CN115478504A

CN115478504A - Moving iron horse system and method for using same

Info

Publication number: CN115478504A
Application number: CN202211143307.8A
Authority: CN
Inventors: 张一鸣; 柏广伟; 刘晓岚; 魏宏; 李新泉
Original assignee: Communication Information Industry Co ltd
Current assignee: Communication Information Industry Co ltd
Priority date: 2022-09-20
Filing date: 2022-09-20
Publication date: 2022-12-16

Abstract

The present disclosure relates to a mobile hobby horse system and a method of using the same. This remove indisputable horse system includes: a horseshoe pole, which is movable based on SLAM; each RFID tag is provided with a unique identification address, and is preset at a position where the iron horse pole needs to be arranged; a communication unit that communicates with the hobbyhorse; and the iron horse rod automatically navigates to the position of the corresponding RFID label designated by the background management system based on the SLAM in response to a command sent by the background management system through the communication unit and identifies the RFID label. By providing the moving iron horse system and the method using the moving iron horse system, the iron horse rod can be automatically moved to a specified position, and the rapid adjustment of the passenger flow passing path is realized.

Description

Moving iron horse system and method for using same

Technical Field

The invention relates to a mobile iron horse system and a method using the same, in particular to a mobile iron horse system based on SLAM (instant positioning and mapping) and RFID (radio frequency identification) and a method using the same.

Background

The iron horse is an unfixed important facility for passenger flow organization in large public places, is widely used in places with concentrated passenger flow, such as railway stations, subway stations, stadiums and the like, and mainly has the functions of dispersing and dredging the concentrated passenger flow, and can standardize the passenger flow order during peak periods to avoid the passenger flow hedging. Thereby ensuring the safety of passengers. Without the iron horse, the passenger flow is easy to be crowded, piled up and even stepped on, which causes personal, property and operation loss.

In order to avoid the above problems, different operation places need to be researched in different areas and time periods, different optimization schemes are adopted, the scheme is formulated for the number, length, placement time, placement position and the like of the iron horses, and a large amount of time and manpower are needed for repeated disassembly and assembly. In response to irregular and unplanned temporary large passenger flows, the iron horse device cannot be reasonably arranged in an operation place at the first time, and the operation place can be disordered under the conditions of large-scale activities, rainstorm, emergency and the like.

Disclosure of Invention

In order to solve at least one of the above problems, a mobile iron horse system and a method using the mobile iron horse system are provided, the mobile iron horse system is an intelligent mobile iron horse system based on SLAM and RFID, and the mobile iron horse system is adaptable to various indoor places, especially railway stations and subway stations, and is beneficial to orderly guiding passenger flow, promoting good order of public places with large passenger flow and guaranteeing operation safety.

According to an aspect of the present disclosure, there is provided a mobile hobby horse system, which may include: a horseshoe pole, which is movable based on SLAM; RFID tags, each of which has a unique identification address, which can be preset at a position where the hobby horse pole needs to be set; a communication unit that can communicate with the hobbyhorse; a back office management system which can communicate with the communication unit, the hobbyhorse can automatically navigate to the position of the corresponding RFID label appointed by the back office management system based on SLAM and identify the RFID label in response to the command sent by the back office management system through the communication unit.

Optionally, the mobile hobbyhorse system may further include a charging unit for charging the hobbyhorse pole, and the hobbyhorse pole may automatically navigate to a position of the charging unit based on SLAM when the amount of power is lower than a user-set threshold of the amount of power.

Optionally, the iron horse rod may include a moving chassis, the moving chassis may be mounted with a driving wheel, a universal wheel and a laser radar, and a forward direction pointing sign may be provided on the moving chassis.

Alternatively, the iron horse bar may be provided with an moving bar for retracting and deploying the separation belt, and the moving bar may have a deployed state in which the separation belt is deployed and a retracted state in which the separation belt is retracted.

Alternatively, the iron horse pole may include a moving chassis, a supporting main pole vertically disposed on the moving chassis, and a receiving frame connected to the supporting main pole at an opposite side of the moving chassis, the receiving frame may have four receiving grooves opened to four directions in a circumferential direction of the iron horse pole, respectively, a moving pole and the isolating band may be received in each receiving groove, a lower end of the moving pole may be pivotably connected to a lower end of the corresponding receiving groove and an upper end of the moving pole is connected to one end of the corresponding isolating band, and the other end of the isolating band may be received inside the receiving groove through the upper end of the corresponding receiving groove, so that the moving pole may be switched between an expanded state in which the isolating band is expanded and a retracted state in which the upper end of the moving pole is away from the corresponding receiving groove and the isolating band is pulled out of the receiving groove, in the retracted state in which the moving pole and the isolating band are completely received in the corresponding receiving groove.

