CN111806519A - Control system and method for micro-rail vehicle - Google Patents
Control system and method for micro-rail vehicle Download PDFInfo
- Publication number
- CN111806519A CN111806519A CN202010688180.2A CN202010688180A CN111806519A CN 111806519 A CN111806519 A CN 111806519A CN 202010688180 A CN202010688180 A CN 202010688180A CN 111806519 A CN111806519 A CN 111806519A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- electronic communication
- communication unit
- trackside
- data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000006854 communication Effects 0.000 claims abstract description 166
- 238000004891 communication Methods 0.000 claims abstract description 165
- 238000012544 monitoring process Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 2
- 101000606504 Drosophila melanogaster Tyrosine-protein kinase-like otk Proteins 0.000 claims 2
- 230000005540 biological transmission Effects 0.000 abstract description 7
- 230000008569 process Effects 0.000 description 10
- 238000001514 detection method Methods 0.000 description 5
- 230000003993 interaction Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/08—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only
- B61L23/14—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only automatically operated
- B61L23/18—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only automatically operated specially adapted for changing lengths of track sections in dependence upon speed and traffic density
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a control system and a method for a micro-rail vehicle, wherein the system comprises: the system comprises a vehicle-mounted electronic communication unit, trackside equipment and a dispatching monitoring center, wherein the vehicle-mounted electronic communication unit is mounted on a carriage, the trackside equipment is mounted on the side of a track, the vehicle-mounted electronic communication unit exchanges data with the trackside equipment, the trackside equipment transmits vehicle state data to the opposite running direction of a vehicle by using a field bus, other vehicles on the same track receive the vehicle state data sent by a front vehicle and continuously transmit the vehicle state data to the back through the trackside equipment, and the dispatching monitoring center transmits a running routing request and routing data to the vehicle through a Wifi/4G/5G open channel. The invention solves the problems that the control information transmission of the existing micro-rail vehicle is easily interfered by the environment and the load of a control center is large.
Description
Technical Field
The invention relates to the field of rail vehicle control, in particular to a control system and a control method for a micro-rail vehicle.
Background
Personal rapid transit can be achieved with suspended vehicles having track widths below 600mm, referred to herein as micro-track systems. The micro-rail system has small size of vehicles and less people carried by a single vehicle, and is suitable for single-vehicle short-distance or multi-vehicle grouping operation and the like. The control of the micro-rail vehicle is to realize automatic running under the condition of adapting to the characteristics. The control method used by the conventional railway or urban railway train is not suitable for the operation control of the micro-rail vehicle from the aspects of function and implementation cost.
The prior micro-track control scheme mostly utilizes open-space wireless communication to exchange control data and implement central control and scheduling. The vehicle sends the self running state information to the control center and receives the running control instruction. The disadvantage of this type of method is that the vehicle real-time control process is dependent on the control center; the wireless communication process between the vehicle and the control center is easily influenced by the environment; the intensive communication of many vehicles with a dispatch center is easy to generate conflict, and communication equipment and a communication protocol are complex; the control center is heavily burdened with data processing. Therefore, the existing scheme is difficult to meet the requirements of real-time performance and safety.
Disclosure of Invention
Therefore, the invention provides a micro-rail vehicle control system and a micro-rail vehicle control method, which aim to solve the problems that the existing micro-rail vehicle control information transmission is easily interfered by the environment and the load of a control center is large.
In order to achieve the above purpose, the invention provides the following technical scheme:
according to a first aspect of the present invention, there is disclosed a control system for a micro-rail vehicle, the system comprising: the system comprises a vehicle-mounted electronic communication unit, trackside equipment and a dispatching monitoring center, wherein the vehicle-mounted electronic communication unit is mounted on a carriage, the trackside equipment is mounted on the side of a track, the vehicle-mounted electronic communication unit exchanges data with the trackside equipment, the trackside equipment transmits vehicle state data to the opposite running direction of a vehicle by using a field bus, other vehicles on the same track receive the vehicle state data sent by a front vehicle and continuously transmit the vehicle state data to the back through the trackside equipment, and the dispatching monitoring center transmits a running routing request and routing data to the vehicle through a Wifi/4G/5G open channel.
