Intelligent guiding robot for dealing with large passenger flow in subway

Abstract

The present application relates to the technical field of subway, and discloses an intelligent guiding robot for coping with large passenger flow of subway, which comprises a subway platform, a main control cabinet, a monitoring camera, a charging cabin, a guiding mechanism and a blocking mechanism; the monitoring camera is installed at the top of the main control cabinet; a plurality of charging cabins are arranged at intervals in the outer area of the subway platform; the guiding mechanism is arranged in the interior of one of the charging cabins; and a plurality of blocking mechanisms are arranged in the interiors of the remaining charging cabins. The intelligent guiding robot for coping with large passenger flow of subway is characterized by intelligent cooperation, dynamic adaptation and full-scene protection, can flexibly adjust the number of channels according to passenger flow and platform layout, realizes the change from original single guiding to full-link protection, combines physical isolation and sound-light reminding, provides a feasible technical scheme for efficient and safe operation of the subway transportation hub, and is suitable for the large passenger flow dredging requirement of the subway peak period of a super large city, and has wide popularization value.

Description

Technical Field

[0001] This invention relates to the field of subway technology, specifically to an intelligent guidance robot for handling large passenger flows in subways. Background Technology

[0002] In existing technologies, intelligent passenger flow guidance technology for subway stations is mainly built around a three-layer architecture of passenger flow perception, data processing, and dynamic guidance. The perception layer mainly uses equipment such as AI video cameras, infrared array sensors, and platform ground pressure sensors to capture data such as passenger flow density, queue length, and movement speed in real time in ticket gates, transfer channels, and platform waiting areas. This data is then quickly analyzed using edge computing nodes or cloud big data platforms to identify congested areas and passenger flow trends, such as morning peak tidal passenger flow and sudden passenger flow at transfer nodes. The data processing layer relies on the historical passenger flow database of the subway operation system and uses machine learning algorithms to predict short-term passenger flow changes, providing a basis for guidance strategies. The guidance execution layer mainly uses intelligent dynamic guidance screens to display queue times and available channel information at each ticket gate in real time, ground laser projection guidance, zoned intelligent broadcasting systems, and simple AGV guidance robots. These AGV guidance robots have voice reminders and basic path guidance capabilities to achieve passenger flow management. Some advanced technologies also link with the train dispatching system to adjust guidance priorities according to train arrival and departure times, such as strengthening guidance from the waiting area to the ticket gate when a train is about to arrive.

[0003] However, overall, existing technologies still have certain limitations. Most guidance devices operate independently and lack deep collaboration in perception, processing, and guidance. For example, after a video camera detects congestion, the guidance screen needs to be manually adjusted. Furthermore, some technologies have limited functions, AGV guidance robots lack physical isolation and anti-drilling design, and have limited adaptability to complex platform layouts, making it difficult to fully realize automated guidance across all scenarios. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent guidance robot for dealing with large passenger flows in subways, so as to at least solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an intelligent guidance robot for handling large passenger flows in subways, comprising:

[0006] The subway platform is divided into inner and outer areas by the ticket checking area;

[0007] The main control cabinet is located inside the subway platform.

[0008] A surveillance camera is installed at the top of the main control cabinet, and the surveillance camera is electrically connected to the main control cabinet;

[0009] The charging compartments are arranged in a number of spaces, and the charging compartments are spaced apart in the external area of ​​the subway platform. The charging compartments are electrically connected to the main control cabinet.

[0010] A guiding mechanism is located inside one of the charging compartments;

[0011] The number of blocking mechanisms is several, and several blocking mechanisms are arranged inside the remaining charging compartments.

[0012] Preferably, the guiding mechanism includes: a first AGV robot, a cylindrical shell, a cylindrical shell, a first electric telescopic rod, a slotted shell, a limiting component, a movable base, a belt assembly, and a first motor; the first AGV robot is disposed in the external area of ​​the subway platform, and the first AGV robot is remotely network-connected to the main control cabinet; the cylindrical shell is installed vertically at the top of the first AGV robot; the cylindrical shell is inserted vertically into the top of the inner cavity of the cylindrical shell; the first electric telescopic rod is installed vertically at the bottom of the inner cavity of the cylindrical shell, and the telescopic end of the first electric telescopic rod is connected to the top of the inner cavity of the cylindrical shell; the first electric telescopic rod and the first AGV robot... The robot is electrically connected; the tank shell is installed at the top of the cylindrical shell along the front-back direction; there are two limiting components, which are respectively installed on the left and right sides of the outer surface of the tank shell along the front-back direction; the movable base is installed on the top outer side of the limiting ends of the left and right limiting components; the belt assembly is installed in the inner cavity of the tank shell along the front-back direction via a rotating shaft, and the top of the belt of the belt assembly is connected to the top inner side of the movable base; the first motor is installed on the front left side of the outer surface of the tank shell, the rotating end of the first motor extends into the inner cavity of the tank shell and is connected to the front pulley shaft of the belt assembly, and the first motor and the first AGV robot are electrically connected.

