Dynamic flexible adaptive space reconstruction method and system for hub

Abstract

The invention provides a hub-oriented dynamic flexible adaptive space reconstruction method and system, and the method comprises the steps: constructing a hub space plane graph of a to-be-constructed hub space in a preset coordinate system, and determining boundary coordinates, obstacle coordinates, entrance coordinates and exit coordinates of the hub space plane graph; determining a first route by adopting a first algorithm based on the boundary coordinates, the obstacle coordinates, the entrance coordinates and the exit coordinates of the hub space plane graph, and determining a first path based on the first route; if the hub space is a preset key area, updating the first route by adopting the second algorithm to obtain a second route, and determining a second path based on the second route; and determining a path boundary in the first path or the second path, arranging the spatial reconstruction units along the path boundary, determining coordinates of the spatial reconstruction units, and matching the coordinates with the corresponding spatial reconstruction units.

Description

Technical Field

[0001] This invention relates to the field of hub planning technology, and in particular to a dynamic, flexible, and adaptive spatial reconstruction method and system for hubs. Background Technology

[0002] Hub corridor planning, as a key component of the urban planning system, plays a vital role in the sustainable development, efficient operation, and improvement of residents' quality of life of a city.

[0003] With the acceleration of urbanization, the functions of integrated transportation hubs have become increasingly prominent, making them indispensable nodes in urban transportation systems. Integrated transportation hubs not only handle daily passenger flow but also play a crucial role in the rapid dispersal of large passenger flows during peak hours and emergencies. Traditional passenger hubs often face problems such as insufficient space and low transportation efficiency when handling large passenger flows, especially during peak hours and emergencies, where congestion is more likely to occur, affecting passenger travel experience and safety. This invention designs a dynamic, flexible, and adaptive hub internal space reconstruction and guidance system. Through the rapid dispersal of large passenger flows in integrated transportation hubs, and by using dynamic, flexible, and adaptive space reconstruction hardware, dynamic space reconstruction algorithms, and a space layout optimization model, it solves the problem of rapid dispersal of large passenger flows in hub corridors and key transfer nodes during off-peak, peak, and emergency situations.

[0004] In conclusion, hub corridor planning plays an irreplaceable role in urban development. It not only relates to the efficient operation of urban transportation but also influences the optimization of urban spatial structure, the efficient use of land, and the enhancement of urban image and quality. However, existing hub corridors are often planned as fixed structures to facilitate the flow of people, making it difficult to flexibly adjust their structure based on actual conditions. Summary of the Invention

[0005] In view of this, embodiments of the present invention provide a hub-oriented dynamic flexible adaptive spatial reconstruction method and system to eliminate or improve one or more defects existing in the prior art.

[0006] One aspect of the present invention provides a dynamic, flexible, adaptive spatial reconfiguration method for a hub, the method being based on multiple spatial reconfiguration units, each spatial reconfiguration unit comprising a movable base, a connecting column, and two telescopic wings, the connecting column being connected to the movable base, and the two telescopic wings being disposed opposite to each other and connected to the connecting column, the connecting column being capable of controlling the opening and closing of the two telescopic wings, the method comprising the following steps: The hub space plan of the hub space to be constructed is constructed in the preset coordinate system, and the boundary coordinates, obstacle coordinates, entrance coordinates and exit coordinates of the hub space plan are determined. Based on the boundary coordinates, obstacle coordinates, entrance coordinates, and exit coordinates of the hub space plan, a first route is determined using a first algorithm, and a first path is determined based on the first route; If the hub space is a preset key area, the second algorithm is used to update the first route to obtain a second route, and a second path is determined based on the second route; Determine the path boundary in the first path or the second path, arrange the spatial reconstruction unit along the path boundary, determine the coordinates of the spatial reconstruction unit and match the corresponding spatial reconstruction unit, and determine the opening and closing angle of the telescopic wing of the spatial reconstruction unit based on the coordinate position of the spatial reconstruction unit in the path boundary. The corresponding coordinates and opening / closing angles are sent to the spatial reconstruction unit so that the spatial reconstruction unit travels to the corresponding coordinate position and opens / closes to the corresponding angle.

[0007] Using the above scheme, the boundary coordinates, obstacle coordinates, entrance coordinates, and exit coordinates of the hub space plan to be constructed are input into the first algorithm, which can be an ant colony algorithm, to obtain the planned first route. The scheme further determines whether the hub space is a key area. For key areas with large passenger flow, adjustments are needed, and a second algorithm is used to make adjustments to obtain a second route. The first route or the second route is represented as a first path with width, and a movement command is sent to the space reconstruction unit to reach the corresponding position. The structure can be flexibly adjusted based on the actual situation to construct the actual hub corridor passage.