Furthermore, the trackside equipment comprises a plurality of trackside electronic communication units which are uniformly arranged at equal intervals on the side of the track, the trackside electronic communication units are connected through a field bus, the trackside electronic communication units and the vehicle-mounted electronic communication units are communicated to exchange data, and the boundaries of the communication coverage ranges of the two adjacent trackside electronic communication units are mutually overlapped.
Furthermore, the data exchanged between the trackside electronic communication unit and the vehicle-mounted electronic communication unit is control data, which comprises vehicle state information, position information and line state information, and the trackside electronic communication unit transmits the received information to the next trackside electronic communication unit in the direction opposite to the driving direction of the vehicle through the field bus.
Furthermore, the field buses are provided with a plurality of sections on the track, adjacent field buses are connected through bus bridges, and the length of the field bus through which information in the trackside electronic communication unit is transmitted is larger than the farthest braking distance between two adjacent vehicles.
Furthermore, the positions from the field bus to the turnout are connected with the forked field bus by adopting a turnout controller, so that the information transmission in the trackside electronic communication unit is realized.
Furthermore, the vehicle-mounted electronic communication unit and the trackside electronic communication unit are in communication interaction, the state information of the front vehicle transmitted by the field bus is read by the vehicle-mounted electronic communication unit, and the state information of the vehicle is transmitted to the trackside electronic communication unit and is transmitted backwards together with the state information of the front vehicle.
Furthermore, the dispatching monitoring center is connected with the vehicle through a Wifi/4G/5G communication network, and dispatching monitoring data including a running route request, routing data and running monitoring data are transmitted to the vehicle.
Furthermore, a plurality of positioning marks are arranged on the track side at equal intervals, a vehicle-mounted positioning identification device is mounted on the carriage, and the vehicle-mounted positioning identification device identifies the positioning marks and determines the position information of the current vehicle.
Furthermore, a distance measuring module is installed on the carriage, and the distance measuring module measures distance information between a vehicle in front and the current vehicle to serve as output parameters of close-distance follow-up running and parking control.
According to a second aspect of the present invention, a method for controlling a micro-rail vehicle is disclosed, the method comprising:
the vehicle sends the target station information to a dispatching monitoring center through a Wifi/4G/5G communication network to request driving route data;
the dispatching monitoring center calculates routing data according to the stored line electronic map and sends the routing data to the request vehicle;
the vehicle-mounted electronic communication unit reads the state information of the front vehicle transmitted by the trackside electronic communication unit and controls the running state of the current vehicle by combining the state information of the front vehicle;
the vehicle-mounted positioning identification device on the carriage identifies the positioning mark, judges the position information of the current vehicle, and sends a plurality of vehicle state information including the vehicle position information to the trackside electronic communication unit through the vehicle-mounted electronic communication unit;
the trackside electronic communication unit sends the vehicle state information to adjacent trackside electronic communication units in the direction opposite to the driving direction of the vehicle through a field bus and sequentially transmits the vehicle state information;
and the rear vehicle calculates a distance and speed curve according to the state information of the front vehicle sent by the trackside electronic communication unit, controls the speed of the vehicle to keep a safe distance, and adjusts the state of the vehicle, wherein the distance transmitted by the state information of the vehicle in a field bus is greater than the farthest braking distance of the adjacent vehicle.
The invention has the following advantages:
the invention discloses a control system and a control method of a micro-rail vehicle. The distance between the vehicle and the trackside equipment for wireless communication is short, the communication range of a single trackside electronic communication unit and the number of communication object vehicles are limited, the influence of the surrounding environment is favorably reduced, the conflict of intensive communication of a plurality of vehicles is avoided, and the real-time requirement of communication is met; a plurality of trackside electronic communication units are deployed along the track, so that the trackside electronic communication unit is more easily suitable for realizing communication coverage under long lines and complex environments. The trackside equipment does not simply transmit the vehicle data to the dispatching center, but independently filters and processes the vehicle data, sends the front line state and control information to the vehicle, and plays a role of a signal system. With the fieldbus, each wayside electronic unit can obtain vehicle information for the line ahead, sending it to the passing vehicle. The bus bridge functions to extend bus communication distance and filter vehicle data so that each vehicle message travels a reasonable distance to its rear.