[0013] Preferably, the guiding mechanism further includes: a rotating frame, a second motor, an audible and visual alarm, a mounting shaft, a second electric telescopic rod, and a connecting rod; the rotating frame is mounted on the top of the movable base along the front-to-back direction via the rotating shaft; the second motor is mounted on the top of the movable base via a bracket, the rotating end of the second motor is connected to the axis of the rotating frame, and the second motor is electrically connected to the first AGV robot; the audible and visual alarm is mounted on the rear side of the top of the rotating frame, and the audible and visual alarm is electrically connected to the first AGV robot; the mounting shaft is rotatably mounted on the rear side of the bottom end of the rotating frame via a bearing seat; the second electric telescopic rod is rotatably connected to the bottom end of the rotating frame via a shaft seat and is located in front of the mounting shaft, and the second electric telescopic rod is electrically connected to the first AGV robot; one end of the connecting rod is rotatably connected to the outside of the telescopic end of the second electric telescopic rod via the rotating shaft, and the inner side of the other end of the second electric telescopic rod is keyed to the outside of the axis of the mounting shaft; wherein, drive-away components are installed on both the left and right sides of the mounting shaft.

[0014] Preferably, the deflection component includes: a trough seat, a first rotating arm, a third electric telescopic rod, a second rotating arm, and a fourth electric telescopic rod; there are two trough seats, which are respectively installed at the left and right ends of the mounting shaft; one end of the first rotating arm is rotatably connected to the inner outer end of the trough seat via the shaft; one end of the third electric telescopic rod is rotatably connected to the inner inner end of the trough seat via the shaft, and the other end of the third electric telescopic rod is rotatably connected to the inner side of the first rotating arm via the shaft, and the third electric telescopic rod is electrically connected to the first AGV robot; the second rotating arm is rotatably connected to the inner side of the other end of the first rotating arm via the shaft; one end of the fourth electric telescopic rod is rotatably connected to the outer side of the first rotating arm via the shaft, and the other end of the fourth electric telescopic rod is rotatably connected to the inner side of the outer end of the second rotating arm via the shaft, and the fourth electric telescopic rod is electrically connected to the first AGV robot.

[0015] Preferably, the blocking mechanism includes: a second AGV robot, a vertical mounting frame, a slot housing, a linear motor, a telescopic frame, a fifth electric telescopic rod, a limiting groove, a limiting roller seat, a magnetic module, a mounting slot, and a lower blocking component; the second AGV robot is located in the external area of ​​the subway platform, and the second AGV robot is remotely network-connected to the main control cabinet; the vertical mounting frame is installed vertically on the rear top of the second AGV robot; the slot housing is rotatably connected to the inner top of the vertical mounting frame via a pivot in the front-back direction; the linear motor is rotatably connected to the middle of the inner rear end of the vertical mounting frame via a pivot, and the telescopic end of the linear motor is rotatably connected to the bottom end of the slot housing via a pivot seat; the linear motor and the second AGV robot are electrically connected; the telescopic frame is inserted into the rear cavity of the slot housing in the front-back direction; the fifth electric telescopic rod is fixedly installed in the middle of the top of the inner cavity of the slot housing in the front-back direction. The telescopic end of the fifth electric telescopic rod is connected to the rear top of the telescopic frame, and the fifth electric telescopic rod is electrically connected to the second AGV robot; there are two limiting slots, which are respectively opened on the bottom left and right sides of the telescopic frame in the front-back direction; there are two sets of limiting roller seats, with two limiting roller seats in each set, and the two sets of limiting roller seats are respectively installed on the rear left and right ends of the inner cavity of the slot housing, and the left and right sets of limiting roller seats are respectively inserted into the rear ends of the inner cavity of the left and right limiting slots; the magnetic suction module is installed on the rear side of the inner cavity of the telescopic frame of the magnetic suction module, and the magnetic suction module is electrically connected to the first AGV robot; there are several mounting slots, which are opened at intervals from front to back at the bottom of the inner cavity of the telescopic frame; there are several lower blocking components, which are respectively installed in the inner cavities of several mounting slots;

[0016] Preferably, the lower blocking component includes: a housing, a connecting tube disc, a third motor, a transmission chain assembly, a micro air pump, a blocking unit, and a pneumatic suction cup; the housing is installed in the inner cavity of the telescopic frame along the left-right direction and is located above the mounting slot; the connecting tube disc is rotatably installed at the bottom center of the housing via a rotating shaft seat; the third motor is installed on the right side of the inner cavity of the housing, and the third motor is electrically connected to the second AGV robot; one end of the transmission chain assembly is keyed to the rotating end of the third motor, and the other end of the transmission chain assembly is keyed to the outside of the front end of the connecting tube disc's shaft; the micro air pump is installed on the top left side of the inner cavity of the housing, and the micro air pump is connected to the air inlet of the connecting tube disc, and the micro air pump is electrically connected to the second AGV robot; the blocking unit is wound around the outside of the connecting tube disc, and one end of the blocking unit is connected to the air outlet of the connecting tube disc; the pneumatic suction cup is installed at the other end of the blocking unit, and the pneumatic suction cup is electrically connected to the second AGV robot.