[0008] In some embodiments of the present invention, the spatial reconstruction unit further includes a multi-functional ticket checking module for railways / subways / airports / buses, a display screen, an indicator light strip, a speaker, a controller, a magnetic chuck, and a camera. The telescopic wing adopts a telescopic flexible fence structure, which can be an inflatable structure, a mesh telescopic structure, a wall-integrated structure, or a single-line structure. One end of the telescopic wing is provided with a magnetic chuck, and the spatial reconstruction units are connected to each other through the magnetic chuck. The indicator light strip is connected to the telescopic wing, and the multi-functional ticket checking module for railways / subways / airports / buses, the display screen, the speaker, the controller, and the camera are all mounted on a connecting column.

[0009] In some embodiments of the present invention, the passenger flow data of the hub space is monitored in real time. If the passenger flow data is greater than a preset passenger flow threshold, the method further includes constructing input data with the current queue length, passage time and passenger flow density, determining a third route using a preset reinforcement learning model, and determining a third path through the third route.

[0010] In some embodiments of the present invention, a smooth transition is adopted during the process of adjusting from a first path or a second path to a third path.

[0011] In some embodiments of the present invention, in the step of determining the first route using a first algorithm based on the boundary coordinates, obstacle coordinates, entrance coordinates, and exit coordinates of the hub space plan, the first algorithm employs a particle swarm optimization algorithm.

[0012] In some embodiments of the present invention, in the step of updating the first route using the second algorithm to obtain the second route, and determining the second path based on the second route, the second algorithm is a 2-opt or 3-opt algorithm.

[0013] In some embodiments of the present invention, in the steps of determining the path boundary in the first path or the second path, arranging the spatial reconstruction unit along the path boundary, determining the coordinates of the spatial reconstruction unit and matching the corresponding spatial reconstruction unit, each path boundary of the first path and the second path is segmented to obtain multiple boundary segments. A spatial reconstruction unit is set at each of the two endpoints of each boundary segment, and the spatial reconstruction unit is evenly distributed from one endpoint to the other based on the maximum extension length of the spatial reconstruction unit at the top view angle.

[0014] By adopting the above scheme, after segmentation, each segment can be deployed and processed separately, ensuring the efficiency of deployment and processing.

[0015] In some embodiments of the present invention, in the step of determining the opening and closing angle of the telescopic wings of the space reconstruction unit based on the coordinate position of the space reconstruction unit in the path boundary, from a top-down perspective, the target extension points of the two telescopic wings of the space reconstruction unit on the path boundary are determined based on the coordinate position of the space reconstruction unit in the path boundary, and the opening and closing angle of the space reconstruction unit and the orientation direction of the space reconstruction unit are determined based on the coordinates of the two target extension points and the space reconstruction unit, respectively.

[0016] In the specific implementation process, in the step of determining the target extension point of the two telescopic wings of the spatial reconstruction unit on the path boundary based on the coordinates of the spatial reconstruction unit at the path boundary, the target extension point of the two telescopic wings on the path boundary is determined by extending the maximum length of the telescopic wings by the same length from the coordinates of the spatial reconstruction unit.

[0017] In some embodiments of the present invention, the telescopic wing adopts a telescopic flexible fence structure, one end of the telescopic wing is provided with a magnetic suction element, and the spatial reconstruction units are connected to each other through the magnetic suction element.

[0018] By adopting the above scheme, since the telescopic wings of the spatial reconstruction unit have a certain degree of flexibility, after the extension is completed, they can be connected to an adjacent spatial reconstruction unit through magnetic attachments, ensuring the continuity of the final path boundary.

[0019] In some embodiments of the present invention, in the step of sending the corresponding coordinates and opening / closing angle to the spatial reconstruction unit so that the spatial reconstruction unit travels to the corresponding coordinate position and opens / closes to the corresponding angle, the allocated spatial reconstruction unit is determined based on the current spatial reconstruction unit number queue. The spatial reconstruction unit moves to the corresponding coordinate position, and after reaching the coordinate position, rotates to the orientation direction and opens the extension direction of the telescopic wing to the opening / closing angle, so that the two telescopic wings can extend through. During the extension process, the magnetic attraction is used for sensing. If either telescopic wing senses a connection with the other magnetic attraction, the extension stops; if the telescopic wing does not sense a connection with the other magnetic attraction, it extends to the maximum length.

[0020] In the specific implementation process, the numbering of the spatial reconstruction units that have not been assigned a location is constructed as a numbering queue in this scheme.

[0021] By adopting the above scheme, since the telescopic wings of the spatial reconstruction unit are flexible, they can complete the connection with other spatial reconstruction units even when not fully extended, thus ensuring the continuity of the final path boundary.

[0022] In some embodiments of the present invention, in the step of determining the allocated spatial reconstruction unit based on the current spatial reconstruction unit numbering queue, and moving the spatial reconstruction unit to the corresponding coordinate position, the spatial reconstruction unit with the highest ranking in the current numbering queue is selected, the current hub map is constructed based on the hub space plan and the spatial reconstruction units in the hub space, the path is planned in the hub map based on the current position and the moving coordinate position of the spatial reconstruction unit to obtain the moving path, and the moving path is sent to the spatial reconstruction unit so that the spatial reconstruction unit reaches the coordinate position along the moving path.

