CN106428031A

CN106428031A - Unmanned high-speed rail passenger transport system and intelligent scheduling method thereof

Info

Publication number: CN106428031A
Application number: CN201611024176.6A
Authority: CN
Inventors: 李忠东
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-11-17
Filing date: 2016-11-17
Publication date: 2017-02-22
Anticipated expiration: 2036-11-17
Also published as: CN106428031B

Abstract

The invention discloses an unmanned high-speed rail passenger transport system and an intelligent scheduling method thereof. The system comprises a rail transport system control and dispatching center, a trunk rail, a line change sequence adjusting rail, a starting on-line rail and an off-line entering rail, a sequence timing clock, a vehicle-mounted sequence timing clock synchronization and adjustment device, a node signal device, a node signal reading device, passenger compartments, passenger platforms and chain-type compartment hanger racks. The scheduling method comprises the following steps: operating the passenger compartments on the track, setting the operating speed, controlling and adjusting, setting an operating route, changing the track, controlling the compartment density on the track line and handling failed passenger compartments. The transport system provided by the invention can be overhead above the existing urban traffic road, the passenger compartments are operated according to a sequence, the train can directly reach the destination on time without mid-way stop, all the passenger compartments in the system are controllable any time and are in the control, and the system is safe in operation, high-speed, efficient, energy-saving and environmental-friendly.

Description

Drone version high-speed track timetable planning and its intelligent dispatching method

Technical field

The present invention relates to unmanned Rail Transit System, particularly to a kind of drone version high-speed track passenger traffic System and its intelligent dispatching method.

Background technology

Mainly there are bus, taxi and subway in the urban public transport run at present.

Bus relative to for taxi although economical and environmentally friendly efficiency high, but because parking website is many, stop-start The time delayed is also many；Then speed is relatively fast for taxi, passenger through destination mostly, but economy and environmental protection are less efficient. Bus and taxi have both advantages and disadvantages, but as urban highway traffic instrument, they inevitably all can run into crossroad Mouth and traffic lights, stop and wait traffic lights the time not only wasting passenger but also waste transportation and energy, run into and block up that just let alone.

Subway transportation efficiency is of a relatively high, but investment is huge, and the construction period is long, and the route in city is also difficult to gather cover Lid.

Content of the invention

For solving the shortcoming and defect of prior art, the invention provides a kind of drone version high-speed track passenger traffic System.Employed technical scheme comprise that：A kind of drone version high-speed track timetable planning, controls including Rail Transit System Control centre, main line track, thread-changing tagmeme adjustment track, trajectory and offline approach track, tagmeme timing clock, car in starting Carry during tagmeme timing clock pair and arrangements for speed regulation, node signal device, node signal reading device, passenger carriage and passenger platform With chain type compartment hanger, wherein：

Described Rail Transit System controls control centre to comprise 3 modules：Setting one by one for track each in system can basis Need to set in real time and adjustment the track rhythm and pace of moving things module, for by clockwise during each tagmeme timing by way of passenger carriage send out Send track circadian signal, the passenger carriage in constrained operation is pressed the track rhythm and pace of moving things and run；With passenger carriage car-mounted terminal each in system, Each signalling arrangement keeps the module of liaison, for track each in real-time monitoring system, each passenger carriage, each electric power, communication The operation conditions of line facility, and passenger carriage can respectively be run according to the real time status determination of each bar track circuit and real-time adjustment Running route, to the unusual condition emergency processing occurring it is ensured that the safe operation of system；To being dispersed in each website in system The module that passenger carriage is scheduling；

Described main line track is used for guiding passenger car, and compartment hangs on and runs below main line track, in the entire system There is a plurality of main line track, control system is provided with main sequence position, left remittance tagmeme, right these three tagmemes of remittance tagmeme in main line track；

Described thread-changing tagmeme adjustment track is two parallel tracks, for successfully turning compartment from a main line track Enter another main line track；

The described upper trajectory of starting and offline approach track are two parallel orbits, and in starting, trajectory is used for passenger carriage Start to walk to import main line track remittance tagmeme from inception point, offline approach track is used for passenger carriage and enters eventually from the disengaging of main line track The lower visitor in point station；

In rail fixed position along the line installed by described tagmeme timing clock, remains communication connection with control system, It is the track circadian signal display device controlling control centre in rail along the line, in order to show that track tagmeme reaches this position be The system standard time；