[0017] Preferably, the barrier unit includes: a protective layer, a hose, and a reinforcing armor; the protective layer is located on the outermost part of the barrier unit; the hose is located on the inner side of the protective layer, and the two ends of the hose are respectively connected to the air outlet of the connecting coil and the pneumatic suction cup; the reinforcing armor is wrapped around the outside of the hose in the circumferential direction.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] 1. The subway station interior is monitored by surveillance cameras. When congestion is detected in the ticket checking area, the cameras send a signal to the main control cabinet. The second motor drives the rotating frame to rotate to the rear on top of the moving base. The first motor drives the pulley in the belt assembly to rotate the belt, causing the belt to drive the moving base to move backward to a designated position. The second electric telescopic rod drives one end of the connecting rod to move backward, which in turn drives the mounting shaft to rotate, causing the mounting shaft to drive the two side slot seats to rotate from vertical to horizontal. The third electric telescopic rod extends and drives the first rotating arm to rotate outward inside the slot seat. The fourth electric telescopic rod extends and drives the second rotating arm to rotate outward inside the other end of the first rotating arm. With the cooperation of the first and second rotating arms, a space is created in front of the first AGV robot. The first AGV robot moves along a predetermined route, and the audible and visual alarms provide alerts. With the cooperation of the left and right deflection components, the congested crowd is separated, reserving space for the subsequent blocking mechanism.

[0020] 2. The second AGV robot follows the first AGV robot. The linear motor drives the slot shell to rotate upward to a horizontal position inside the vertical mounting frame. The fifth electric telescopic rod drives the telescopic frame to extend from the inner cavity of the vertical mounting frame to a predetermined length. The magnetic module magnetically connects with the top front of the vertical mounting frame in another blocking mechanism, so that two adjacent blocking mechanisms form a barrier to divide the ticket gate into multiple channels. Passengers pass through the channels to check tickets and enter the station in sequence. The third motor drives the connecting tube disc to rotate under the action of the transmission chain assembly. The connecting tube disc unwinds the internally wound blocking unit until the pneumatic suction cup contacts the ground. The micro air pump, through the cooperation of the hose in the blocking unit, makes the pneumatic suction cup adsorb and fix it to the ground. The third motor rotates in the opposite direction and drives the connecting tube disc to rewind the blocking unit under the transmission chain assembly, so that the hose and reinforcing armor inside the blocking unit are tightened. In this way, several blocking units form a vertical barrier under the telescopic frame to prevent passengers from passing under the telescopic frame and affecting the passage order.

[0021] By enabling intelligent collaboration, dynamic adaptation, and full-scenario protection, the number of passageways can be flexibly adjusted according to passenger flow and platform layout, transforming from the original single guidance to full-link protection. It integrates physical isolation and sound and light reminders, providing a feasible technical solution for the efficient and safe operation of subway transportation hubs. It is suitable for the large passenger flow management needs of subways in megacities during peak hours and has broad promotional value. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the present invention;

[0023] Figure 2 for Figure 1 Exploded view of the guiding mechanism;

[0024] Figure 3 for Figure 2 Enlarged view of point A;

[0025] Figure 4 for Figure 2 Enlarged view of point B;

[0026] Figure 5 for Figure 1 Explosion diagram of the arresting gear;

[0027] Figure 6 for Figure 5 Enlarged view of point C;

[0028] Figure 7 for Figure 6 Exploded view of the lower blocking component;

[0029] Figure 8 for Figure 7 Exploded view of the barrier unit.

[0030] In the diagram: 1. Subway platform; 2. Main control cabinet; 3. Surveillance camera; 4. Charging compartment; 5. Guiding mechanism; 51. First AGV robot; 52. Insertion cylinder shell; 53. Cylinder shell; 54. First electric telescopic rod; 55. Tank shell; 56. Limiting component; 57. Moving base; 58. Belt assembly; 59. First motor; 510. Rotating frame; 511. Second motor; 512. Audible and visual alarm; 513. Mounting shaft; 514. Second electric telescopic rod; 515. Connecting rod; 516. Tank seat; 517. First rotating arm; 518. Third electric telescopic rod. 519. Second rotating arm; 520. Fourth electric telescopic rod; 6. Barrier mechanism; 61. Second AGV robot; 62. Vertical mounting frame; 63. Slot housing; 64. Linear motor; 65. Telescopic frame; 66. Fifth electric telescopic rod; 67. Limiting slot; 68. Limiting roller seat; 69. Magnetic module; 610. Mounting slot; 7. Lower blocking component; 71. Housing; 72. Connecting tube coil; 73. Third motor; 74. Transmission chain assembly; 75. Miniature air pump; 76. Pneumatic suction cup; 8. Barrier unit; 81. Protective layer; 82. Hose; 83. Reinforced armor. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] Please see Figure 1-8This invention provides a technical solution: an intelligent guidance robot for handling large passenger flows in subways, comprising: a subway platform 1, a main control cabinet 2, a surveillance camera 3, a charging compartment 4, a guidance mechanism 5, and a blocking mechanism 6; the subway platform 1 is divided into inner and outer areas by a ticket checking area; the main control cabinet 2 is located in the inner area of ​​the subway platform 1, and the main control cabinet 2 uses an industrial computer equipped with a communication module, supporting 5G and Ethernet dual-mode communication; the surveillance camera 3 is installed on the top of the main control cabinet 2, and the surveillance camera 3 is electrically connected to the main control cabinet 2, and the surveillance camera 3 is an AI passenger flow statistics camera with AI intelligent analysis capabilities. The system includes a data analysis function to ensure accurate identification of information such as crowd density, queue length, and personnel movement speed; several charging compartments 4 are spaced apart in the external area of ​​the subway platform 1; the charging compartments 4 are electrically connected to the main control cabinet 2; the doors of the charging compartments 4 are equipped with electromagnetic locks and dedicated AGV chargers, supporting automatic docking and charging; the charging interface is automatically inserted without manual operation; infrared sensors are installed inside the compartments to determine whether they are fully returned to their positions; a guiding mechanism 5 is located inside one of the charging compartments 4; and several blocking mechanisms 6 are located inside the remaining charging compartments 4.