Optionally, the iron horse rod can be further provided with an acousto-optic indicator and a display device.

Alternatively, the hobbyhorse may switch the moving bar between the deployed state and the retracted state in response to a command sent by the back office management system through the communication unit.

Optionally, the hobbyhorse may operate the display device and/or the acousto-optic indicator in response to a command sent by the back office management system through the communication unit.

Optionally, the hobbyhorse pole can make the forward pointing identification point to the standard direction of the working state in response to a command sent by the background management system through the communication unit.

Optionally, the background management system may include a registration management module, a real-time management module, and a policy management module, and the registration management module may bind the hobby horse to the background management system and number the hobby horse, thereby implementing group management and online management of the hobby horse; the real-time management module can set the position of each of the iron horse posts, the unfolding state and the folding state in real time, and can calculate and adjust the number and the position of the iron horse posts, the unfolding state and the folding state in a mode of setting a passenger flow passing path; the policy management module may manage a plurality of the hobby poles in groups, and set the positions of the hobby poles, the extended state, and the retracted state according to time and a trigger condition.

According to another aspect of the present disclosure, there is provided a method of using a mobile hobby horse system, the method comprising the steps of: binding each hobbyhorse with a unique identification address in the background management system, and grouping the hobbyhorses; the background management system is communicated with the iron horse post through the communication unit to inquire the state of the iron horse post; setting a preset scheme of a passenger flow passing path according to time and passenger flow change conditions through the background management system; when the preset scheme triggering condition is met, the background management system sends a corresponding command to the iron horse pole through the communication unit according to the inquired state of the iron horse pole; the hobbyhorse automatically navigates to a specified location based on SLAM in response to the respective command.

Optionally, the mobile hobby horse system further comprises a charging unit for charging the hobby horse pole, and the method further comprises: after the task of the appointed time is completed, the iron horse pole returns to the standby area where the charging unit is located to wait for the next task, when the iron horse pole is located in the standby area where the charging unit is located and the electric quantity is lower than the electric quantity threshold set by a user, the iron horse pole automatically moves to the charging unit for charging, when the iron horse pole is in a working state and the electric quantity is lower than the electric quantity threshold set by the user, the iron horse pole automatically moves to the charging unit for charging and informs the background management system, and the background management system calls other iron horse poles which are in the standby state and meet working requirements to automatically move to the working area and complete state setting.

Optionally, the iron horse rod is provided with an moving rod for retracting and deploying the isolation belt, and the moving rod has a deployed state in which the isolation belt is deployed and a retracted state in which the isolation belt is retracted, and the method may further comprise: the iron horse bar causes the moving bar to be in the deployed state or the retracted state in response to the respective command.

According to the moving iron horse system and the method using the moving iron horse system, the number, the position and the setting state of the iron horse poles can be automatically calculated and adjusted by setting the passing path, and the iron horse poles are automatically moved to the specified positions at the specified time, so that a large amount of manpower and time are saved, and the passenger flow passing path can be quickly adjusted.

Drawings

FIG. 1 is a schematic illustration of a mobile hobbyhorse system according to an exemplary embodiment of the present disclosure;

fig. 2 is a schematic view of a passenger flow transit path set by a hobbyhorse system according to an exemplary embodiment of the present disclosure.

FIG. 3a is a perspective view of the ferrous horse bar with the moving bar in a retracted state according to an exemplary embodiment of the present disclosure; and fig. 3b is a perspective view of the ferrous horse bar with the moving bar in a deployed state, and showing an enlarged view of the wheels, the forward pointing indicator and the charging interface of the bottom of the moving chassis, according to an exemplary embodiment of the present disclosure;

FIG. 4 is a perspective view of a moving chassis of a ferrous rod according to an exemplary embodiment of the present disclosure, viewed from the bottom;

FIG. 5 is a block schematic diagram illustrating the components of a control assembly of a metro rod in accordance with an exemplary embodiment of the present disclosure; and is provided with

Fig. 6 is a schematic view illustrating a principle of deploying and retracting a moving rod of a hobby horse in accordance with an exemplary embodiment of the present disclosure.