During described vehicle-mounted tagmeme timing clock pair and arrangements for speed regulation are arranged on passenger carriage, run for passenger carriage When, quick read by way of be fixedly installed in track along the line on tagmeme timing clock clock value, and by the clock reading Value is compared with etalon time 0 moment value, and difference between the two is converted into and sends phase to arrangements for speed regulation by vehicle intelligent terminal again The speed-regulating instruction answered, makes passenger carriage and track main sequence position align into position；

Described node signal device installs in rail node location along the line, for by way of passenger carriage send address Signal, described node refers to that the passenger carriage of default on track can change the position of working line or operation conditions；Institute State node signal reading device to be arranged on passenger carriage, for reading the node signal of node signal device on track, and will The signal reading passes to vehicle intelligent terminal, the section of vehicle intelligent terminal palpus switching track in receiving default working line After point signal, track switching command is sent to the track switching mechanism on passenger carriage；

Described passenger carriage is provided with two groups of wheels, and one of which is main wheel, above passenger carriage, main wheel bag Include former and later two wheels, former and later two wheels all adopt wheel and motor Integral design, for running on main line track； Another group of wheel is arranged on below passenger carriage, has two pairs of wheels of before and after, and one pair of which wheel adopts wheel and motor one Body designs；Vehicle intelligent terminal is furnished with passenger traffic railway carriage, vehicle intelligent terminal and can control control centre's real-time exchange information, real When report the operation conditions of passenger carriage, execution controls the instruction of control centre, when can receive vehicle-mounted tagmeme timing clock pair And arrangements for speed regulation, the information of node signal reading device control passenger carriage to run by the track rhythm and pace of moving things and default circuit, take advantage of Visitor can be in setting above or midway modification destination；It is furnished with current-collecting device, in order to from track erection along the line on passenger traffic railway carriage Electric energy is accepted on distribution line；The track switching machine upper and lower two groups of wheels are furnished with passenger traffic railway carriage and controls main wheel and lower wheel Structure, main wheel is run in main line track, and lower wheel adjusts trajectory and offline approach track on track or starting in thread-changing tagmeme Run, passenger traffic railway carriage is furnished with during vehicle-mounted tagmeme timing clock pair and arrangements for speed regulation, by the tune to the passenger carriage speed of service Whole, so that passenger carriage is strictly run by main sequence position, passenger carriage is provided with positioner, enables main website monitor in real time operating position Put；

Described passenger platform be used for passenger loading, get off, dispatch a car and standby compartment put etc.；

Described chain type compartment hanger by L-shaped framework, a pair of bushroller chain, sprocket wheel, motor and is fixed on sleeve-barrel roollr Peg on chain, can folding link composition, bushroller chain forms closed loop on L-shaped framework, for pulling described peg, link With the passenger carriage hanging on link, described peg has some, is fixed in parallel to each other on bushroller chain, be used for undertaking The weight of passenger carriage, the distance between peg is more than the height of a passenger carriage, can be fixedly connected on peg by folding link Medium position, track passes through from framework.When needing to hang up compartment, electric motor starting band movable sprocket operates, bushroller chain Sprocket wheel effect lower edge closed circuit rotate, when the peg on bushroller chain, can folding link move to car position when, hang Ring set lives linking up with and being lifted on passenger carriage, and compartment is hung up.Similarly, when needing to put down compartment, the link of folding is same Track also can be put in compartment on hanger by sample.Further, a kind of drone version high-speed track visitor of the present invention Deliver way system and can also comprise compartment cross-line scheduling track

Described compartment cross-line is dispatched track and is used for mutually dispatching standby visitor in the platform on the bidirectional line both sides in same place Fortune compartment.

Further, described thread-changing tagmeme adjustment track only arranges main sequence position one tagmeme, compartment can change speed, New main sequence position is run.

Further, the described upper trajectory of starting and offline approach track only arrange main sequence position one tagmeme.

Further, the climb and fall section that described tagmeme timing clock adjusts track and track in thread-changing tagmeme intensive sets Put.

Further, passenger carriage adopts miniaturization light design, takes only for 2-3 people, in same system, passenger traffic Compartment consistent appearance dimensional standard.