[0033] As a preferred option, further, such as Figure 2 , Figure 3 and Figure 4As shown, the guiding mechanism 5 includes: a first AGV robot 51, a tube housing 52, a cylinder housing 53, a first electric telescopic rod 54, a trough housing 55, a limiting component 56, a movable base 57, a belt assembly 58, a first motor 59, a rotating frame 510, a second motor 511, an audible and visual alarm 512, a mounting shaft 513, a second electric telescopic rod 514, and a connecting rod 515. The first AGV robot 51 is located in the external area of ​​the subway platform 1. The first AGV robot 51 is remotely network connected to the main control cabinet 2. The first AGV robot 51 has built-in SLAM laser navigation, supports preset route movement and real-time obstacle avoidance, and has a built-in lithium battery pack to power the other electrical components of the guiding mechanism 5. It also has a built-in microcontroller and communication... The module sends its current position to the main control cabinet 2 in real time; the insert housing 52 is installed on the top of the first AGV robot 51 in the vertical direction; the cylinder housing 53 is inserted into the top of the inner cavity of the insert housing 52 in the vertical direction, working with the insert housing 52 to ensure smooth lifting and lowering, and working with the first electric telescopic rod 54 to achieve height adjustment to suit different users; the first electric telescopic rod 54 is installed at the bottom of the inner cavity of the insert housing 52 in the vertical direction, the telescopic end of the first electric telescopic rod 54 is connected to the top of the inner cavity of the cylinder housing 53, the first electric telescopic rod 54 is electrically connected to the first AGV robot 51, the first electric telescopic rod 54 has a built-in linear displacement sensor, which provides real-time feedback on the telescopic stroke and can accurately control the lifting height; the tank housing 55 is installed in the front-back direction. The first motor 56 is installed at the top of the outer shell 53 of the cylinder; there are two limiting components 56, which are respectively installed on the left and right sides of the outer surface of the outer shell 55 of the tank body along the front and rear directions. The limiting components 56 adopt linear slide rail pairs to limit the sliding of the movable base 57 in the front and rear directions; the movable base 57 is installed on the top outer side of the limiting ends of the left and right limiting components 56; the belt assembly 58 is installed in the inner cavity of the outer shell 55 of the tank body along the front and rear directions through a rotating shaft, and the top of the belt of the belt assembly 58 is connected to the top inner side of the movable base 57; the first motor 59 is installed on the front left side of the outer surface of the outer shell 55 of the tank body, and the rotating end of the first motor 59 extends into the inner cavity of the outer shell 55 of the tank body and is connected to the shaft of the front pulley in the belt assembly 58. Motor 59 is electrically connected to the first AGV robot 51. The first motor 59 is a stepper motor that receives pulse signals from the first AGV robot 51. When rotating forward, it drives the belt assembly 58 to move the moving base 57 backward, and when rotating in reverse, it drives the moving base 57 to move forward. The rotating frame 510 is mounted on the top of the moving base 57 via a rotating shaft in the front-to-back direction. The second motor 511 is mounted on the top of the moving base 57 via a bracket. The rotating end of the second motor 511 is connected to the shaft of the rotating frame 510. The second motor 511 is electrically connected to the first AGV robot 51. The second motor 511 is a stepper motor that is fixed to the top of the moving base 57 via an L-shaped bracket and can drive the rotating frame 510 to rotate 90°.A sound and light alarm 512 is installed at the top rear of the rotating frame 510. The alarm 512 is electrically connected to the first AGV robot 51. The alarm 512 is an integrated sound and light alarm with yellow LED lights and a built-in MP3 player, allowing for customizable voice commands. A mounting shaft 513 is rotatably mounted on the bottom rear of the rotating frame 510 via a bearing seat. A second electric telescopic rod 514 is rotatably connected to the bottom of the rotating frame 510 via a shaft seat and is located in front of the mounting shaft 513. The second electric telescopic rod 514 is electrically connected to the first AGV robot 51. The second electric telescopic rod 514 uses a small electric cylinder; when extended, it pushes the connecting rod 515 backward. The mounting shaft 513 rotates 90° around the bearing seat, causing the groove seat 516 to rotate from vertical to horizontal. An internal angle sensor provides real-time feedback on the rotation angle of the mounting shaft 513. One end of the connecting rod 515 is rotatably connected to the outer side of the telescopic end of the second electric telescopic rod 514 via the shaft. The inner side of the other end of the second electric telescopic rod 514 is keyed to the outer side of the shaft of the mounting shaft 513. Both sides of the mounting shaft 513 are equipped with drive-away components, including: the groove seat 516, the first rotating arm 517, the third electric telescopic rod 518, the second rotating arm 519, and the fourth electric telescopic rod 520. There are two groove seats 516. 16 are respectively installed at the left and right ends of the mounting shaft 513; one end of the first rotating arm 517 is rotatably connected to the inner outer end of the tank seat 516 via the shaft; one end of the third electric telescopic rod 518 is rotatably connected to the inner end of the tank seat 516 via the shaft, and the other end of the third electric telescopic rod 518 is rotatably connected to the inner side of the first rotating arm 517 via the shaft. The third electric telescopic rod 518 is electrically connected to the first AGV robot 51. The third electric telescopic rod 518 has a built-in limit sensor and automatically stops when it reaches its maximum stroke. It can drive the first rotating arm 517 to rotate outward by its own extension; the second rotating arm 519 is rotatably connected to the first rotating arm 517 via the shaft. The other end of the fourth electric telescopic rod 520 is rotatably connected to the outside of the first rotating arm 517 via a rotating shaft. The other end of the fourth electric telescopic rod 520 is rotatably connected to the inner side of the outer end of the second rotating arm 519 via a rotating shaft. The fourth electric telescopic rod 520 is electrically connected to the first AGV robot 51. The fourth electric telescopic rod 520 has a built-in limit sensor and automatically stops when it reaches its maximum stroke. It drives the second rotating arm 519 to rotate outward through its own extension. When retracting, the fourth electric telescopic rod 520 retracts first, then the third electric telescopic rod 518 retracts, and finally the second electric telescopic rod 514 rotates the trough seat 516 to a vertical position, ensuring that it does not occupy extra space after retraction.