Description of the reference numerals:

10. movable iron horse system

100. Iron horse pole

101. Movable chassis

102. Support main rod

103. Storage frame

104. Accommodating tank

105. Top cover

106. Acousto-optic indicator

107. Moving rod

108. Isolation belt

109. Display device

110. Laser radar

111. Obstacle avoidance sensor

112 universal wheel

113a, 113b driving wheel

114. Forward pointing identification

115. Charging interface

116. Driving shaft

117. Transmission component

118. First driven shaft

119. Second driven shaft

120. Third driven shaft

200 RFID tag

300. Communication unit

400. Background management system

Detailed Description

In order that those skilled in the art will better understand the technical solutions of the present disclosure, exemplary embodiments will be described in detail below. The following description refers to the accompanying drawings in which the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of systems and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

Fig. 1 is a schematic illustration of a mobile hobbyhorse system 10 according to an exemplary embodiment of the present disclosure. The mobile iron horse system 10 includes: a horseshoe 100 capable of moving based on SLAM (simultaneous localization and mapping); RFID (Radio Frequency Identification) tags 200 (shown in fig. 2), each of the RFID tags 200 having a unique Identification address, the RFID tags 200 being previously set at positions where the iron horse bar 100 needs to be set; a communication unit 300 communicating with the hobbyhorse 100; and a back office management system 400 communicating with the communication unit 300, the hobbyhorse 100 automatically navigates to the position of the corresponding RFID tag 200 designated by the back office management system 400 based on SLAM in response to a command transmitted from the back office management system 400 through the communication unit 300 and recognizes the RFID tag 200.

The background management system 400 is an operation management platform of the whole mobile hobby horse system 10, can inquire and set the real-time position and the real-time state of the hobby horse poles 100, can manage the hobby horse poles 100 in groups, can set the number of each group of hobby horse poles 100 according to the field environment and the operation requirement, and can increase and decrease and adjust the number in real time. The background management system 400 can set different passenger flow passage path preset schemes and preset plans according to time and strategies. The background management system 400 sets a management plan or adjusts the passenger flow passage path in real time through a real-time control management function to form channels with different shapes and lengths, and the background management system 400 can calculate the preset position and state parameters of each metro rod 100 in real time according to the set conditions and transmit the calculated control command to the corresponding metro rod 100 through the communication unit 300.

Backend management system 400 may have, for example, a graphical operating interface. Background management system 400 may communicate with one or more communication units 300 over a local area network. In some embodiments, back office system 400 and communication unit 300 may also be connected to the internet.

The communication unit 300 is a communication relay apparatus managed for one or more groups of hobby poles 100, and each of the plurality of communication units 300 can communicate with a plurality of hobby poles 100. The communication unit 300 may have a wireless communication module by which the hobby poles 100 under the same network can be managed. The communication unit 300 may have a wireless internet of things communication transceiver, a wireless WiFi transceiver, and a wired network transceiver. The communication unit 300 receives and transmits information of the background management system 400 through the local area network.

The metro rod 100 is an intelligent moving metro rod, is an intelligent fence device capable of self-positioning and moving, can realize indoor self-movement and positioning through, for example, a laser radar 110 (see fig. 3a, which will be mentioned later) and an RFID tag 200, can realize enclosure and release in four directions, front, back, left and right, and is connected with a communication unit 300 in a wireless communication manner. The hobby poles 100 may have, for example, a wireless internet-of-things communication transceiver (e.g., provided in a main control board to be mentioned later) therein, and each hobby pole 100 has a unique identification address so as to be able to receive command information of the communication unit 300.

Here, SLAM (immediate positioning and mapping) refers to moving from an unknown position in an unknown environment, performing self-positioning according to the position and a map during the moving, and simultaneously building an incremental map on the basis of the self-positioning to realize autonomous positioning and navigation of a robot (here, the iron horse 100). Specifically, in the hobbyhorse pole 100, the laser radar 110 can be used for detecting the moving environment of the hobbyhorse pole 100, and mapping, positioning and navigation of an application place can be realized through the SLAM technology based on radar detection.

In addition, the RFID (radio frequency identification) means that non-contact data communication is performed between an RFID reader and an RFID tag to achieve the purpose of identifying an object. In the present embodiment, the RFID tag 200 is preferably a passive RFID tag, which is pre-installed at a position where the metro rod 100 needs to be set (i.e., a position in a preset scheme by the background management system 400), and performs contactless data communication by an RFID identification module (to be described later) installed in the metro rod 100 to identify the RFID tag 200, thereby assisting in accurate positioning of the metro rod 100. More specifically, when the hobbyhorse 100 navigates to the vicinity of the location where the RFID tag 200 is located based on SLAM, the RFID recognition module recognizes that the recognition address of the RFID tag 200 is the recognition address of the RFID tag 200 of the specified location to be moved to, thereby confirming that the target moving location has been reached.