Present invention also offers drone version high-speed track timetable planning dispatching method, including passenger carriage dry Operation method on trajectory, the setting of the speed of service, control and control method, the establishing method of running route, orbit changing method, The processing method of the control method of compartment density and fault passenger carriage on track, wherein：

1) operation method on main line track for the passenger carriage：Rail Transit System controls control centre to set in main line track There are main sequence position, left remittance tagmeme, three tagmemes of right remittance tagmeme, main sequence position should be located when running on main line track for passenger carriage Tagmeme, left remittance tagmeme is to leave passenger carriage for when the passenger carriage of other main lines on the left of main line goes to this main line to account for temporarily Tagmeme, it is interim that right remittance tagmeme leaves passenger carriage for when going to this main line for the passenger carriage of other main lines on the right side of main line The tagmeme taking, on whole piece track, all passive movement and is arranged by main sequence position, left remittance tagmeme, right remittance tagmeme sequential loop 3 track tagmemes and the tagmeme spacing between them are covered, and the compartment that main line track runs all is required in this main line Travel at the uniform speed on the main sequence position of track, when passenger carriage does not strictly align main sequence position and runs, follow these steps to adjust：

S1：When passenger carriage runs, vehicle-mounted tagmeme timing clock is quick read by way of be fixedly installed in track along the line on Tagmeme timing clock clock value, and the clock value reading etalon time 0 moment value is compared, and comparison result is passed to Vehicle intelligent terminal；

S2：Vehicle intelligent terminal by the clock value of acquisition with 0 moment value difference between the two be converted into speed adjustment refer to Order, the tagmeme timing clock that vehicle-mounted tagmeme timing clock timing device reads should be for 0 moment, if being slightly larger than 0 moment, passenger traffic Compartment arrangements for speed regulation will be fast slightly, if being slightly less than for 12 moment, passenger carriage arrangements for speed regulation are slightly slowed down, and import main line for firm Track be in the passenger carriage importing sequence, arrangements for speed regulation are all using slightly slowing down, until vehicle-mounted tagmeme timing clock timing device The tagmeme timing clock reading switched to for 0 moment by 4 or 8 moment, and the tagmeme residing for compartment is changed to main sequence position by importing tagmeme；

2) setting of the speed of service, control and control method：The speed that passenger carriage runs in main line track is by controlling tune The main line rhythm and pace of moving things that degree center sets determines, the rhythm and pace of moving things can represent with v=ω J/2 π, v is the compartment speed of service, and ω is to control scheduling Center is the section angular velocity of this main line track rhythm and pace of moving things setting, and unit is radian per second, and J is section length, and unit is rice, changes track section The section of rule is long and saves the speed of service that angular velocity can change passenger carriage in rail；

3) establishing method of running route, the setting of each passenger carriage running route and adjustment in system is adjusted by control Degree center determines, its step is：

S1：Terminal station name is inputted when passenger gets on the bus at the starting station on the vehicle intelligent terminal be installed on compartment；

S2：Vehicle intelligent terminal exchanges with controlling control centre's information, controls control centre according to the reality of system track net When and predicted conditions set optimum operation route；

S3：After route sets, passenger, as changed destination in midway by bus, carries out change behaviour on vehicle intelligent terminal Make, input new terminal station name, vehicle intelligent terminal is exchanged with control control centre information and makes corresponding change；

4) orbit changing method：When needing to become rail, realized by three below step：

S1：The node signal device installation site of strain rail is run to default circuit on passenger carriage in rail main line, Passenger carriage also reaches thread-changing tagmeme adjustment track head end, and the node signal reading device on passenger carriage is on reading track After this node signal, information is passed to vehicle intelligent terminal, the vehicle intelligent terminal of passenger carriage is cut to the track on passenger carriage Converting mechanism sends track switching command, and track switching mechanism puts down wheel under passenger carriage, so that lower wheel is adjusted in thread-changing tagmeme The weight in whole compartment is carried on track, and lifting passenger carriage, make passenger carriage main wheel lifting and remove main line track, visitor Fortune compartment enters thread-changing tagmeme adjustment track；

S2：Passenger carriage adjusts in the short-time duty of track in thread-changing tagmeme, by during vehicle-mounted tagmeme timing clock pair and Speed governing when arrangements for speed regulation and intensive installation tagmeme timing clock pair in orbit, adjusts passenger carriage to will import rapidly The remittance tagmeme of main line；