Real-time data required by vehicle running control all come from vehicle-mounted and trackside equipment, and the transmission path of the data does not include a dispatching center, so that the vehicle does not depend on the control of the dispatching center in the running process, the vehicle runs autonomously, the number of vehicles on a line is not limited by the communication and processing capacity of the dispatching center, and flexible control modes such as marshalling operation and the like are facilitated.
A distinction is made between secure and non-secure communications. The wireless communication between the vehicle and the trackside electronic unit and the bus communication between the trackside electronic units transmit control data, and the wireless communication belongs to safety communication. The communication is specially used for transmitting control data, and the real-time performance and the safety of the communication are guaranteed. The communication content of the communication between the vehicle and the dispatching center comprises driving route data, driving state, passenger interaction information and the like, the real-time requirement is not required, the driving safety is not involved, and the wireless communication of a public channel can be adopted.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
Fig. 1 is a schematic structural diagram of a control system of a micro-rail vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a control system of a micro-rail vehicle according to an embodiment of the present invention, which has a turnout structure;
in the figure: the system comprises a vehicle-mounted electronic communication unit 1, a scheduling monitoring center 2, a trackside electronic communication unit 3, a field bus 4, a bus bridge 5, a turnout controller 6, a carriage 7, a positioning mark 8, a vehicle-mounted positioning identification device 9 and a distance measuring module 10.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
The embodiment discloses a control system of a micro-rail vehicle, the system includes: the vehicle-mounted electronic communication unit 1 is mounted on a carriage 7, the trackside equipment is mounted on the side of a track, the vehicle-mounted electronic communication unit 1 exchanges data with the trackside equipment, the trackside equipment transmits vehicle state data to the direction opposite to the running direction of the vehicle by using a field bus 4, other vehicles on the same track receive the vehicle state data sent by the front vehicle and continuously transmit the vehicle state data to the back through the trackside equipment, and the dispatching monitoring center 2 transmits a running route request and route data to the vehicle through a Wifi/4G/5G open channel.
Before the vehicle is started, the vehicle control center determines a destination station of a passenger through card reading or two-dimensional code scanning and other modes, communicates with the dispatching monitoring center 2 through a Wifi/4G/5G wireless communication network, sends the destination station to the dispatching monitoring center 2 and requests for traveling route data.
The dispatching monitoring center 2 calculates route data according to the stored electronic map of the route and sends the route data to the requesting vehicle, and the vehicle control center starts an automatic driving process according to the route data, wherein the purpose of automatic driving is to sequentially drive through route sections and steering commands specified by the route data until a target position is reached. In the process, the speed and the steering of the vehicle are automatically controlled according to the front vehicle information and the control command sent beside the track, and the vehicle control center can send state information to the dispatching center by using a Wifi/4G/5G wireless communication network during driving for monitoring the running vehicle.
The trackside equipment comprises a plurality of trackside electronic communication units 3, the trackside electronic communication units 3 are uniformly arranged on the side of a track at equal intervals, the trackside electronic communication units 3 are connected through a field bus 4, the trackside electronic communication units 3 and the vehicle-mounted electronic communication unit 1 can communicate and exchange data by adopting 2.4GHz, 900MHz or 433MHz communication frequency bands, the interval length of the trackside electronic communication units 3 along a track line is determined according to the communication distance and the vehicle density of a wireless communication module, the boundaries of the communication coverage range of two adjacent trackside electronic communication units 3 are mutually overlapped, and the vehicle can be ensured to be in wireless communication with at least one trackside electronic unit at any position of the line. One-to-many communication capability of the trackside electronic unit required by the vehicle in short-distance running or marshalling operation needs to be considered, and communication conflict is avoided.
In the embodiment, the trackside electronic communication units 3 are 12 meters apart, 8 trackside electronic communication units 3 form a bus section of a field bus 4, the length of one section of the field bus 4 is 96 meters, data exchanged between the trackside electronic communication unit 3 and the vehicle-mounted electronic communication unit 1 is control data which comprises vehicle state information, position information and line state information, and the trackside electronic communication unit 3 transmits the received information to the next trackside electronic communication unit 3 in the direction opposite to the vehicle running direction through the field bus 4.