[0023] In some embodiments of the present invention, in the step of path planning on the hub map based on the current position and moving coordinate position of the spatial reconstruction unit, the shortest path algorithm or A* algorithm is used.

[0024] Using the above scheme, no human intervention is required. The spatial reconstruction unit can automatically reach the target location, complete the shape change based on the pre-stored data at the corresponding location, and form the final hub space.

[0025] In some embodiments of the present invention, the passenger flow data of the hub space is monitored in real time. If the passenger flow data is greater than a preset passenger flow threshold, the method further includes the following steps: The third route is compared with the first or second route to determine the overlapping and non-overlapping sections between the third route and the first or second route. The deployment coordinates of the spatial reconstruction unit for the non-overlapping road segments of the third route; For each deployment coordinate, the location of the spatial reconstruction unit corresponding to the non-overlapping segment of the first or second route and the third route is calculated based on the current hub map, and the shortest path is calculated for each deployment coordinate. The spatial reconstruction unit is selected based on the length of the shortest path, and the shortest path is sent to the selected spatial reconstruction unit so that the spatial reconstruction unit travels to the location of the path boundary of the third route.

[0026] By adopting the above scheme, this scheme can complete further automated adjustments, prioritize the planning of spatial reconstruction units that have been deployed once, reduce adjustment costs, and have shorter travel paths compared to spatial reconstruction units that have not been deployed; furthermore, this scheme compares the path lengths of each spatial reconstruction unit and selects the most efficient spatial reconstruction unit to ensure that spatial reconstruction can be completed quickly in scenarios with a certain amount of traffic.

[0027] A second aspect of the present invention also provides a hub-oriented dynamic flexible adaptive spatial reconfiguration system, the system comprising a computer device including a processor and a memory, the memory storing computer instructions, the processor executing the computer instructions stored in the memory, and the system implementing the steps of the method described above when the computer instructions are executed by the processor.

[0028] A third aspect of the invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the aforementioned hub-oriented dynamic flexible adaptive spatial reconstruction method.

[0029] Additional advantages, objects, and features of the invention will be set forth in part in the description which follows, and will also become apparent in part to those skilled in the art upon studying the text, or may be learned by practice of the invention. The objects and other advantages of the invention will become apparent from the description and the accompanying drawings.

[0030] Those skilled in the art will understand that the objectives and advantages achievable with the present invention are not limited to those specifically described above, and that the above and other objectives achievable with the present invention will become clearer from the following detailed description. Attached Figure Description

[0031] The accompanying drawings, which are provided to further illustrate the invention and form part of this application, are not intended to limit the scope of the invention.

[0032] Figure 1 This is a schematic diagram of the first implementation of the hub-oriented dynamic flexible adaptive spatial reconstruction method of this scheme; Figure 2 This is a schematic diagram of the second implementation of the hub-oriented dynamic flexible adaptive spatial reconstruction method of this scheme; Figure 3 This is a schematic diagram of the spatial reconstruction unit of the dynamic flexible adaptive spatial reconstruction method for hubs in this scheme; Figure 4 This is a schematic diagram of the scenario set up for this plan. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the embodiments and accompanying drawings. Here, the illustrative embodiments and descriptions of this invention are used to explain the invention, but are not intended to limit the invention.

[0034] It should also be noted that, in order to avoid obscuring the invention with unnecessary details, only the structures and / or processing steps closely related to the solution according to the invention are shown in the accompanying drawings, while other details that are not closely related to the invention are omitted.

[0035] like Figure 1 , 3 As shown in Figure 4, this invention proposes a dynamic, flexible, and adaptive spatial reconfiguration method for hubs. The method is based on multiple spatial reconfiguration units, each equipped with a movable base, a connecting column, and two telescopic wings. The connecting column is connected to the movable base, and the two telescopic wings are positioned opposite each other and connected to the connecting column. The connecting column controls the opening and closing of the two telescopic wings. The steps of the method include: In the specific implementation process, the telescopic wing is a flexible and retractable structure, specifically, it can be a grid-like telescopic structure, and it is driven by an electric motor for telescopic extension and retraction; the connecting column can control the two telescopic wings to rotate along the connecting column, and the connection between the connecting column and the two telescopic wings can be a hinge structure; the bottom of the movable base is provided with moving wheels; the spatial reconstruction unit is also provided with a controller and a communication device; the controller obtains the status information of the spatial reconstruction unit and sends it through the communication device; the status information includes position, orientation direction, opening and closing angle, and extension length.

[0036] Multiple of the spatial reconstruction units are hardware-reconnectable and support various deformations such as "I", "一", "L", "半O", "∠", "╲___". They can be in the forms of wall-mounted integrated dynamic barriers, inflatable rapid deployment barriers (single-tube, multi-tube), grid-style telescopic barriers, single-line dynamic barriers, etc.