S3：When passenger carriage enters thread-changing tagmeme adjustment track rear, thread-changing tagmeme adjusts installation on track rear Frame for movement triggers the track switching mechanism on passenger carriage, and lower wheel is packed up, and passenger carriage main wheel enters another main line rail Road imports tagmeme and runs, and just imports the passenger carriage of main line track, and passenger carriage arrangements for speed regulation are all using slightly slowing down, until compartment Proceed to main sequence position by importing tagmeme；

5) on track compartment density control method：System controls control centre that each passenger carriage working line is being set When determining or changing, can predict that the passenger carriage that on each main line, each section is run sets in arbitrary period no more than system by calculating The in-orbit Safe Density in fixed compartment；

6) processing method of fault passenger carriage, when passenger carriage is in operation chance failure, causing can not be by main sequence position During operation, processed in accordance with the following steps：

S1：Vehicle intelligent terminal on passenger carriage reports control control centre failure condition in time, on passenger carriage Positioner reports the accurate location that passenger carriage when breaking down is located；

S2：System controls control centre, according to situation about reporting, passenger carriage is sent with the instruction of On-line Fault disposal, therefore Barrier compartment dynamical system or arrangements for speed regulation are abnormal, and optionally dynamical system remains on or out of service, by rear passenger train Railway carriage or compartment push fault passenger carriage runs and exits the operation of main line track to website nearby, and fault compartment dynamical system and arrangements for speed regulation are just Chang Shi, issues instructions to fault compartment, relies on passenger carriage self power so that fault passenger carriage is run and exits to website nearby Main line track runs；

S3：When rear passenger carriage pushes fault passenger carriage, rear passenger carriage is in main sequence position, due to passenger carriage Can slow down after breaking down and advance until being pushed by rear passenger carriage, so the time erratically occupies from fault passenger carriage Main sequence position is responsible for rear pushing all tagmemes of the main sequence interdigit of passenger carriage, therefore exits backbone in fault passenger carriage This time period front, if other plans are taking these sequences using the passenger carriage of these tagmemes with fault passenger carriage in system The conflict of overlap is had on the time of position, then controls control centre to issue instruction adjustment running route by system；

S4：As walked or rail fault in fault compartment, then control control centre also planned to institute can pass through event The passenger carriage of barrier section track sends instruction of detouring.

Further, in passenger carriage in the operation method on main line track, main line track is in climb and fall section appropriateness Many installation tagmeme timing clocks, so that passenger carriage adjusts motor power output in time according to section, to be maintained at main sequence Position is run.

Further, in passenger carriage in the operation method on main line track, reach the standard grade stage, switching track rank in starting Section, the offline track entering the station the stage (this stage also can not set tagmeme) only have main sequence position.

Further, the sensitivity allowable error in the setting of the speed of service, control and control method, to timing apparatus For Millisecond.

The present invention has following beneficial effect：

1st, drone version high-speed track timetable planning of the present invention provides one kind for pilotless automobile Run and scheduling scheme, the enforcement of the program can greatly save city space, it is to avoid traffic congestion, improve urban transportation Conevying efficiency.

2nd, the unmanned passenger carriage in system of the present invention is pressed tagmeme and is run, and all passengers carried are come Say it is all special train, can without a pause go directly at a high speed destination halfway on time, and total system all passenger traffics in orbit railway carriage is all constantly Controlled control, have operation safety, high-speed and high-efficiency, energy-conserving and environment-protective the features such as.

3rd, rationally it is considered to comprehensively, scheduling sequence is in good order for the dispatching method of system of the present invention, can tackle each thing that happens suddenly Part.

Brief description

Fig. 1 is passenger platform of the present invention track structure schematic diagram nearby；

Fig. 2 is semiclosed Near Pipelines track structure schematic diagram；

Fig. 3 is orbital transfer area of the present invention track structure schematic diagram；

Fig. 4 is A area partial enlarged drawing shown in Fig. 1；

Fig. 5 is B area partial enlarged drawing shown in Fig. 1；

Fig. 6 is the structural representation of chain type compartment hanger；

Fig. 7 is passenger carriage thread-changing process schematic.

