource
The beneficial effect of low cost of labor.
For embodiment of the method, in order to be briefly described, therefore it is all expressed as a series of combination of actions, but this area
Technical staff should know that the embodiment of the present invention is not limited by described sequence of movement, because implementing according to the present invention
Example, some steps can sequentially or simultaneously be carried out using other.Secondly, those skilled in the art should also know, specification
Described in embodiment belong to preferred embodiment, necessary to the involved action not necessarily embodiment of the present invention.
Algorithm and display be not inherently related to any certain computer, virtual system or miscellaneous equipment provided herein.
Various general-purpose systems can also be used together with based on teaching in this.As described above, construct required by this kind of system
Structure be obvious.Additionally, the present invention is not also directed to any certain programmed language.It is understood that, it is possible to use it is various
Programming language realizes the content of invention described herein, and the description done to language-specific above is to disclose this hair
Bright preferred forms.
In specification mentioned herein, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be put into practice in the case of without these details.In some instances, known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this description.
Similarly, it will be appreciated that in order to simplify one or more that the disclosure and helping understands in each inventive aspect, exist
Above to the description of exemplary embodiment of the invention in, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following intention：I.e. required guarantor
The application claims of shield features more more than the feature being expressly recited in each claim.More precisely, such as following
Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following specific embodiment are expressly incorporated in the specific embodiment, and wherein each claim is in itself
All as separate embodiments of the invention.
Those skilled in the art are appreciated that can be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more equipment different from the embodiment.Can be the module or list in embodiment
Unit or component be combined into a module or unit or component, and can be divided into addition multiple submodule or subelement or
Sub-component.In addition at least some in such feature and/or process or unit exclude each other, can use any
Combination is to this specification（Including adjoint claim, summary and accompanying drawing）Disclosed in all features and so disclosed appoint
Where all processes or unit of method or equipment are combined.Unless expressly stated otherwise, this specification（Including adjoint power
Profit requires, makes a summary and accompanying drawing）Disclosed in each feature can carry out generation by the alternative features for providing identical, equivalent or similar purpose
Replace.
Although additionally, it will be appreciated by those of skill in the art that some embodiments described herein include other embodiments
In included some features rather than further feature, but the combination of the feature of different embodiments means in of the invention
Within the scope of and form different embodiments.For example, in the following claims, embodiment required for protection is appointed
One of meaning mode can be used in any combination.
All parts embodiment of the invention can be realized with hardware, or be run with one or more processor
Software module realize, or with combinations thereof realize.It will be understood by those of skill in the art that can use in practice
Microprocessor or digital signal processor（DSP）Come in realizing the robot system for dredging congestion according to embodiments of the present invention
Some or all parts some or all functions.The present invention is also implemented as performing side as described herein
Some or all equipment or program of device of method（For example, computer program and computer program product）.It is such
Realize that program of the invention can be stored on a computer-readable medium, or there can be the shape of one or more signal
Formula.Such signal can be downloaded from internet website and obtained, or be provided on carrier signal, or with any other shape
Formula is provided.
It should be noted that above-described embodiment the present invention will be described rather than limiting the invention, and ability
Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol being located between bracket should not be configured to limitations on claims.Word "comprising" is not excluded the presence of not
Element listed in the claims or step.Word "a" or "an" before element is not excluded the presence of as multiple
Element.The present invention can come real by means of the hardware for including some different elements and by means of properly programmed computer
It is existing.If in the unit claim for listing equipment for drying, several in these devices can be by same hardware branch
To embody.The use of word first, second, and third does not indicate that any order.These words can be explained and run after fame
Claim.
Claims (10)
1. a kind of robot system for dredging congestion, it is characterised in that including：
Monitoring server, and for robot storage box, the robot in each specified section；The robot is preset in the machine
In device people's storage box；
The monitoring server includes：
Congestion judge module, for judging whether each section congestion occurs；
Notification module, for there is congestion when a section, then sends to the robot in the section and starts to dredge instruction；
The robot includes：
Set out module, for receive it is described start to dredge instruction after, open the robot storage box and simultaneously move to congestion
Crosspoint；
Module is dredged, for sending stop signal and/or traveling signal for the vehicle around the crosspoint, with to the road
The vehicle of section is dredged.