[0037] The spatial reconstruction unit further includes Display screen: Displays key information.

[0038] Light strip: Can indicate directions, change colors, and support modes such as constant on / flashing. It can be in the form of normal light emission, ground projection, etc. The light strip is bilateral, that is, it can indicate different directions on both sides.

[0039] Loudspeaker: Broadcasts key prompts; plays content related to the orientation position in a targeted manner, and plays voice prompts consistent with the current physical layout and guiding direction in a specific area.

[0040] Controller: Receives control instructions, including moving positions, screen display colors and contents, light strip colors and directions, and broadcast content playback. It can display colors under the traffic design specifications of other transportation modes connected to the hub. Controls the autonomous moving direction and stopping position Mobile base: Can move as a whole, has 4-wheel drive and 4-wheel steering for movement, and has active obstacle avoidance; it will not fall down when strongly impacted during stopping.

[0041] Lifter / deformer: Supports the raising and lowering of the overall flexible fence Camera: A panoramic camera with functions such as翻越 detection and people counting.

[0042] Fence shape support device: A device that supports the fixing and size change of the fence, which can be raised and tightened. It can be manually disassembled and combined to extend a single hardware.

[0043] Magnetic part: Has magnetic attraction and can seamlessly connect two dynamically flexible and adaptive spatial reconstruction hardware.

[0044] In the specific implementation process, a light strip is provided on the telescopic wing, and a loudspeaker is also provided on the connecting column.

[0045] The hub space includes a service area, a functional area, and a management scope.

[0046] Step S100, construct the hub space floor plan of the to-be-constructed hub space in a preset coordinate system, and determine the boundary coordinates, obstacle coordinates, entrance coordinates, and exit coordinates of the hub space floor plan; The obstacle coordinates include impassable road coordinates and equipment facility coordinates; Specifically, the entrances, transfers, elevators, escalators, and exits of the hub space are all transformed into nodes of a graph structure, with the connections between nodes being edges, and there are several directed edges between two nodes.

[0047] Step S200: Based on the boundary coordinates, obstacle coordinates, entrance coordinates, and exit coordinates of the hub space plan, a first algorithm is used to determine the first route; Specifically, end-to-end preliminary global path planning is performed. Based on the first route, the first path is determined. The path coding rule can be represented as: Node 1 + Node 2 + Route direction + Path number (T1E1E2A001). T1 indicates the initial path. Figure 1 E1 identifies node 1, E2 identifies node 2, route direction identifiers A (one-way from E1 to E2), B (one-way from E2 to E1), C (two-way), 001 identifies the first path between points E1 and E2.

[0048] In the specific implementation process, the first algorithm adopts the ant colony algorithm. Specifically, the initial parameters of the ant colony algorithm include: the number of ants m, the pheromone importance factor α, the heuristic pheromone importance factor β, the pheromone evaporation rate ρ, the pheromone increment constant Q, the maximum number of iterations N_max, the initial value of pheromone τ_0, and the pheromone update strategy is that all ants can update, and the update stops after reaching the maximum number of iterations.

[0049] For the initialization of the ant colony algorithm: Pheromone: The initial pheromone value of the path at entrance / exit 1 is slightly higher than that at entrance / exit 2 (because...) )).

[0050] Pseudo-random proportional rule: When ants choose a path, the probability (p=0.9) follows the pheromone and (p=0.1) explores randomly.

[0051] renew: Dynamic volatility coefficient: early stage ( ), later stage ( ). Elite strategy: Only the top 10% of optimal paths update pheromones.

[0052] Output: The optimized set of paths, prioritizing straight paths.

[0053] Specifically, the specific parameters of the ant colony algorithm are determined based on the type of hub space, and the types of hub spaces include: Main entrances and exits: such as railway platforms and main subway entrances, have high passenger flow and require multiple routes to support them.

[0054] Secondary entrances and exits: such as minibus stops, with low passenger flow and usually a single route.

[0055] Two-way entrances and exits: such as transfer nodes, supporting entry and exit from the station.

[0056] One-way entrances and exits: such as emergency exits, used only for evacuation.

[0057] Step S300: If the hub space is a preset key area, the second algorithm is used to update the first route to obtain a second route, and a second path is determined based on the second route; In the specific implementation process, in the steps of determining the first path based on the first route, determining the second path based on the second route, or determining the third path based on the third route, the first route, the second route, or the third route is used as the bisecting line of the path width, and the first path, the second path, or the third path is constructed based on the preset path width.

[0058] In the specific implementation process, the second algorithm adopts the opt algorithm, which first uses ant colony / genetic algorithm for global search, and then uses opt for local optimization; multi-threaded parallel computing can accelerate the solution of large-scale problems; path smoothing can eliminate the jagged path generated after optimization.