Specific embodiment

Below in conjunction with the accompanying drawings the specific embodiment of invention is elaborated.

As Figure 1-5, a kind of drone version high-speed track timetable planning of the present invention, hands over including track Way system control control centre, main line track 1, thread-changing tagmeme adjustment track 2, trajectory 3 and offline approach track 4 in starting, When tagmeme timing clock 5, vehicle-mounted tagmeme timing clock pair and arrangements for speed regulation 6, node signal device 21, node signal read dress Put, passenger carriage 7, passenger platform and chain type compartment hanger 14.Drone version high-speed track passenger traffic of the present invention System is to control in described system to run under the real-time management and control of control centre.System controls the major function of control centre to have： First, it is that in system, each track sets the track rhythm and pace of moving things that according to circumstances can set in real time and adjust one by one, set along the line by each track Each tagmeme timing clock 5 put to by way of passenger carriage 7 send track circadian signal, the passenger carriage 7 in constrained operation Run by the track rhythm and pace of moving things；Two and system in each passenger carriage 7 car-mounted terminal, each signalling arrangement keep liaison, monitor in real time Each track, each passenger carriage 7, each electric power, the operation conditions of communication link in system, can be according to the reality of each bar track circuit When situation determine and real-time adjustment respectively run the running route of passenger carriage 7 and the track rhythm and pace of moving things of each track circuit, to generation Unusual condition emergency processing it is ensured that the safe operation of system；3rd, the passenger carriage 7 being dispersed in each website in system is carried out Scheduling.Main line track 1 is to carry the rail body part that passenger carriage 7 runs, only one track, and passenger carriage 7 hangs on Main line track 1 lower section is run.There is a plurality of main line track 1 in the entire system.Rail Transit System controls control centre each dry Trajectory 1 is provided with main sequence position 8, left remittance tagmeme 9, right remittance 10 3 tagmemes of tagmeme.On main line track 1 run compartment all by Require to travel at the uniform speed by the main sequence position 8 of this main line track 1.Thread-changing tagmeme adjustment track 2 is two parallel tracks, for inciting somebody to action Compartment successfully proceeds to another main line track from a main line track.Described starting above trajectory 3 and offline approach track 4 and institute Stating thread-changing tagmeme adjustment track 2 the same is all two parallel orbits, above compartment trajectory 3 and offline approach track 4 in starting Run.In starting, trajectory 3 is used for passenger carriage 7 and starts to walk from station, and passenger carriage 7 can fast lifting speed be simultaneously on this track Enter main line track 1 to import tagmeme；Offline approach track 4 is used for passenger carriage 7 and departs from, from main line track 1, the entrance terminal that slows down Stand down visitor.In rail fixed position along the line installed by described tagmeme timing clock 5, remains communication connection with control system, It is the track circadian signal display device controlling control centre in rail along the line, in order to show that track tagmeme reaches this position be The system standard time.Setting tagmeme timing clock 5 is weekly 12 scales, and a corresponding section cycle, set tagmeme timing clock 5 with The section cycle angle that main sequence position 8 reaches this fixed position was 0 moment, then left remittance tagmeme 9 (on main line track 1) runs to this The section cycle angle of fixed position is 4 moment of clock, and right remittance tagmeme 10 (on main line track 1) runs to this fixed position Section cycle angle be clock 8 moment.In order to ensure the equilibrium of passenger carriage 7 speed of service, tagmeme timing clock 5 in rail edge Line, especially thread-changing tagmeme adjust what passenger carriage 7 living loads such as the climb and fall section of track 2 and track were more big changes Section answers comparatively dense to arrange.The system standard time that track main sequence position reaches track position is exactly the main sequence of the track rhythm and pace of moving things in fact The section cycle angle of position 8 this position of arrival.During described vehicle-mounted tagmeme timing clock pair and when arrangements for speed regulation 6 are vehicle-mounted tagmeme timing The device that clock timing device and arrangements for speed regulation integrate, is arranged on passenger carriage 7, when running for passenger carriage 7, quickly Read by way of be fixedly installed in track along the line on tagmeme timing clock 5 clock value, and during by the clock value reading and 0 Quarter, value compared, and the result of comparison passes to vehicle intelligent terminal, and difference between the two is converted into speed and adjusts by vehicle intelligent terminal Whole instruction, by acceleration or deceleration, makes passenger carriage 7 and main line track 1 main sequence position 8 align into position.Passenger carriage 7 is in main line rail Road 1 normal operating phase should be at main sequence position, during vehicle-mounted tagmeme timing clock pair and arrangements for speed regulation 6 read tagmeme timing when Clock 5 should be for 0 moment, if slightly larger than 0 moment (specifically regard practical situation fixed, but should be significantly less than for 4 moment) then passenger carriage speed governing Device will be fast slightly, if being slightly less than for 12 moment, (12 moment point are actually 0 moment point.Specifically regard practical situation fixed, but Ying Ming Aobvious be more than for 8 