The operations of the hobbyhorse stick 100, the RFID tag 200, the communication unit 300 and the background management system 400 in the mobile hobbyhorse system 10 are described in detail below with reference to fig. 2. The traffic path scheme of the background management system 400 according to time and policy setting is shown in fig. 2. According to the passenger traffic route scheme, the hobby horse-rails 100 need to form a roundabout route. This circuitous path can be achieved by moving the ferrous horse bar 100 to the corresponding 14 points shown in the figure. The 14 sites are each pre-populated with an RFID tag 200. In the figure, the number 06 hobby rod has not moved to the predetermined point yet, and the other 13 hobby rods 100 are all in place. After the number 06 hobbyhorse receives the preset stake position which is sent by the background management system 400 through the communication unit 300 and moves to the reference number 200 in the figure, based on SLAM, the laser radar of the number 06 hobbyhorse starts to detect the moving environment of the hobbyhorse 100, carries out self-positioning according to the position and the map in the moving process, and builds an incremental map on the basis of self-positioning, thereby automatically navigating to the preset stake position, and confirms that the identification address of the RFID tag 200 of the preset stake position is consistent with the identification address indicated in the command sent by the background management system 400 through the RFID identification module arranged on the number 06 hobbyhorse.

In some embodiments, the mobile hobby system 10 may further include a charging unit (not shown in the figures, e.g., provided in a standby area of a use place) for charging the hobby stick 100, and the hobby stick 100 can automatically navigate to a position of the charging unit based on SLAM when the power is insufficient (e.g., below a power threshold set by a user). The charging unit usually has external positive and negative contacts to provide a stable dc power source.

Referring to fig. 3a and 3b, fig. 3a is a perspective view of the ferrous horse bar 100 with the moving bar 107 in a retracted state according to an exemplary embodiment of the present disclosure; and fig. 3b is a perspective view of the iron horse bar 100 according to an exemplary embodiment of the present disclosure with the moving bar 107 in a deployed state, and fig. 3b shows an enlarged view of the wheels, the forward direction pointing indicator 114 and the charging interface 115 of the bottom of the moving chassis 101, respectively, in a circle A, B, C. In some embodiments, the hobbyhorse 100 may include a moving chassis 101, the moving chassis 101 is mounted with driving

wheels

113a and 113b, universal wheels 112 (shown in fig. 4) and a laser radar 110, and a forward direction indicator 114 is provided on the moving chassis 101. In some embodiments, the moving chassis 101 of the iron horse 100 is further installed with an infrared camera (not shown), an obstacle avoidance sensor 111 and a charging interface 115. The obstacle avoidance sensor 111 may be used to prevent collision when the iron horse rail 100 moves, and avoid a person or an object in front. The charging interface 115 may include positive and negative contact tabs for docking with a charging unit.

In some embodiments, the iron horse bar 100 is provided with an moving bar 107 for retracting and deploying the isolation belt 108, and the moving bar 107 has a deployed state in which the isolation belt 108 is deployed and a retracted state in which the isolation belt 108 is retracted. The release tape 108 may be any flexible tape such as a cloth tape, for example. When the moving rod 107 is in the unfolded state, the isolation belt 108 is unfolded to form a fence; and when the moving rod 107 is in the retracted state, the isolation belt 108 is retracted to form a passage for the passage of a passenger flow. More specifically, in some embodiments, the hobby horse bar 100 further includes a support main bar 102 vertically arranged on the moving chassis 101 and a receiving frame 103 connected to the support main bar 102 at an opposite side to the moving chassis 101, the receiving frame 103 has four receiving grooves 104 respectively opened to four directions in a circumferential direction of the hobby horse bar 100, each receiving groove 104 receives therein a moving bar 107 and an isolation band 108, a lower end of the moving bar 107 is pivotably connected to a lower end of the corresponding receiving groove 104 and an upper end of the moving bar 107 is connected to one end of the corresponding isolation band 108, and the other end of the isolation band 108 is received inside the receiving groove 104 through the upper end of the corresponding receiving groove 104, so that the hobby horse bar 100 can switch the moving bar 107 between an expanded state in which the upper end of the moving bar 107 is away from the corresponding receiving groove 104 and the isolation band 108 is withdrawn, and a retracted state in which the moving bar 107 and the isolation band 108 are completely received in the corresponding receiving groove 104.