[0034] As a preferred option, further, such as Figure 5 and Figure 6As shown, the blocking mechanism 6 includes: a second AGV robot 61, a vertical mounting frame 62, a slot housing 63, a linear motor 64, a telescopic frame 65, a fifth electric telescopic rod 66, a limiting groove 67, a limiting roller seat 68, a magnetic module 69, a mounting slot 610, and a lower blocking component 7. The second AGV robot 61 is located in the external area of ​​the subway platform 1. The second AGV robot 61 is remotely network connected to the main control cabinet 2. The second AGV robot 61 has built-in SLAM laser navigation, supports preset route movement and real-time obstacle avoidance, and has a built-in lithium battery pack to power the other electrical components of the blocking mechanism 6. It also has a built-in microcontroller and communication module, which sends its current position to the main control cabinet 2 in real time and receives the first AGV robot's signal in real time through the network module. The GV robot 51 moves at a safe distance based on its position coordinates. It has a built-in barrier splicing algorithm and automatically adjusts its position according to the channel quantity command issued by the main control cabinet 2, ensuring accurate docking of the magnetic attraction modules 69 of adjacent mechanisms. The vertical mounting bracket 62 is installed vertically on the top rear side of the second AGV robot 61. The slot housing 63 is rotatably connected to the inner top of the vertical mounting bracket 62 via a pivot. The linear motor 64 is rotatably connected to the middle of the inner rear end of the vertical mounting bracket 62 via a pivot. The telescopic end of the linear motor 64 is rotatably connected to the bottom end of the slot housing 63 via a pivot seat. The linear motor 64 is electrically connected to the second AGV robot 61. When the linear motor 64 extends, it pushes the slot housing 63. The vertical mounting bracket 62 rotates 90° upwards from its initial vertical position to a horizontal working position. After rotating to a horizontal position, the linear motor 64 automatically locks with its built-in electromagnetic brake to prevent shaking. The telescopic bracket 65 is inserted into the rear side of the inner cavity of the slot housing 63 in the front-to-back direction. The fifth electric telescopic rod 66 is fixedly installed in the middle of the top of the inner cavity of the slot housing 63 in the front-to-back direction. The telescopic end of the fifth electric telescopic rod 66 is connected to the rear side of the top of the telescopic bracket 65. The fifth electric telescopic rod 66 is electrically connected to the second AGV robot 61. The fifth electric telescopic rod 66 receives instructions from the second AGV robot 61 and extends to push the telescopic bracket 65 along the slot housing 63. The inner cavity extends forward and automatically stops when it reaches its maximum stroke or retracts to its initial position to avoid overtravel; there are two limiting grooves 67, which are respectively opened on the left and right bottom sides of the telescopic frame 65 in the front-back direction; there are two sets of limiting roller seats 68, with two limiting roller seats 68 in each set. The two sets of limiting roller seats 68 are respectively installed on the left and right ends of the inner cavity of the slot housing 63, and the left and right sets of limiting roller seats 68 are respectively inserted into the front and back sides of the inner cavity of the left and right limiting grooves 67. Each limiting roller seat 68 contains 2 polyurethane rollers;A magnetic module 69 is installed on the rear side of the inner cavity of the telescopic frame 65. The magnetic module 69 is electrically connected to the first AGV robot 51. The magnetic module 69 is controlled by the second AGV robot 61 to engage when powered on and disengage when powered off. When the telescopic frame 65 extends to its position, the magnetic module 69 engages with the vertical mounting frame 62 of the adjacent blocking mechanism 6. There are several mounting slots 610, spaced apart from front to back at the bottom of the inner cavity of the telescopic frame 65. There are also several lower blocking components 7, each installed within one of the mounting slots 610.