[0059] Step S500: Determine the path boundary in the first path or the second path, arrange the spatial reconstruction unit along the path boundary, determine the coordinates of the spatial reconstruction unit and match the corresponding spatial reconstruction unit, and determine the opening angle of the telescopic wing of the spatial reconstruction unit based on the coordinate position of the spatial reconstruction unit in the path boundary. In practice, the opening angle is the angle formed by the two telescopic wings from a top-down perspective.

[0060] Step S600: Send the corresponding coordinates and opening / closing angle to the spatial reconstruction unit so that the spatial reconstruction unit travels to the corresponding coordinate position and opens / closes to the corresponding angle.

[0061] In the specific implementation process, during the step of the spatial reconstruction unit traveling to the corresponding coordinate position, from a top-down perspective, the projection of the connecting column of the spatial reconstruction unit is at that coordinate position.

[0062] Using the above scheme, the boundary coordinates, obstacle coordinates, entrance coordinates, and exit coordinates of the hub space plan to be constructed are input into the first algorithm, which can be an ant colony algorithm, to obtain the planned first route. The scheme further determines whether the hub space is a key area. For key areas with large passenger flow, adjustments are needed, and a second algorithm is used to make adjustments to obtain a second route. The first route or the second route is represented as a first path with width, and a movement command is sent to the space reconstruction unit to reach the corresponding position. The structure can be flexibly adjusted based on the actual situation to construct the actual hub corridor passage.

[0063] like Figure 2 As shown, in some embodiments of the present invention, the passenger flow data of the hub space is monitored in real time. If the passenger flow data is greater than a preset passenger flow threshold, the method further includes step S400, constructing input data with the current queue length, passage time and passenger flow density, determining a third route using a preset reinforcement learning model, and determining a third path through the third route.

[0064] In some embodiments of this invention, the path output channel width and the topology parameters (position, length, angle, etc.) of the serpentine channel are converted into control commands (JSON or XML format) and transmitted to the controller via a high-bandwidth communication network (such as 5G or WiFi 6). Hardware such as the telescopic wings and movable bases then perform adjustments. When the hardware in use needs to be deformed, the shrinking and enlarging of space adopts a smooth transition and minimal intervention control method to ensure passenger safety during the movement process. The smooth transition uses a quadratic Bézier curve or spline interpolation algorithm to ensure that the adjustment of the channel width is smooth and without abrupt changes, avoiding crowd chaos. The adjustment speed is controlled between 0.1-0.5 m / s, and the specific speed is dynamically adjusted according to the passenger flow density. Minimal intervention optimizes the adjustment strategy through a cost function (adjustment amplitude × interference coefficient), adjusting the channel width only when necessary to reduce interference with normal pedestrian flow.

[0065] In the specific implementation process, the arrangement of each spatial reconstruction unit of the third path is the same as that of the first and second paths.

[0066] In practice, the reinforcement learning model uses Q-learning to train the agent and dynamically selects the optimal path. State space: Current path state (queue length, travel time, passenger flow density).

[0067] Action space: path switching, direction adjustment (one-way / two-way), path width increase / decrease, and entrance / exit path reallocation.

[0068] Reward Mechanism: Where (P): traffic efficiency, (T): queue length, ( ): Conflict factor, ( (Assuming weights). Based on real-time data (such as increased conflict detection by cameras), bidirectional paths are preferentially split into unidirectional paths, and channels are re-divided.

[0069] Calculation process: Initialize the Q-table by creating a Q-table with dimensions |S| × |A|, where S is the state space and A is the action space. The initial values ​​can be set to 0 or random values.

[0070] When selecting an action, an ε-greedy strategy is used, where an action is randomly selected with probability ϵ; argmaxQ(s,a) is selected with probability 1−ϵ, and ϵ is gradually decreased as training progresses to approach the optimal strategy.

[0071] Update Q-value: Update according to the reward function, and iterate continuously.

[0072] The final output is the optimal action (or action sequence), which guides how to adjust from the initial path AB to a better path. The entire calculation process is as follows: Initial path: AB is a bidirectional path; Q-learning output action: "Split the bidirectional path into a unidirectional path"; After execution: Path AB may become a unidirectional path (such as A→B or B→A), or switch to another alternative path (such as ACB).

[0073] In some embodiments of the present invention, in the step of determining the first route using a first algorithm based on the boundary coordinates, obstacle coordinates, entrance coordinates, and exit coordinates of the hub space plan, the first algorithm employs a particle swarm optimization algorithm.

[0074] In some embodiments of the present invention, in the step of updating the first route using the second algorithm to obtain the second route, and determining the second path based on the second route, the second algorithm is a 2-opt or 3-opt algorithm.

[0075] In some embodiments of the present invention, in the steps of determining the path boundary in the first path or the second path, arranging the spatial reconstruction unit along the path boundary, determining the coordinates of the spatial reconstruction unit and matching the corresponding spatial reconstruction unit, each path boundary of the first path and the second path is segmented to obtain multiple boundary segments. A spatial reconstruction unit is set at each of the two endpoints of each boundary segment, and the spatial reconstruction unit is evenly distributed from one endpoint to the other based on the maximum extension length of the spatial reconstruction unit at the top view angle.