In some embodiments, the top of the receiving frame 103 is mounted with an audible and visual indicator 106, and the outer peripheral side of the support main rod 102 is mounted with a display device 109. In some embodiments, a top cover 105 is mounted on top of the receiving frame 103 and an audible and visual indicator 106 is mounted on the top cover 105. The display device 109 may be, for example, a liquid crystal display. The back office management system 400 may edit the text content to be displayed on the display device 109 to assist guidance of passenger flow and prompt of information when setting and managing the traffic route by means of pre-arranged plan setting or real-time control. The acousto-optic indicator 106 is, for example, a red, yellow and green integrated three-color acousto-optic indicator, the light-up mode includes two modes of normally on and flashing, and the acousto-optic indicator includes a buzzer and is used for assisting to prompt the current state of the iron horse pole 100, including forbidden, passing, warning, pole-lifting reminding, moving reminding and the like. In some embodiments, red normally on represents no traffic, green normally on represents traffic allowed, and yellow normally on represents a warning. When the iron horse bar 100 is moving or the moving bar 107 is opening and retracting, the acousto-optic indicator 106 is set to flash yellow light with a warning tone. As described above, the laser radar 110 is used to detect the moving environment of the metro rod 100, and based on radar detection, mapping, positioning, and navigation of an application site are realized through the SLAM technology. The infrared camera is used for assisting the laser radar in detecting and identifying the moving environment and correcting the mapping and real-time positioning. The forward direction indicator 114 is used to identify the front, back, left and right directions of the hobby horse 100. Through laser radar 110 and RFID label 200, can possess the function of indoor location, autonomous movement, autonomic charging. In some embodiments, a lithium battery is disposed within the ferrous rod 100 as an energy storage unit.

It should be understood that the arrangement positions of the above-mentioned acousto-optic indicator 106, display device 109, lidar 110, obstacle avoidance sensor 111 and charging interface 115, infrared camera, and forward direction indicator 114 are not particularly limited, and may be arranged at any suitable position on the iron horse 100 as long as the corresponding functions thereof can be achieved.

In some embodiments, the metro rods 100 may switch the moving rod 107 of each metro rod 100 between the extended state and the retracted state in response to a command sent by the back office management system 400 through the communication unit 300, for example, causing retraction or extension of the moving rod 107 in four directions. For example, two opposing moving bars 107 of four-directional moving bars 107 may be deployed, while the other two opposing moving bars 107 are retracted; for example, one moving rod 107 of the four-way moving rods 107 may be deployed while the other two moving rods 107 are retracted. It will be appreciated by those skilled in the art that each of the four directional moving bars 107 may be independently deployed or retracted to accommodate the requirements of the passenger flow channel path.

In some embodiments, the hobbyhorse stick 107 may operate the display device 109 and/or the acoustic and optical indicator 106 in response to a command sent by the backend management system 400 through the communication unit 300, for example, to implement text display of the display device 109 such as a liquid crystal display, implement light color, constant brightness, blinking and turning off of the acoustic and optical indicator 106, and turn on and off of a buzzer.

In some embodiments, the hobbyhorse 100 can make the forward pointing indicator 114 point to the standard direction of the working state in response to a command sent by the background management system 400 through the communication unit 300.

The passenger flow passage path scheme predetermined by the back office management system 400 is completed by the autonomous navigation of the hobby horse staff 100 to a predetermined position in response to a command sent by the back office management system 400 through the communication unit 300, the retraction or the extension of the four-directional moving bar 107, the operation of the display device 109 and/or the acousto-optic pointer 106, and the pointing of the forward direction indicator 114 to the standard direction of the operation state.

In some embodiments, the iron horse 100 further includes a control assembly. Fig. 5 shows a schematic diagram of a control assembly of a hobby horse 100 according to an exemplary embodiment of the present disclosure. The control assembly may be mounted, for example, on the inside of the support stem 102. The control assembly is configured to control the moving rod 107 to switch between the deployed state and the retracted state, and may also be configured to control the movement of the metro rod 100. As shown in fig. 5, the control assembly may include a main control board, a dc motor, a transmission mechanism, and the like. In addition, the control assembly may further include a mobile chassis controller including an RFID identification module and a differential movement mechanism. In addition, a battery can be connected to the control assembly. The main control board of the control assembly may include: a single chip microcomputer; the power supply module is connected to the singlechip; the wireless communication module, the internal serial port communication part, the moving rod state feedback part and the dial switch are connected to the singlechip; and a peripheral output loop connected with the singlechip. In addition, the main control board is connected to the liquid crystal display.