[0035] As a preferred option, further, such as Figure 7 As shown, the lower blocking component 7 includes: a housing 71, a connecting tube disc 72, a third motor 73, a transmission chain assembly 74, a micro air pump 75, a blocking unit 8, and a pneumatic suction cup 76. The housing 71 is installed in the inner cavity of the telescopic frame 65 along the left-right direction and is located above the mounting slot 610. The connecting tube disc 72 is rotatably installed at the bottom center of the housing 71 via a rotating shaft seat. The connecting tube disc 72 serves as the carrier for the blocking unit 8. A spiral winding groove is provided on the outer circumference to ensure that the blocking unit 8 is wound neatly. One end of the built-in rotary joint is connected to the micro air pump 75, and the other end is connected to the blocking unit 8 to achieve continuous air supply during rotation. The third motor 73 is installed on the right side of the inner cavity of the housing 71. The third motor 73 is electrically connected to the second AGV robot 61. The third motor 73 is a servo motor equipped with an absolute encoder. After receiving the deployment command, it drives the connecting tube disc 72. The rotation unwinds the blocking unit 8, and tightens it upon receiving a retraction command; one end of the transmission chain assembly 74 is keyed to the rotating end of the third motor 73, and the other end is keyed to the outside of the front end of the connecting tube disc 72; the micro air pump 75 is installed on the left side of the top of the inner cavity of the housing 71, and is connected to the air inlet of the connecting tube disc 72. The micro air pump 75 is electrically connected to the second AGV robot 61, and its start and stop are controlled by the second AGV robot 61. When the pneumatic suction cup 76... Once the target vacuum level is reached, the miniature air pump 75 stops, and the internal holding valve closes to maintain the vacuum environment. The barrier unit 8 is wrapped around the outside of the connecting tube coil 72, and one end of the barrier unit 8 is connected to the air outlet of the connecting tube coil 72. The pneumatic suction cup 76 is installed at the other end of the barrier unit 8. The pneumatic suction cup 76 is electrically connected to the second AGV robot 61. The pneumatic suction cup 76 is a vacuum suction cup, and the bottom is provided with a honeycomb anti-slip texture to increase the friction with the platform floor tiles.

[0036] As a preferred option, further, such as Figure 8As shown, the barrier unit 8 includes: a protective layer 81, a flexible hose 82, and a reinforcing armor 83; the protective layer 81 is located on the outermost part of the barrier unit 8, and the protective layer 81 is made of PVC anti-scratch tape; the flexible hose 82 is located on the inner side of the protective layer 81, and the two ends of the flexible hose 82 are connected to the air outlet of the connecting coil 72 and the pneumatic suction cup 76, respectively; the reinforcing armor 83 is wrapped around the outside of the flexible hose 82 in the circumferential direction, and the reinforcing armor 83 is made of aramid braided tape, with fine steel wires embedded in the center of the braided tape, and is spirally wound around the outer circumference of the flexible hose 82 with equal pitch to form a continuous tensile network to avoid local stress breakage.

[0037] Its detailed connection methods are well-known technologies in this field. The following mainly introduces the working principle and process, and the specific work is as follows:

[0038] Step 1: Monitoring camera 3 captures real-time data on crowd density, queue length, and pedestrian movement speed in the ticket checking area. When the detected data exceeds a threshold, a congestion alarm is triggered. Monitoring camera 3 packages the data, including congestion location and severity, and sends it to the main control cabinet 2. Upon receiving the signal, the main control cabinet 2 triggers its internal pre-set program, prioritizing the sending of a start command to the guiding mechanism 5 to activate the first AGV robot 51. The charging compartment 4 where the first AGV robot 51 is located responds synchronously, automatically disconnecting the charging interface and unlocking the door limit latches to ensure unobstructed movement of the first AGV robot 51. After the first AGV robot 51 completely leaves the charging compartment, the charging compartment 4 automatically closes its door and enters standby mode, waiting for subsequent equipment to return to its position. Once the first AGV robot 51 leaves the charging compartment, its built-in program starts, sequentially controlling the second motor 511, the first motor 59, the second electric telescopic rod 514, the third electric telescopic rod 518, the second rotating arm 519, and the audible and visual alarm 512 according to preset logic. The second motor 511 drives the rotating frame 510 to rotate backward on top of the movable base 57 until the rotating frame 510 faces the ticket inspection area. Then, the first motor 59 starts... The first electric telescopic rod 514 extends, causing the driving pulley in the belt assembly 58 to rotate. This drives the driven pulley via the belt drive in the belt assembly 58, causing the movable base 57 connected to the top of the belt to slide backward along the outer side of the tank housing 55. The second electric telescopic rod 514 extends, pushing one end of the connecting rod 515 backward. The other end of the connecting rod 515 drives the mounting shaft 513 to rotate around the bearing seat, causing the tank seats 516 at both ends of the mounting shaft 513 to rotate from their initial vertical state to a horizontal state parallel to the ground. The third electric telescopic rod 518 extends, pushing the first rotating arm 517 in the tank... The inner side of the body base 516 rotates outward, the fourth electric telescopic rod 520 extends, and pushes the second rotating arm 519 to rotate outward on the inner side of the other end of the first rotating arm 517. The first rotating arm 517 and the second rotating arm 519 cooperate to unfold, forming a buffer space in front of the first AGV robot 51. The first AGV robot 51 moves slowly along the preset route. At the same time, the sound and light alarm 512 is activated, and the warning light is combined with the voice prompt. Under the guidance of physical isolation and sound and light reminders, the congested crowd will gradually be diverted to both sides, preparing for the subsequent blocking mechanism 6 to build an isolation channel.