The control data is transmitted among the trackside electronic communication units 3 according to a one-way and local principle, and each trackside electronic communication unit 3 transmits the received information of the passing vehicle to the opposite direction of the vehicle running through the field bus 4; the interconnected buses of the rail-side electronic communication units 3 form a bus section, and the bus sections are connected by a field bus 4; the field bus 4 selectively transmits the vehicle information ahead to the rear, and the number of the vehicles crossing the field bus 4 when transmitting the information of one vehicle to the rear of the line can be determined according to the length of the field bus 4 and the vehicle distance control requirement. At the turnout position, a turnout controller 6 replaces the field bus 4, the three sections of field buses 4 are connected, vehicle data are transmitted to the rear field bus 4, and a turnout passing control signal is sent.
The bus bridge 5 is used for transmitting data of the front bus segment to the rear bus segment, and plays a role in expanding the bus communication distance. The bus bridges 5 filter the data at the same time, and the data that has passed over several bus bridges 5 in the front data is not passed backward. The data transfer of a vehicle can span several bus bridges 5, which can be determined according to the length of the bus segments and the traffic control logic. For example, a bus segment or a communication range of the electronic unit beside the track can be used as a block section, vehicle data can not be transmitted backwards after being transmitted beyond a certain section number, the vehicle can be ensured to keep a safe distance, and meanwhile, the situation that real-time data communication on the bus is too dense to exceed the communication capacity of the bus can be avoided. Real-time control data required by vehicle running control all come from vehicle-mounted and trackside equipment, the transmission path of the data does not include a dispatching center, the vehicle does not depend on the control of the dispatching center in the running process, the vehicle runs autonomously, and the real-time control data is not limited by the communication and processing load capacity of the dispatching center under the condition of intensive running of multiple vehicles.
Secure and non-secure communications are divided. The real-time control information exchange required by the running of the vehicle belongs to safe communication, and in order to ensure the real-time performance and the safety of the communication, the wireless communication between the vehicle and the trackside equipment and the bus communication between the trackside electronic communication units 3 are limited to only transmit control data. The communication content of the vehicle and the dispatching monitoring center 2 comprises the transmission of driving route data, driving states and passenger interaction information, has no real-time requirement, does not relate to driving safety, and can adopt public open wireless communication.
A plurality of position fixing targets 8 are arranged along the track line, and the content of the position fixing targets 8 comprises information such as line positions. The vehicle is provided with an on-board positioning recognition device 9, and when the vehicle runs through the positioning mark 8, the position information is read out. The position information is used for calibrating data such as an on-vehicle revolution pulse detection device and the like to obtain a real-time line position of the vehicle. The location mark 8 can adopt RFID label, the type of the label is selected according to factors such as detection distance and detection speed
The vehicle measures the distance to the front vehicle and controls the input parameters when the vehicle needs to run in a close distance with the front vehicle. The distance measuring module 10 is installed on the carriage 7, and the distance measuring module 10 measures distance information between a vehicle in front and a current vehicle as an output parameter for short-distance following driving and parking control. The distance detection can adopt methods such as ultrasonic, microwave radar, laser ranging or UWB ranging. The detection process does not depend on the communication between the vehicle and the trackside, and the real-time performance and precision requirements of distance data are met. The distance data between the vehicle and the preceding vehicle is used when the vehicle needs to travel in a short distance with the preceding vehicle, and is used as a supplement to a control method based on communication. The occasions requiring close proximity travel include dynamic marshalling and ungrouping processes, travel within a station, and the like. By means of ultrasonic, microwave radar and the like, obstacles, pedestrians and the like in a line or a station can be detected besides the vehicle distance.
Example 2
The embodiment discloses a control method of a micro-rail vehicle, which comprises the following steps:
the vehicle sends the target station information to the dispatching monitoring center 2 through a Wifi/4G/5G communication network to request the running route data;
the dispatching monitoring center 2 calculates routing data according to the stored line electronic map and sends the routing data to the request vehicle;
the vehicle-mounted electronic communication unit 1 reads the front vehicle state information transmitted by the trackside electronic communication unit 3 and controls the running state of the current vehicle by combining the front vehicle state information;
the vehicle-mounted positioning recognition device 9 on the carriage 7 recognizes the positioning mark 8, judges the position information of the current vehicle, and sends a plurality of vehicle state information including the vehicle position information to the trackside electronic communication unit 3 through the vehicle-mounted electronic communication unit 1;
the trackside electronic communication unit 3 sends the vehicle state information to the adjacent trackside electronic communication unit 3 in the direction opposite to the driving direction of the vehicle through the field bus 4, and sequentially transmits the vehicle state information;
in the trackside electronic communication unit 3, the vehicle information received by wireless communication is transmitted backward along the field bus 4; the trackside electronic communication unit 3 receives vehicle information sent by front trackside electronic communication on the local section of field bus 4 and vehicle information transmitted by the front field bus 4, and filters out nearest front vehicle information required by a passing vehicle; one vehicle information is transmitted backwards to cross a plurality of bus segments, and in principle, the transmitted distance exceeds the farthest braking distance of the vehicle.