[0076] In the specific implementation process, in the step of segmenting each path boundary of the first path and the second path to obtain multiple boundary segments, the segments are divided into straight segments, turning segments and cornering segments. The cornering segment is the connecting segment between the straight segment or the turning segment and the straight segment or the turning segment.

[0077] In some embodiments of the present invention, in the step of determining the opening and closing angle of the telescopic wings of the space reconstruction unit based on the coordinate position of the space reconstruction unit in the path boundary, from a top-down perspective, the target extension points of the two telescopic wings of the space reconstruction unit on the path boundary are determined based on the coordinate position of the space reconstruction unit in the path boundary, and the opening and closing angle of the space reconstruction unit and the orientation direction of the space reconstruction unit are determined based on the coordinates of the two target extension points and the space reconstruction unit, respectively.

[0078] In some embodiments of the present invention, the spatial reconstruction unit further includes a multi-functional ticket checking module for railways / subways / airports / buses, a display screen, an indicator light strip, a speaker, a controller, a magnetic chuck, and a camera. The telescopic wing adopts a telescopic flexible fence structure, which can be an inflatable structure, a mesh telescopic structure, a wall-integrated structure, or a single-line structure. One end of the telescopic wing is provided with a magnetic chuck, and the spatial reconstruction units are connected to each other through the magnetic chuck. The indicator light strip is connected to the telescopic wing, and the multi-functional ticket checking module for railways / subways / airports / buses, the display screen, the speaker, the controller, and the camera are all mounted on a connecting column.

[0079] The railway / subway / airport / bus all-in-one ticket checking module is an all-in-one ticket checking unit and is an existing ticket checking device.

[0080] In some embodiments of the present invention, in the step of sending the corresponding coordinates and opening / closing angle to the spatial reconstruction unit so that the spatial reconstruction unit travels to the corresponding coordinate position and opens / closes to the corresponding angle, the allocated spatial reconstruction unit is determined based on the current spatial reconstruction unit number queue. The spatial reconstruction unit moves to the corresponding coordinate position, and after reaching the coordinate position, rotates to the orientation direction and opens the extension direction of the telescopic wing to the opening / closing angle, so that the two telescopic wings can extend through. During the extension process, the magnetic attraction is used for sensing. If either telescopic wing senses a connection with the other magnetic attraction, the extension stops; if the telescopic wing does not sense a connection with the other magnetic attraction, it extends to the maximum length.

[0081] In some embodiments of the present invention, in the step of determining the allocated spatial reconstruction unit based on the current spatial reconstruction unit numbering queue, and moving the spatial reconstruction unit to the corresponding coordinate position, the spatial reconstruction unit with the highest ranking in the current numbering queue is selected, the current hub map is constructed based on the hub space plan and the spatial reconstruction units in the hub space, the path is planned in the hub map based on the current position and the moving coordinate position of the spatial reconstruction unit to obtain the moving path, and the moving path is sent to the spatial reconstruction unit so that the spatial reconstruction unit reaches the coordinate position along the moving path.

[0082] In some embodiments of the present invention, the passenger flow data of the hub space is monitored in real time. If the passenger flow data is greater than a preset passenger flow threshold, the method further includes the following steps: The third route is compared with the first or second route to determine the overlapping and non-overlapping sections between the third route and the first or second route. The deployment coordinates of the spatial reconstruction unit for the non-overlapping road segments of the third route; For each deployment coordinate, the location of the spatial reconstruction unit corresponding to the non-overlapping segment of the first or second route and the third route is calculated based on the current hub map, and the shortest path is calculated for each deployment coordinate. The spatial reconstruction unit is selected based on the length of the shortest path, and the shortest path is sent to the selected spatial reconstruction unit so that the spatial reconstruction unit travels to the location of the path boundary of the third route.

[0083] Hardware control aspects: The movable base moves to the desired adjustment position; the riser / deformer changes the fence height or shape. Directional indicator lights update color / flashing patterns. A speaker plays cues consistent with the guiding direction.

[0084] Indicator light strips: Double-sided light strips with different colors are set for parallel and opposite paths (e.g., red for exiting the station and green for entering the station), and flashing mode is supported to enhance the guidance effect.

[0085] Directional speaker announcements: Play voice prompts in the direction of the path in conflict areas (such as "Please turn left") to reduce the risk of being misled.

[0086] Smooth transition control: When the path direction or width is adjusted, a quadratic Bézier curve or spline interpolation algorithm is used to ensure smooth fence extension and base movement (speed controlled at 0.1-0.5m / s) to avoid passenger flow chaos.