The following describes how the control assembly controls the moving rod 107 to switch between the deployed state and the retracted state. Referring to fig. 6, a schematic diagram of the principle of extending and retracting the moving rod 107 of the metro rod 100 is shown. When the moving rod 107 is switched from the retracted state to the extended state, after the iron horse 100 receives an extension command, the main control board of the control assembly sends the extension command to a direct current motor (not shown in fig. 6), so that the direct current motor rotates, the rotation of the direct current motor drives the driving shaft 116 to rotate, and the transmission part 117 transmits the rotation of the driving shaft 116 to the first driven shaft 118. The transmission member 117 is shown in fig. 6 as a belt transmission, but it should be understood that the transmission member 117 may be any other form of transmission member that is suitable. One end of the spacer tape 108 is connected to the moving rod 107, and the other end is wound on the first driven shaft 118 across the second driven shaft 119 provided at the upper end of the accommodation groove 104. With the rotation of the first driven shaft 118 as described above, the release tape 108 wound around the first driven shaft 118 is released, so that the release tape 108 is lowered across the second driven shaft 119, thereby causing the moving rod 107 to fall around the third driven shaft 120 (only the position shown in the drawing) provided at the lower end of the accommodating groove 104. When the moving rod 107 is thus dropped into position, the moving rod 107 is in the deployed state. At this time, the unfolded state of the moving rod 107 is fed back to the main control board, and the main control board stops the operation of the dc motor, thereby completing the unfolding operation of the moving rod 107. When the moving lever 107 is switched from the deployed state to the retracted state, the above-described flow is reversely executed. That is, the main control board controls the dc motor to rotate in the opposite direction, winds the release tape 108 around the first driven shaft 118, and raises the moving rod 107, thereby putting the moving rod 107 in the retracted state. In some embodiments, the retraction and deployment of the moving rod 107 may be achieved by controlling the start and stop of the dc motor in a wireless communication manner.

The following describes how the control assembly controls the movement of the iron horse bar 100. As described above, the mobile chassis 101 is provided with a mobile chassis controller, the mobile chassis controller includes a differential movement mechanism and an RFID identification module, the differential movement mechanism is used for controlling and managing the rotation of the

driving wheels

113a and 113b and the universal wheel 112, so as to drive the electric rod 100 to move and turn, and the RFID identification module is used for identifying the RFID tag 200 preset on the site, so as to assist the electric rod 100 in accurately judging the position.

In addition, the main control board can monitor the electric quantity of the lithium battery in the iron horse pole 100, when the electric quantity is lower than the electric quantity threshold value set by the user, the iron horse pole 100 sends a corresponding prompt, the position of the charging unit is automatically returned for charging, and meanwhile, the spare iron horse pole at the position of the charging unit automatically moves to the vacant position caused by returning for charging.

In one embodiment, after the iron horse 100 receives the control information, the control component calculates the current position and the destination position, and then controls and drives the

driving wheels

113a and 113b and the universal wheel 112 through the moving chassis 101 according to a map produced by SLAM, so that the iron horse 100 automatically navigates and moves to the specified position and is confirmed through comparison with the RFID position tag information contained in the command information. The moving chassis 101 is provided with a forward direction indicator 114, and after the metro rod 100 moves to a designated position, the forward direction indicator 114 of the metro rod 100 is determined to point to the standard direction of the working state according to the standard direction information in the control information sent by the background management system 400.

In some embodiments, the background management system 400 includes a registration management module, a real-time management module, and a policy management module, and the registration management module binds the hobby horse 100 with the background management system 400 and numbers the hobby horse 100, thereby implementing group management and online management of the hobby horse 100; the real-time management module sets the position, the expansion state and the recovery state of each of the metro rods 100 in real time, and calculates and adjusts the number, the position, the expansion state and the recovery state of the metro rods 100 in a mode of setting a passenger flow passing path; the strategy management module carries out grouping management on a plurality of the metro rods 100, and the positions, the unfolding state and the folding state of the metro rods 100 are set according to time and triggering conditions.

In some embodiments, the mobile hobby system 10 of the present disclosure may be linked with a third party system, such as an intelligent video analysis system, a passenger flow detection system, or the like, to automatically optimize and adjust the transit route for passenger flow.