The rear vehicle calculates a distance speed curve according to the state information of the front vehicle sent by the trackside electronic communication unit 3, controls the speed of the vehicle to keep a safe distance, and adjusts the state of the vehicle, wherein the distance transmitted by the state information of the vehicle in the field bus 4 is greater than the farthest braking distance of the adjacent vehicle;
a turnout controller 6 is used for replacing a bus bridge 5 to connect three bus segments at the turnout position of the line; the separation turnout controller 6 is connected with the two front field buses 4 and the rear field bus 4, and the vehicle information of the two front field buses 4 is transmitted to the rear field bus 4; the merging turnout controller 6 is connected with a front field bus 4 and two rear field buses 4, and is used for receiving vehicle information of the rear field buses 4 and sending passing right arbitration information for the rear field buses 4 besides transmitting the vehicle information of the front field buses 4 to the two rear field buses 4, so that vehicle passing conflict is avoided.
According to the control method of the micro-rail vehicle disclosed by the embodiment, the vehicle obtains the driving signal through communication with the trackside equipment, the data updating speed is high, and the control method is suitable for the control requirement of the micro-rail vehicle for the small-distance autonomous operation at the medium-low speed. The distance between the vehicle and the trackside equipment for wireless communication is short, the communication range of the single trackside electronic communication unit 3 and the number of the communication object vehicles are limited, the influence of the surrounding environment is favorably reduced, the conflict of intensive communication of a plurality of vehicles is avoided, and the real-time requirement of communication is met; a plurality of trackside electronic communication units 3 are deployed along a track, so that the communication coverage is easily realized under long lines and complex environments. The trackside equipment does not simply transmit the vehicle data to the dispatching center, but independently filters and processes the vehicle data, sends the front line state and control information to the vehicle, and plays a role of a signal system. With the fieldbus 4, each wayside electronic unit can obtain vehicle information for the line ahead, sending it to the passing vehicle. The bus bridge 5 functions to extend the bus communication distance and filter the vehicle data so that each vehicle information travels a reasonable distance to the rear thereof.
Real-time data required by vehicle running control all come from vehicle-mounted and trackside equipment, and the transmission path of the data does not include a dispatching center, so that the vehicle does not depend on the control of the dispatching center in the running process, the vehicle runs autonomously, the number of vehicles on a line is not limited by the communication and processing capacity of the dispatching center, and flexible control modes such as marshalling operation and the like are facilitated.
A distinction is made between secure and non-secure communications. The wireless communication between the vehicle and the trackside electronic unit and the bus communication between the trackside electronic units transmit control data, and the wireless communication belongs to safety communication. The communication is specially used for transmitting control data, and the real-time performance and the safety of the communication are guaranteed. The communication content of the communication between the vehicle and the dispatching center comprises driving route data, driving state, passenger interaction information and the like, the real-time requirement is not required, the driving safety is not involved, and the wireless communication of a public channel can be adopted.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. A control system for a micro-rail vehicle, the system comprising: the system comprises a vehicle-mounted electronic communication unit, trackside equipment and a dispatching monitoring center, wherein the vehicle-mounted electronic communication unit is mounted on a carriage, the trackside equipment is mounted on the side of a track, the vehicle-mounted electronic communication unit exchanges data with the trackside equipment, the trackside equipment transmits vehicle state data to the opposite running direction of a vehicle by using a field bus, other vehicles on the same track receive the vehicle state data sent by a front vehicle and continuously transmit the vehicle state data to the back through the trackside equipment, and the dispatching monitoring center transmits a running routing request and routing data to the vehicle through a Wifi/4G/5G open channel.