[0087] Example JSON: { "path_id":" <string>", "Entrance":" <string>", Direction: "<One-way|Two-way>", "Topology": [ { "type":"line", "start": [ <float> , <float>], "end": [ <float> , <float>], "length": <float>, "angle": <float> }, { "type":"arc", "start": [ <float> , <float>], "end": [ <float> , <float>], "radius": <float>, "arc_length": <float>, "start_angle": <float>, "end_angle": <float> } ], "Channel width": [ { "segment":"<line|arc> ", "width": <float> } ], "fence": [ { "Location": [ <float> , <float>], "length": <float>, "shape":"<I|L|U> " } ], "LED strip": { "Left side": { "Color":"<Green|Red|Other>", "Mode": "<Constant On | Blinking>" }, "Right side": { "Color":"<Green|Red|Other>", "Mode": "<Constant On | Blinking>" } }, "Speaker": { "content":" <string>", "Region": [ <float> , <float> , <float>] }, "Mobile dock": { "Target Location": [ <float> , <float>], "speed": <float> }, "Smooth transition": { Algorithm: "<Quadratic Bézier Curve | Spline Interpolation>", "Control Points": [ [ <float> , <float> , <float> ], [ <float> , <float> , <float> ], [ <float> , <float> , <float>] ], "speed": <float> }, "Minimal intervention": { "Cost function": { "Adjustment range": <float>, "Interference coefficient": <float>, "cost": <float> } } } In summary, this solution comprises three phases: Phase 1, initial global path planning from end to end; Phase 2, local optimization of key areas; and Phase 3, dynamic adjustment and learning. Phase 1 generates an initial global path covering the entire hub using space-filling curves and an improved ant colony algorithm, considering entrance / exit classification, passenger flow direction, and conflict factors to ensure the path meets width, direction, and capacity constraints. Phase 2 focuses on congested areas, combining local search (2-opt / 3-opt) and conflict detection to optimize path details, reduce intersections and queuing times, and avoid local optima through diverse strategies. Phase 3 utilizes reinforcement learning and real-time data to dynamically adjust paths and hardware layout to adapt to changes in passenger flow and ensure long-term optimization effectiveness.

[0088] This invention also provides a hub-oriented dynamic flexible adaptive spatial reconfiguration system. The system includes a computer device, which includes a processor and a memory. The memory stores computer instructions, and the processor executes the computer instructions stored in the memory. When the computer instructions are executed by the processor, the system implements the steps of the method described above.

[0089] This invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the aforementioned hub-oriented dynamic flexible adaptive spatial reconstruction method. The computer-readable storage medium can be a tangible storage medium, such as random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, floppy disks, hard disks, removable storage disks, CD-ROMs, or any other form of storage medium known in the art.

[0090] Those skilled in the art will understand that the exemplary components, systems, and methods described in conjunction with the embodiments disclosed herein can be implemented in hardware, software, or a combination of both. Whether implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this invention. When implemented in hardware, it can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this invention are programs or code segments used to perform the desired tasks. The programs or code segments can be stored in a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried in a carrier wave.

[0091] It should be clarified that the present invention is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of the present invention.

[0092] In this invention, features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, and / or combined with or in place of features of other embodiments.

[0093] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. For those skilled in the art, various modifications and variations can be made to the embodiments of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.< / float> < / float> < / float> < / float> < / float> < / float> < / float> < / float> < / float> < / float> < / float> < / float> < / float> < / float> < / float> < / float> < / float> < / float> < / float> < / string> < / float> < / float> < / float> < / float> < / float> < / float> < / float> < / float> < / float> < / float> < / float> < / float> < / float> < / float> < / float> < / float> < / float> < / float> < / string> < / string>

Claims

1. A hub-oriented dynamic flexible adaptive spatial reconfiguration method, characterized in that, The method is based on a plurality of space reconstruction units, the space reconstruction unit is provided with a moving base, a connecting column and two telescopic wings, the connecting column is connected with the moving base, the two telescopic wings are oppositely arranged and connected with the connecting column, the connecting column can control the opening and closing of the two telescopic wings, and the steps of the method comprise: A hub space plan of a hub space to be constructed is constructed in a preset coordinate system, and boundary coordinates, obstacle coordinates, entrance coordinates and exit coordinates of the hub space plan are determined; A first route is determined based on the boundary coordinates, obstacle coordinates, entrance coordinates and exit coordinates of the hub space plan by using a first algorithm, and a first path is determined based on the first route; If the hub space is a preset key area, a second route is obtained by updating the first route by using a second algorithm, and a second path is determined based on the second route; Path boundaries in the first path or the second path are determined, the space reconstruction units are arranged along the path boundaries, the coordinates of the space reconstruction units are determined and the corresponding space reconstruction units are matched, and the opening and closing angles of the telescopic wings of the space reconstruction units are determined based on the coordinate positions of the space reconstruction units in the path boundaries; The corresponding coordinates and opening and closing angles are sent to the space reconstruction units, so that the space reconstruction units travel to the corresponding coordinate positions and open and close to the corresponding angles.