In some embodiments, before the whole mobile hobbyhorse system 10 is formally applied, the environment map of the first-time use place is created and drawn through the hobbyhorse pole 100, and the environment information is continuously detected and the latest map information of the use place is continuously optimized and calculated every time the hobbyhorse pole 100 moves.

A method of using the mobile hobbyhorse system 10 according to the present disclosure is described in detail below. The method of using the mobile hobbyhorse system 10 according to the present disclosure basically comprises the steps of: binding each hobby pole 100 with a unique identification address in the background management system 400, and grouping the hobby poles 100; the background management system 400 communicates with the hobbyhorse 100 through the communication unit 300 to inquire the state of the hobbyhorse 100; setting a preset scheme of a passenger flow passing path through the background management system 400 according to time and passenger flow change conditions; when the preset scheme triggering condition is met, the background management system 400 sends a corresponding command to the metro rod 100 through the communication unit 300 according to the inquired state of the metro rod 100; the metro rod 100 automatically navigates to the specified location based on SLAM in response to the corresponding command.

In some embodiments, the method for using the moving hobbyhorse system 10 according to the present disclosure may further include returning the hobbyhorse 100 to a standby area where the charging unit is located to wait for a next task after completing a task for a specified time, automatically moving the hobbyhorse 100 to the charging unit for charging when the hobbyhorse 100 is in the standby area where the charging unit is located and the power is lower than a power threshold set by a user, automatically moving the hobbyhorse 100 to the charging unit for charging when the hobbyhorse 100 is in a working state and the power is lower than the power threshold set by the user, and notifying the background management system 400, and the background management system 400 invokes other hobbyhorse 100 in the standby state and meeting the working requirement to automatically move to the working area and complete the state setting.

In some embodiments, methods of using a mobile hobby system 10 according to the present disclosure may further include the hobby bar 100 being in a deployed state and/or a retracted state in response to a respective command.

It should be understood that the wireless communication network between the background management system 400 and the communication unit 300, and between the communication unit 300 and the hobby horse 100 is not particularly limited, and may include one or more of a bluetooth wireless communication network, a zigbee wireless communication network, a LORA wireless communication network, and a WiFi wireless communication network.

According to the mobile trojan system 10 disclosed by the invention, a trojan setting general principle and a preset scheme can be formulated through real-time operation passenger flow change of a use place or according to different operation requirements of different time periods such as a full day (24 hours), a peak time period, a passenger clearing operation time period, a construction closing time period and the like, a passing route and a forbidden route are automatically set in a time-sharing manner, forbidden restriction is removed, and the length of the passing route is increased or decreased. The moving hobbyhorse system 10 can automatically calculate and adjust the number, the positions and the setting states of the hobbyhorse poles 100 by setting the passing path, and automatically move to the designated positions and complete the setting at the designated time, thereby saving a large amount of manpower and time and quickly adjusting the passenger flow passing path. The method and the system can set the preset mode scheme according to time, passenger flow quantity and the like, and realize reasonable and standard passenger flow guidance quickly. The iron horse pole 100 in the present disclosure can automatically move to a designated place to complete the setting of the passing route, and can also automatically return to the position of the charging unit to supplement the electric quantity when the electric quantity is insufficient. The crowd counting data of the access control system, the gate system and the intelligent video analysis system can be collected, and the preset mode scheme is automatically executed according to the crowd quantity condition. The system has the real-time networking online function, and can inquire, control, manage and the like in real time through different management terminals. The hobbyhorse 100 in the present disclosure has a wireless transmission function without considering a network arrangement of equipment installation. The application range of the system is wide, and the system can be used in places such as railway stations, subway stations, stadiums, parks and the like.

It is to be understood that the above embodiments are merely exemplary embodiments employed to illustrate the principles of the present disclosure, and that the present disclosure is not limited thereto. It will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the disclosure, and these changes and modifications are to be considered within the scope of the disclosure.

Claims

1. A mobile hobbyhorse system, characterized in that it comprises:

a horseshoe pole, which is movable based on SLAM;

the RFID tags are provided with unique identification addresses, and are preset at positions where the iron horse posts need to be arranged;

a communication unit in communication with the hobbyhorse;

a background management system in communication with the communication unit,

the iron horse staff automatically navigates to the position of the corresponding RFID tag designated by the background management system based on SLAM and identifies the RFID tag in response to a command sent by the background management system through the communication unit.