2. the system as claimed in claim 1, it is characterised in that also include：Electronic signal card；
The module of dredging also includes：
Electronic signal card sends module, for the electronic signal card to be pasted on the vehicle around the crosspoint；
Electronic signal card control module, for sending stop signal and/or traveling signal to the electronic signal card, to control
State electronic signal card and accordingly enable stop light and/or traveling signal lamp, dredged with the vehicle to the section.
3. system according to claim 2, it is characterised in that the robot also includes：
Signal observes judge module, the positional information for receiving the transmission of electronic signal card, and is judged according to the positional information
Whether place vehicle observes corresponding signal；The positional information is obtained by the acquisition module of electronic signal card；
Alert module is dredged, for when judging that a vehicle does not comply with corresponding signal, then to the vehicle to the electronic signal pasted
Card sends caution signal, the sound so that the electronic signal card gives a warning.
4. system according to claim 1, it is characterised in that also include：Camera device, section where for uploading
Image；
Further, the monitoring server also includes：
Crosspoint judge module, for being parsed to described image, determines the crosspoint of congestion.
5. system according to claim 4, it is characterised in that the crosspoint judge module includes：
Crosspoint judging submodule, for the band of position where the crosspoint that is resolved in described image after, according to institute's rheme
The longitude and latitude corresponding relation of region parameter and real road is put, the cross-point locations region of real road is determined.
6. system according to claim 1, it is characterised in that the module of dredging includes：
Dredge submodule, for select vehicle can normally travel to outlet direct of travel as the first direct of travel, to institute
The vehicle for stating the first direct of travel sends traveling signal, and the vehicle to other directions sends stop signal；
Whether traveling timing module, the vehicle wagon flow for judging first direct of travel reaches specified threshold or current speed
Rate is less than rate-valve value；If it is, reselect vehicle can normally travel to outlet vehicle traveling direction as the first row
Enter direction, into dredging submodule.
7. system according to claim 1, it is characterised in that the robot also includes：
Continue to dredge module, for after the period is for wagon flow peak period where judging current time, being dredged to the crosspoint
After success, continuation is dredged until wagon flow peak period is terminated according to traffic rules.
8. system according to claim 2, it is characterised in that the electronic signal card also includes：
Module is given back in prompting, and whether vehicle where for monitoring the electronic signal card reaches designated area；If reached, triggering
Prompting gives back the electronic signal card to fee-collector；The designated area includes expressway charge station entrance.
9. system according to claim 3, it is characterised in that the robot also includes：
Violation logging modle, for when threshold value is reached to vehicle warning number of times, obtaining the vehicle to carry out violation record, and
Generation penalty note notifies the vehicle.
10. a kind of method for dredging congestion, it is characterised in that including：
Judge whether each section congestion occurs by monitoring server；
When judging that congestion occurs in a section by monitoring server, then sent to the robot in the section and start to dredge instruction；
The robot receive it is described start to dredge instruction after, robot storage box where opening the robot is simultaneously moved
Move the crosspoint of congestion；
The robot sends stop signal and/or traveling after the crosspoint is reached for the vehicle around the crosspoint
Signal, is dredged with the vehicle to the section.
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| CN201710062329.4A CN106846846A (en) | 2017-02-02 | 2017-02-02 | A kind of robot system for dredging congestion |
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| CN201710062329.4A CN106846846A (en) | 2017-02-02 | 2017-02-02 | A kind of robot system for dredging congestion |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN113733086A (en) * | 2021-08-31 | 2021-12-03 | 上海擎朗智能科技有限公司 | A travel method, device, equipment and storage medium for a robot |
| CN116580577A (en) * | 2023-04-20 | 2023-08-11 | 深圳市康士达科技有限公司 | Control method, control chip, and electronic equipment of traffic command robot |
| CN117058883A (en) * | 2023-09-13 | 2023-11-14 | 南京航空航天大学 | A method to accelerate the dissipation of road congestion fleets based on drone information release |
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| CN116580577A (en) * | 2023-04-20 | 2023-08-11 | 深圳市康士达科技有限公司 | Control method, control chip, and electronic equipment of traffic command robot |
| CN117058883A (en) * | 2023-09-13 | 2023-11-14 | 南京航空航天大学 | A method to accelerate the dissipation of road congestion fleets based on drone information release |
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