moment) then passenger carriage arrangements for speed regulation slightly slowed down；For the firm visitor being in remittance tagmeme importing main line track 1 Fortune compartment 7, arrangements for speed regulation all using slightly slowing down, until during vehicle-mounted tagmeme timing clock pair and the tagmeme that reads of arrangements for speed regulation 6 Timing clock 5 switched to for 0 moment by 4 or 8 moment, and the tagmeme residing for compartment is changed to main sequence position 8 by importing tagmeme.Track is in climb and fall Section appropriateness should install tagmeme timing clock 5 more, so that passenger carriage 7 adjusts motor output in time according to section, Run with being maintained on main sequence position 8.Starting reach the standard grade stage, switching track stage, offline enter the station the stage that (this stage also can not set Tagmeme) track only have main sequence position 8, in these stages, tagmeme is variable-speed operation.In rail is along the line, all becomes the suitable of rail section When position all can be provided with node signal device.In systems, each node signal device has its unique signal characteristic, Show its unique address in systems.When needing to become rail, passenger carriage 7 runs to the mutually strain rail node signal of default circuit Device installation site, simultaneously passenger carriage 7 also reach thread-changing tagmeme adjustment track 2 head end, the node letter installed in passenger carriage 7 After number reading device this node signal on reading track, information is passed to vehicle intelligent terminal, the vehicle-mounted intelligence of passenger carriage 7 Energy terminal will send to the track switching mechanism on passenger carriage 7 after obtaining this node signal that should become rail in default circuit Track switching command.Described passenger carriage 7 miniaturization light design, takes only for 2-3 people, to improve attendance rate and Transportation Efficiency Rate.As shown in figure 5, passenger carriage 7 is provided with two groups of wheels, one of which is main wheel 12, above passenger carriage 7, is May operate at former and later two wheels on a track, former and later two wheels all adopt wheel and motor Integral design, main Passenger carriage 7 is suspended on main line track 1 lower section and runs by the operation phase；Another group of wheel is lower wheel, and lower wheel is arranged on visitor Below fortune compartment 7, there are two pairs of wheels of before and after, one pair of which wheel adopts wheel and motor Integral design, in thread-changing Run on trajectory 3 and offline approach track 4 on tagmeme adjustment track 2, starting, main operation phase lower wheel 13 is packed up.? In same system, passenger carriage 7 answers consistent appearance dimensional standard；It is furnished with current-collecting device, in order to from track edge on passenger traffic railway carriage Accept electric energy on the distribution line that coil holder sets；It is furnished with vehicle intelligent terminal on passenger traffic railway carriage, passenger carriage 7 can be controlled by track Main sequence position 8 is run, and can control control centre's real-time exchange information, and execution controls the instruction of control centre, real-time report passenger traffic The operation conditions in compartment, passenger can be in setting above or midway modification destination.Vehicle-mounted tagmeme timing is furnished with passenger traffic railway carriage During clock pair and arrangements for speed regulation, by the adjustment to passenger carriage 7 speed of service, passenger carriage 7 is made strictly to transport by main sequence position 8 OK；On passenger carriage 7, positioner is installed, enables main website monitor in real time run location.Described passenger platform can be used for passenger Get on the bus, get off and dispatch a car and standby compartment put etc..The present invention can also comprise chain type compartment lifting hanger and compartment cross-line is adjusted Degree track.As shown in fig. 6, chain type compartment hanger 14 by L-shaped framework 15, a pair of bushroller chain 16, sprocket wheel 19, motor 20 and The peg 17 that is fixed on bushroller chain, can folding link 18 form, bushroller chain 16 forms on L-shaped framework 15 and closes Ring, for pulling the passenger carriage 7 hanging on described peg 17, link 18 and link 18, peg 17 has some, is parallel to each other Be fixed on bushroller chain 16, for undertaking the weight of passenger carriage 7, the distance between peg 17 be more than a passenger train The height in railway carriage or compartment 7, can be fixedly connected on peg 17 medium position by folding link 18, track passes through from framework.When needing compartment During hang-up, motor 20 starts band movable sprocket 19 and operates, and bushroller chain 16 rotates in sprocket wheel 19 effect lower edge closed circuit, works as set Peg 17 on cylinder roller chain 16, can folding link 18 when moving to compartment 7 position, link 18 entangles the hook on passenger carriage And lifted, compartment 7 is hung up.Similarly, when needing to put down compartment, the link 18 of folding equally also can be by hanger 14 Track is put in compartment.Such setting can save the floor space that standby compartment is deposited.Bigger than normal in some period use car demands Website (as school), the standby compartment of platform is difficult to meet demand, is a need for from the platform scheduling passenger carriage 7 of periphery , the built on stilts main line track 1 of therefore two-way separation two main line track 1 passenger platform in same place is set together as far as possible, Thus easily the standby compartment of track opposite platform can be passed through compartment cross-line scheduling track scheduling to come, be beneficial to car The scheduling of railway carriage or compartment resource, improves compartment utilization rate.