2. The control system of claim 1, wherein the trackside equipment comprises a plurality of trackside electronic communication units, the trackside electronic communication units are uniformly arranged on the side of the track at equal intervals, the trackside electronic communication units are connected through a field bus, the trackside electronic communication units and the vehicle-mounted electronic communication units are communicated to exchange data, and the communication coverage area boundaries of two adjacent trackside electronic communication units are overlapped.
3. The control system of claim 2, wherein the data exchanged between the on-board electronic communication unit and the off-track electronic communication unit is control data including vehicle status information, location information, and route status information, and the on-track electronic communication unit transmits the received information to the next off-track electronic communication unit in a direction opposite to the vehicle traveling direction through the on-site bus.
4. The control system of claim 1, wherein the fieldbus has a plurality of segments on the track, adjacent fieldbus are connected by a bus bridge, and the length of the fieldbus through which information is transmitted in the trackside electronic communication unit is greater than the maximum braking distance between two adjacent cars.
5. The control system of claim 4, wherein the fieldbus-to-switch location uses a switch controller connected to a bifurcated fieldbus to effect communication of information within the trackside electronic communication unit.
6. The control system of claim 1, wherein the vehicle-mounted electronic communication unit is in communication with the trackside electronic communication unit, the status information of the front vehicle transmitted by the fieldbus is read by the vehicle-mounted electronic communication unit, and the status information of the vehicle is transmitted to the trackside electronic communication unit and is transmitted backward together with the status information of the front vehicle.
7. The control system of claim 1, wherein the dispatch monitoring center is connected to the vehicle via a Wifi/4G/5G communication network to transmit dispatch monitoring data to the vehicle, including the travel route request and the route data and the travel monitoring data.
8. The control system of claim 1, wherein a plurality of position indicators are arranged at equal intervals on the track side, and a vehicle-mounted position identification device is mounted on the carriage, and identifies the position indicators to determine the position information of the current vehicle.
9. The system of claim 1, wherein a distance measuring module is installed on the carriage, and the distance measuring module measures distance information between a vehicle ahead and a current vehicle as an output parameter for close-distance following and parking control.
10. A control method of a micro-rail vehicle is characterized by comprising the following steps:
the vehicle sends the target station information to a dispatching monitoring center through a Wifi/4G/5G communication network to request driving route data;
the dispatching monitoring center calculates routing data according to the stored line electronic map and sends the routing data to the request vehicle;
the vehicle-mounted electronic communication unit reads the state information of the front vehicle transmitted by the trackside electronic communication unit and controls the running state of the current vehicle by combining the state information of the front vehicle;
the vehicle-mounted positioning identification device on the carriage identifies the positioning mark, judges the position information of the current vehicle, and sends a plurality of vehicle state information including the vehicle position information to the trackside electronic communication unit through the vehicle-mounted electronic communication unit;
the trackside electronic communication unit sends the vehicle state information to adjacent trackside electronic communication units in the direction opposite to the driving direction of the vehicle through a field bus and sequentially transmits the vehicle state information;
and the rear vehicle calculates a distance and speed curve according to the state information of the front vehicle sent by the trackside electronic communication unit, controls the speed of the vehicle to keep a safe distance, and adjusts the state of the vehicle, wherein the distance transmitted by the state information of the vehicle in a field bus is greater than the farthest braking distance of the adjacent vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010688180.2A CN111806519A (en) | 2020-07-16 | 2020-07-16 | Control system and method for micro-rail vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010688180.2A CN111806519A (en) | 2020-07-16 | 2020-07-16 | Control system and method for micro-rail vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111806519A true CN111806519A (en) | 2020-10-23 |
Family