2. The mobile hobbyhorse system of claim 1, further comprising a charging unit for charging the hobbyhorse pole, the hobbyhorse pole being automatically navigable to a location of the charging unit based on SLAM when the charge is below a user-set charge threshold.

3. A mobile iron horse system according to claim 1 or 2, characterized in that said iron horse pole comprises a mobile chassis, which is mounted with driving wheels, universal wheels and lidar, and on which a forward pointing sign is provided.

4. The mobile hobbyhorse system according to claim 3, characterized in that said hobbyhorse bar is provided with an active bar for retracting and deploying a separation belt, and said active bar has a deployed state in which said separation belt is deployed and a retracted state in which said separation belt is retracted.

5. The mobile iron horse system according to claim 4, characterized in that the iron horse pole further comprises a supporting main pole vertically arranged on the mobile chassis and a receiving frame connected to the supporting main pole at an opposite side to the mobile chassis, the receiving frame having four receiving grooves respectively opened to four directions in a circumferential direction of the iron horse pole, the moving rod and the isolating band being received in each receiving groove, a lower end of the moving rod being pivotably connected to a lower end of the corresponding receiving groove and an upper end of the moving rod being connected to one end of the corresponding isolating band, and the other end of the isolating band being received inside the receiving groove through an upper end of the corresponding receiving groove, so that the moving rod can be switched between the expanded state in which the isolating band is expanded, in which the upper end of the moving rod is away from the corresponding receiving groove and the isolating band is pulled out of the receiving groove, and the retracted state in which the moving rod and the isolating band are completely received in the corresponding receiving groove.

6. The mobile hobby horse system according to claim 5, characterized in that said hobby horse pole is further mounted with acousto-optic indicators and display means.

7. A mobile hobbyhorse system according to claim 4 or 5, characterized in that said hobbyhorse bar switches said moving bar between said deployed state and said retracted state in response to a command sent by said back-office management system through said communication unit.

8. The mobile hobbyhorse system of claim 6, wherein the hobbyhorse pole operates the display device and/or the audible and visual indicator in response to commands sent by the back office management system through the communication unit.

9. The mobile hobbyhorse system of claim 3, wherein the hobbyhorse pole causes the forward pointing indicia to point in a standard direction of operation in response to a command sent by the back office management system through the communication unit.

10. The mobile trojan system of claim 4, wherein the background management system comprises a registration management module, a real-time management module and a policy management module, and the registration management module binds the trojan to the background management system and numbers the trojan, thereby realizing the group management and the online management of the trojan; the real-time management module sets the position of each of the iron horse posts, the unfolding state and the folding state in real time, and calculates and adjusts the number and the position of the iron horse posts, the unfolding state and the folding state in a mode of setting a passenger flow passing path; the strategy management module carries out grouping management on the plurality of the metro rods, and the positions of the metro rods, the unfolding state and the folding state are set according to time and triggering conditions.

11. A method of using a mobile hobbyhorse system according to any one of the preceding claims, characterized in that it comprises the steps of:

binding each hobbyhorse with a unique identification address in the background management system, and grouping the hobbyhorses;

the background management system is communicated with the iron horse post through the communication unit to inquire the state of the iron horse post;

setting a preset scheme of a passenger flow passing path according to time and passenger flow change conditions through the background management system;

when the preset scheme triggering condition is met, the background management system sends a corresponding command to the iron horse post through the communication unit according to the inquired state of the iron horse post;

the hobbyhorse automatically navigates to a specified location based on SLAM in response to the respective command.

12. The method of claim 11, wherein the mobile hobby horse system further comprises a charging unit for charging the hobby horse pole, the method further comprising:

after the task of the designated time is finished, the iron horse pole returns to the standby area where the charging unit is located to wait for the next task,

when the iron horse rod is located in the standby area where the charging unit is located and the electric quantity is lower than an electric quantity threshold set by a user, the iron horse rod automatically moves to the charging unit for charging,

when the iron horse pole is in a working state and the electric quantity is lower than the electric quantity threshold value set by the user, the iron horse pole automatically moves to the charging unit for charging and informs the background management system, and the background management system calls other iron horse poles which are in a standby state and meet working requirements to automatically move to a working area and complete state setting.

13. The method of claim 11, wherein the iron horse bar is provided with an moving bar for retracting and deploying a separation belt, and the moving bar has a deployed state in which the separation belt is deployed and a retracted state in which the separation belt is retracted, the method further comprising:

the iron horse bar causes the moving bar to be in the deployed state or the retracted state in response to the respective command.