The various tracks of drone version high-speed track timetable planning of the present invention are all using built on stilts semiclosed Design.Have an advantage in that：1st, make somebody a mere figurehead and refer to make somebody a mere figurehead track in the existing road in city the modes such as track shaft tower OR gate formula framework Road overhead (also can be hung on viaduct side), keeps suitable safe distance with surface road and surrounding building, so City space can be made full use of, as far as possible few urban land resource taking preciousness；2nd, the crossing by the way of grade separation of track It does not interfere with each other, but track 2 intercommunication can be adjusted through thread-changing tagmeme；3rd, track frame is provided with power circuit, is the fortune of passenger carriage 7 Row and the various signals such as the clock of tagmeme timing on the way 5, node signal device, illumination, power-equipment offer supply of electric power；4th, seal It is relative for closing, and is to be closed track and passenger carriage 7 with transparent semiclosed pipeline 11, forms a duct-like visitor Wan access；5th, the reliability being designed to raising safe operation of relative closure track；6th, the design of relative closure track can be Formed with compartment with the air-flow of the direction of motion in pipeline, advantageously reduce the windage of carriage movements；7th, the setting of relative closure track In respect of beneficial to adjusting to temperature in pipeline in winter and summer, improve the comfort level of passenger；8th, closed material can gather using as transparent The material of the transparent and firm lightweight of carbonic ester etc, passenger can see landscape on the way well when taking；9th, closing knot The upper strata shielded from sunlight of structure, can install solaode, provide the energy for system operation on the spot；10th, in track pipeline, ventilation is changed Gas is good, has the window of controllable folding.

A kind of drone version high-speed track timetable planning of the present invention realizes each visitor in system by tagmeme The orderly function in orbit of fortune compartment 7.Described tagmeme refers to control control centre virtual by system, by the setting track rhythm and pace of moving things Run locus in orbit, be that system controls the compartment that control centre sets (to divide in starting in the different operation phase Line stage, main operation phase, switching track stage, import the track moment, import after the tagmeme metamorphosis stage, offline enter the station the stage) The corresponding normal place that should be in.Also have the safe distance of a setting between the adjacent tagmeme of each two, be a tagmeme Spacing.