2. The hub-oriented dynamic flexible adaptive spatial reforming method according to claim 1, characterized in that, The space reconstruction unit further comprises a railway / subway / airport / bus multi-in-one ticket checking module, a display screen, an indicator light belt, a loudspeaker, a controller, a magnetic attraction element and a camera, the telescopic wing adopts a telescopic flexible fence structure, the flexible fence structure adopts an inflatable structure, a grid telescopic structure, a wall integrated structure or a single line structure, one end of the telescopic wing is provided with a magnetic attraction element, and the space reconstruction units are connected through the magnetic attraction elements; the indicator light belt is connected with the telescopic wing, and the railway / subway / airport / bus multi-in-one ticket checking module, the display screen, the loudspeaker, the controller and the camera are arranged on the connecting column.

3. The hub-oriented dynamic flexible adaptive spatial reforming method according to claim 1, wherein, Real-time monitoring of the passenger flow data of the hub space is performed, if the passenger flow data is greater than a preset passenger flow threshold, then the steps of the method further comprise inputting the current queue length, the passing time and the passenger flow density into data, determining a third route by using a preset reinforcement learning model, and determining a third path through the third route.

4. The hub-oriented dynamic flexible adaptive spatial reforming method according to claim 3, characterized in that, In the process of adjusting the first path or the second path to the third path, a smooth transition mode is adopted.

5. The hub-oriented dynamic flexible adaptive spatial reforming method according to claim 3, wherein, In the steps of determining the path boundaries in the first path or the second path, arranging the space reconstruction units along the path boundaries, determining the coordinates of the space reconstruction units and matching the corresponding space reconstruction units, each path boundary of the first path and the second path is subjected to segmentation processing to obtain a plurality of boundary segments, one space reconstruction unit is arranged at each end point of each boundary segment, and the space reconstruction units are uniformly arranged along the end points of one boundary segment to the other end points based on the maximum extension length of the space reconstruction units in the overhead angle.

6. The hub-oriented dynamic flexible self-adaptive spatial reconfiguration method according to any one of claims 3-5, characterized in that, In the step of determining the opening and closing angle of the telescopic wings of the space reconstruction unit based on the coordinate position of the space reconstruction unit in the path boundary, in the overhead angle, the target extension points of the two telescopic wings of the space reconstruction unit in the path boundary are determined based on the coordinates of the space reconstruction unit in the path boundary, the opening and closing angle of the space reconstruction unit is determined based on the two target extension points and the coordinates of the space reconstruction unit respectively, and the orientation direction of the space reconstruction unit.

7. The hub-oriented dynamic flexible adaptive spatial reforming method according to claim 6, wherein, In the step of sending the corresponding coordinates and opening and closing angle to the space reconstruction unit to make the space reconstruction unit drive to the corresponding coordinate position and open and close to the corresponding angle, the assigned space reconstruction unit is determined based on the current number queue of the space reconstruction unit, the space reconstruction unit moves to the corresponding coordinate position, after reaching the coordinate position, rotates to the orientation direction, and opens the extension direction of the telescopic wings to the opening and closing angle, so that the two telescopic wings extend by extension, and in the extension process, the magnetic attraction element is inducted, if any telescopic wing senses the connection with another magnetic attraction element, the extension is stopped; if the telescopic wing does not sense the connection with another magnetic attraction element, the telescopic wing extends to the maximum length.

8. The hub-oriented dynamic flexible adaptive spatial reforming method according to claim 7, characterized in that, In the step of determining the assigned space reconstruction unit based on the current number queue of the space reconstruction unit, the space reconstruction unit moves to the corresponding coordinate position, the space reconstruction unit with the highest order in the current number queue is selected, the current hub graph is constructed based on the hub space plan and the space reconstruction units in the hub space, the path planning is performed in the hub graph based on the current position of the space reconstruction unit and the coordinate position of the movement, the movement path is obtained, and the movement path is sent to the space reconstruction unit to make the space reconstruction unit reach the coordinate position along the movement path.

9. The hub-oriented dynamic flexible adaptive spatial reforming method according to claim 8, wherein, The method further includes the following steps if the passenger flow data is greater than the preset passenger flow threshold: Comparing the third route with the first route or the second route to determine the coincident section and the non-coincident section of the third route with the first route or the second route; Planning the deployment coordinates of the space reconstruction unit for the non-coincident section of the third route; For each deployment coordinate, the shortest path of the position of the space reconstruction unit corresponding to the non-coincident section of the first route or the second route and the third route and each deployment coordinate is calculated based on the current hub graph, the space reconstruction unit is selected based on the length of the shortest path, and the shortest path is sent to the selected space reconstruction unit to make the space reconstruction unit drive to the position of the path boundary of the third route.

10. A hub-oriented dynamic flexible adaptive spatial reconfiguration system, characterized in that, The system includes a computer device including a processor and a memory, the memory storing computer instructions, and the processor is configured to execute the computer instructions stored in the memory, and when the computer instructions are executed by the processor, the system implements the steps of the method as claimed in any one of claims 1-9.

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