[0039] Step 2: As the guiding mechanism 5 begins to segment the crowd, the pre-programmed program inside the main control cabinet 2 simultaneously sends a start command to all blocking mechanisms 6, activating the second AGV robot 61. The charging compartment 4 where the second AGV robot 61 is located automatically disconnects the charging interface and unlocks the compartment door. After the AGV moves out, the compartment door closes and it goes into standby mode. After the second AGV robot 61 moves out, it obtains the position and movement trajectory of the first AGV robot 51 through real-time wireless communication and follows it. When the first AGV robot 51 stops at the starting point of the channel and sends a space ready signal, the second AGV robot 61 moves to its corresponding channel setup position and then starts... The system activates its built-in program and controls the linear motor 64, the fifth electric telescopic rod 66, the magnetic module 69, the third motor 73, and the micro air pump 75 to start. The linear motor 64 extends, pushing the slot housing 63 to rotate upward around the pivot at the top inner side of the vertical mounting frame 62 until the slot housing 63 is in a horizontal position. At this time, the direction of the slot housing 63 is consistent with the queuing direction of the ticket gate, preparing for the subsequent extension of the barrier. The fifth electric telescopic rod 66 extends, and the telescopic frame 65 extends forward along the inner cavity of the slot housing 63. The magnetic module 69 on the rear side of its inner cavity is energized and activated, and the top front side of the vertical mounting frame 62 of the adjacent barrier mechanism 6 is activated. After precisely engaging with the magnetic module 69, two adjacent blocking mechanisms 6 are joined together to form a complete barrier. Multiple blocking mechanisms 6 are connected sequentially in this process, ultimately creating multiple independent channels at the ticket gate. Passengers can queue along these channels to enter the station, avoiding congestion caused by passengers from different channels weaving through each other. To prevent passengers from crawling under the barrier, the third motor 73 drives one sprocket of the transmission chain assembly 74 to rotate. Under the transmission of the chain in the transmission chain assembly 74 and the sprocket on the other side, the connecting tube disc 72 rotates. The spirally wound barrier unit 8 on the outside of the connecting tube disc 72 is then unwound until the pneumatic suction cup 76 at the end of the barrier unit 8 is completely in contact with the ground. The miniature air pump 75 starts and delivers negative pressure into the hose 82 of the barrier unit 8 through the air inlet of the connecting tube coil 72. The negative pressure is transmitted through the hose to the pneumatic suction cup 76, which extracts the air between the suction cup 76 and the ground, ensuring that the suction force of the pneumatic suction cup 76 can resist the lateral pulling force, thereby firmly fixing one end of the barrier unit 8 to the ground. The third motor 73 rotates in the opposite direction, driving the connecting tube coil 72 to rotate in the opposite direction through the transmission chain assembly 74, slowly winding up the barrier unit 8. During the winding process, the hose 82 and the reinforcing armor 83 of the barrier unit 8 gradually tighten, eventually forming a vertical barrier under the telescopic frame 65, which can effectively prevent people from crawling over.

[0040] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An intelligent guiding robot for coping with large passenger flow in a subway, characterized in that, Include: The subway platform (1) is divided into two areas inside and outside by the ticket checking area; The main control cabinet (2) is arranged in the internal area of the subway platform (1); The monitoring camera (3) is installed at the top of the main control cabinet (2), and the monitoring camera (3) and the main control cabinet (2) are electrically connected; The charging cabin (4) is arranged in the external area of the subway platform (1), and the charging cabin (4) and the main control cabinet (2) are electrically connected; The guide mechanism (5) is arranged in one of the charging cabins (4); The blocking mechanism (6) is arranged in the remaining charging cabin (4); The guide mechanism (5) comprises: The first AGV robot (51) is arranged in the external area of the subway platform (1), and the first AGV robot (51) and the main control cabinet (2) are remotely connected; The plug-in cylinder shell (52) is installed at the top of the first AGV robot (51) in the up-down direction; The cylinder shell (53) is inserted into the inner cavity of the plug-in cylinder shell (52) in the up-down direction; The first electric telescopic rod (54) is installed at the bottom of the inner cavity of the plug-in cylinder shell (52) in the up-down direction, the telescopic end of the first electric telescopic rod (54) is connected with the inner cavity top of the cylinder shell (53), and the first electric telescopic rod (54) and the first AGV robot (51) are electrically connected; The groove shell (55) is installed at the top of the cylinder shell (53) in the front-rear direction; The limiting assembly (56) is arranged in the left and right sides of the outer surface of the groove shell (55) in the front-rear direction; The moving base (57) is installed on the top of the limiting end of the left and right limiting assemblies (56); The belt assembly (58) is installed in the inner cavity of the groove shell (55) in the front-rear direction through the rotating shaft, and the top of the belt of the belt assembly (58) is connected with the inner top end of the moving base (57); The first motor (59) is installed at the left front end of the outer surface of the groove shell (55), the rotating end of the first motor (59) extends into the inner cavity of the groove shell (55) and is connected with the front belt pulley shaft of the belt assembly (58), and the first motor (59) and the first AGV robot (51) are electrically connected; The rotating frame (510) is installed at the top of the moving base (57) in the front-rear direction through the rotating shaft; The second motor (511) is installed on the top of the moving base (57) through the support, the rotating end of the second motor (511) is connected with the shaft of the rotating frame (510), and the second motor (511) and the first AGV robot (51) are electrically connected; The sound and light alarm (512) is installed at the top of the rotating frame (510) on the rear side, and the sound and light alarm (512) and the first AGV robot (51) are electrically connected; A mounting rotating shaft (513) is rotatably mounted at the bottom rear side of the rotating frame (510) through a bearing seat; A second electric telescopic rod (514) is rotatably connected at the bottom end of the rotating frame (510) and located in front of the mounting rotating shaft (513), and the second electric telescopic rod (514) is electrically connected with the first AGV robot (51); A connecting rod (515) is rotatably connected at one end of the telescopic end outside of the second electric telescopic rod (514), and the other end inside of the second electric telescopic rod (514) is keyed with the outer part of the shaft of the mounting rotating shaft (513); The blocking mechanism (6) comprises: A second AGV robot (61) is located in the external area of the subway platform (1), and the second AGV robot (61) is remotely connected with the main control cabinet (2) through a network; A vertical mounting frame (62) is mounted at the top rear side of the second AGV robot (61) in the up-down direction; A slot shell (63) is rotatably connected at the inside top end of the vertical mounting frame (62) in the front-rear direction through a rotating shaft; A linear motor (64) is rotatably connected at the inside rear end middle part of the vertical mounting frame (62) through a rotating shaft, the telescopic end of the linear motor (64) is rotatably connected with the bottom end of the slot shell (63) through a bearing seat, and the linear motor (64) is electrically connected with the second AGV robot (61); A telescopic frame (65) is inserted at the inside cavity rear side of the slot shell (63) in the front-rear direction; A fifth electric telescopic rod (66) is fixedly mounted at the inside cavity top end middle part of the slot shell (63) in the front-rear direction, the telescopic end of the fifth electric telescopic rod (66) is connected with the top rear side of the telescopic frame (65), and the fifth electric telescopic rod (66) is electrically connected with the second AGV robot (61); A limiting groove (67) is provided in two numbers, and two limiting grooves (67) are respectively provided in the front-rear direction on the left and right sides of the bottom of the telescopic frame (65); A limiting roller seat (68) is provided in two groups, each group of limiting roller seats (68) is provided in two numbers, and two groups of limiting roller seats (68) are respectively mounted at the inside cavity bottom rear side of the slot shell (63) on the left and right ends of the front and rear sides, and the left and right groups of limiting roller seats (68) are respectively inserted with the inside cavity front and rear sides of the left and right two limiting grooves (67); A magnetic attraction module (69) is mounted at the inside cavity rear side of the telescopic frame (65), and the magnetic attraction module (69) is electrically connected with the first AGV robot (51); A mounting slot (610) is provided in several numbers, and several mounting slots (610) are provided at the inside cavity bottom end of the telescopic frame (65) from front to back; A lower blocking component (7) is provided in several numbers, and several lower blocking components (7) are respectively mounted in the inside cavity of the several mounting slots (610).