ID=72865697
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010688180.2A Pending CN111806519A (en) | 2020-07-16 | 2020-07-16 | Control system and method for micro-rail vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111806519A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112339792A (en) * | 2020-11-10 | 2021-02-09 | 北京天润海图科技有限公司 | Intelligent personal rapid transportation system based on communication control |
| CN113037602A (en) * | 2021-03-04 | 2021-06-25 | 库卡机器人(广东)有限公司 | Logistics system, logistics control method, logistics control device and readable storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101443220A (en) * | 2006-05-11 | 2009-05-27 | Posco公司 | Method and device for control and safe brake in personal traffic system having linear induction motor |
| CN105292189A (en) * | 2015-12-02 | 2016-02-03 | 深圳市小的科技有限公司 | Micro-rail intelligent transportation control system and control method |
| CN207496702U (en) * | 2017-09-22 | 2018-06-15 | 中车唐山机车车辆有限公司 | A kind of micro- rail trackside communication device |
| CN109532955A (en) * | 2017-09-22 | 2019-03-29 | 中车唐山机车车辆有限公司 | A kind of micro- rail dispatch control method and system |
| CN109747686A (en) * | 2017-11-03 | 2019-05-14 | 中车唐山机车车辆有限公司 | A kind of micro- rail traffic scheduling method and system based on cloud computing and Internet of Things |
-
2020
- 2020-07-16 CN CN202010688180.2A patent/CN111806519A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101443220A (en) * | 2006-05-11 | 2009-05-27 | Posco公司 | Method and device for control and safe brake in personal traffic system having linear induction motor |
| CN105292189A (en) * | 2015-12-02 | 2016-02-03 | 深圳市小的科技有限公司 | Micro-rail intelligent transportation control system and control method |
| CN207496702U (en) * | 2017-09-22 | 2018-06-15 | 中车唐山机车车辆有限公司 | A kind of micro- rail trackside communication device |
| CN109532955A (en) * | 2017-09-22 | 2019-03-29 | 中车唐山机车车辆有限公司 | A kind of micro- rail dispatch control method and system |
| CN109747686A (en) * | 2017-11-03 | 2019-05-14 | 中车唐山机车车辆有限公司 | A kind of micro- rail traffic scheduling method and system based on cloud computing and Internet of Things |
Non-Patent Citations (1)
| Title |
|---|
| 上海申通地铁集团有限公司等: "城市轨道交通工程技术规范" * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112339792A (en) * | 2020-11-10 | 2021-02-09 | 北京天润海图科技有限公司 | Intelligent personal rapid transportation system based on communication control |
| CN112339792B (en) * | 2020-11-10 | 2022-07-19 | 北京天润海图科技有限公司 | Intelligent personal rapid transportation system based on communication control |
| CN113037602A (en) * | 2021-03-04 | 2021-06-25 | 库卡机器人(广东)有限公司 | Logistics system, logistics control method, logistics control device and readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107685749B (en) | Virtual coupling small marshalling train control system and method based on vehicle-vehicle communication | |
| EP0625947B1 (en) | A railway signalling system | |
| CN110194201B (en) | Train control grade conversion system and method thereof | |
| CN103010267B (en) | The Train Detection and Identification equipment of self adaptation obturation, system and method | |
| CN112009526B (en) | Train group control method and system based on ad hoc network | |
| MX2011012781A (en) | Short headway communications based train control system. | |
| CN109532955B (en) | Micro-rail scheduling control method and system | |
| US11385066B2 (en) | Vehicle navigation and control system and method | |
| CN107139970B (en) | Tramcar operation control system and method based on Che-Che Tongxin | |
| CN111806519A (en) | Control system and method for micro-rail vehicle | |
| CN103764478A (en) | Stopping-time calculation module | |
| CN110775110A (en) | Train control system based on vehicle-to-vehicle communication | |
| CN111746597A (en) | Train parking control system and method | |
| CN103863362B (en) | The travelling-crane method of the PRT system of PRT system and quasi-moving block | |
| US10449983B2 (en) | Method for commanding a railway level crossing protection system | |
| CN105292189B (en) | Micro-rail intelligent traffic control system and control method | |
| EP3589529B1 (en) | System and method for providing railroad grade crossing status information to autonomous vehicles | |
| CN105564466A (en) | Assistant train safety driving decision system under malfunction of metro control system | |
| WO2023098885A1 (en) | Brake curve switching control method and rail vehicle | |
| CN111746596A (en) | Train parking control method and device | |
| JP2003081092A (en) | Radio autonomous distributed train control system | |
| US20140358339A1 (en) | System And Method For Controlling De-Rating Of Propulsion-Generating Vehicles In A Vehicle System | |
| JP3664037B2 (en) | Vehicle traffic system and vehicle travel control device | |
| US20230162603A1 (en) | Autonomous Transportation Network with Junction Control Method | |
| KR20160001852A (en) | ATO signaling system based ETCS |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201023 |
|
| RJ01 | Rejection of invention patent application after publication |