2. The intelligent guiding robot for dealing with large passenger flow in subway according to claim 1, characterized in that: The left and right sides of the mounting rotating shaft (513) are provided with a repelling component. 3.The intelligent guiding robot for dealing with large passenger flow in subway according to claim 2, characterized in that: The repelling component comprises: The slot body seat (516) is two in number, and the two slot body seats (516) are respectively installed at the left and right ends of the installation rotating shaft (513); The first rotating arm (517) is rotatably connected at one end to the inner side of the outer end of the slot body seat (516); The third electric telescopic rod (518) is rotatably connected at one end to the inner side of the inner end of the slot body seat (516), and the other end of the third electric telescopic rod (518) is rotatably connected to the inner side of the first rotating arm (517), and the third electric telescopic rod (518) is electrically connected with the first AGV robot (51); The second rotating arm (519) is rotatably connected at the other end of the first rotating arm (517); The fourth electric telescopic rod (520) is rotatably connected at one end to the outer side of the first rotating arm (517), and the other end of the fourth electric telescopic rod (520) is rotatably connected to the outer end of the second rotating arm (519), and the fourth electric telescopic rod (520) is electrically connected with the first AGV robot (51).

4. The intelligent guiding robot for dealing with large passenger flow of subway according to claim 3, characterized in that: The lower blocking component (7) comprises: The shell (71) is installed in the inner cavity of the telescopic frame (65) along the left-right direction and above the installation slot (610); The connecting pipe disc (72) is rotatably installed in the bottom middle part of the shell (71) through a rotating shaft seat; The third motor (73) is installed in the inner cavity right side of the shell (71), and the third motor (73) is electrically connected with the second AGV robot (61); The transmission chain assembly (74) is keyed connected at one end to the rotating end of the third motor (73), and the other end of the transmission chain assembly (74) is keyed connected to the outer end of the shaft center of the connecting pipe disc (72); The miniature air pump (75) is installed in the inner cavity top left side of the shell (71), and the miniature air pump (75) is connected with the air inlet of the connecting pipe disc (72), and the miniature air pump (75) is electrically connected with the second AGV robot (61); The blocking unit (8) is wound outside the connecting pipe disc (72), and one end of the blocking unit (8) is connected with the air outlet of the connecting pipe disc (72); The pneumatic suction cup (76) is installed at the other end of the blocking unit (8), and the pneumatic suction cup (76) is electrically connected with the second AGV robot (61).

5. The intelligent guiding robot for dealing with large passenger flow of subway according to claim 4, characterized in that: The blocking unit (8) comprises: The protective layer (81) is located at the outermost part of the blocking unit (8); The hose (82) is located inside the protective layer (81), and the two ends of the hose (82) are respectively connected with the air outlet of the connecting pipe disc (72) and the pneumatic suction cup (76); The reinforcing armor (83) is wound outside the hose (82) in the circumferential direction.

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