Assume at a time, system a certain main line track 1 to be run by the track rhythm and pace of moving things controlling control centre to set Wherein passenger carriage 7 first is now existed by first, second, the third three coherent standard passenger carriages 7 being only spaced a tagmeme spacing in front and back On track, location is defined as the main sequence position 8 on this main line track 1, and this tagmeme is that passenger carriage 7 should in the main operation phase The position at place；The position at passenger carriage 7 second and the third place in orbit is all to import tagmeme, and this two import tagmeme is all for passenger traffic Compartment 7 leaves the busy tagmeme of passenger carriage 7, wherein, passenger train for by that time that other main line tracks 1 go to this main line Second location in orbit in railway carriage or compartment 7 is that this main line track 1 is left imports tagmeme 9, is the passenger train of other main lines on the left of main line The busy tagmeme of passenger carriage 7 is left in railway carriage or compartment 7 for when going to this main line, passenger carriage 7 third location in orbit is should Main line track 1 is right to import tagmeme 10, is to leave passenger carriage for when the passenger carriage 7 of other main lines on the right side of main line goes to this main line 7 busy tagmemes.The compartment that to import tagmeme be that system is other tracks outside main line track 1 is not required to parking waiting, And will not collide with the passenger carriage 7 running normal on main line, and safety quick can import main line track 1 and arrange. Main line import the same side when Column Layout (track two-way and) that entrance can be all disposed within main line.Main sequence position 8 and remittance tagmeme It is referred to as track tagmeme.Whole piece track all passive movements and press main sequence position 8, left remittance tagmeme 9, right remittance tagmeme 10 sequential loop arrangement 3 track tagmemes and the tagmeme spacing between them covered.Operating compartment is in the time importing on tagmeme very Of short duration, after importing main line track 1, i.e. tagmeme 8 is become owner of in rapid adjustment, to guarantee that passenger carriage 7 imports running to next compartment It was completely in main sequence position 8 before mouthful, be that remittance tagmeme is vacated in the compartment importing mouth remittance from next compartment.In controlling scheduling The heart is by the main sequence position 8 of the contextual on certain main line, left remittance tagmeme 9, right remittance 3 tagmemes of tagmeme and 3 tagmeme spacing As a unit of this track rhythm and pace of moving things, it is called 1 section, the length that 1 section is occupied in orbit is 1 section length.Main line track 1 On, often it is separated by n pitch from there being identical tagmeme.Control control centre can adjust the tagmeme speed of service by adjustment section length, Because passenger carriage 7 length is constant, adjustment section length is exactly to adjust tagmeme spacing in fact.The described track rhythm and pace of moving things is to control control centre Control system be the rule that in system, each bar track tagmeme runs a kind of mechanical periodicity setting.In synchronization, different Track can set the different track rhythm and pace of moving things, and same main line track can also set different track sections in different sections Rule.The track rhythm and pace of moving things to be determined by " section cycle " and " section length " two adjustable amounts.Specifically implement track in a certain main line track 1 During the rhythm and pace of moving things, control system also should determine that main line track 1 initial point that this main line track 1 main sequence position 8 originates and originates the time.For rail For any fixed position on road, track tagmeme is not only pressed and controls the speed that control centre sets to pass through this fixed position, and Main sequence position 8 and left import tagmeme 9, the right tagmeme 10 (main line track 1) that imports passes sequentially through time of this fixed position all by controlling Control centre sets.We are by a main sequence position 8 on certain main line track 1 to control the speed that control centre sets to run 1 section road The time of Cheng Suoxu, as this main line track 1 control system " section cycle ", controls control centre can save week by adjustment Phase (section angular velocity) to adjust the tagmeme speed of service.On certain main line, main sequence position 8 travels at the uniform speed the road passed by after time t Journey can represent, wherein S represents the distance passed by main sequence position 8 in this main line track 1 with formula S=ω t/2 π J, and unit is Rice, ω is the section angular velocity controlling control centre to be the setting of this main line track rhythm and pace of moving things, and unit is radian per second, and t is run time, Unit is the second, and J is section length, and unit is rice.Speed v=ω J/2 π.A main sequence position 8 on certain main line track 1 is according to control The track rhythm and pace of moving things that control centre sets, from moment t₁From this main line initial point, run to t₂Moment in-position A, then A is from former The distance S=ω (t of point₂-t₁)/2 π J, during the A of in-position, the operating radian of this main line track 1 rhythm and pace of moving things is ω (t₂-t₁), will Value α that this radian deducts 2 π integral multiples saves cycle angle as the main sequence position 8 of passenger carriage 7 in-position A, saves cycle angle value Represented with the radian of ＜ 2 π.Moment t₂Namely at the A of position, main sequence position 8 reaches one of etalon time of this position.t₁、t₂Permissible It is all moment at interval of 2 π/ω after control system starts.

For example：1., in a certain main line track 1, there is a tagmeme timing clock 5 to be arranged at 3456 meters of this main line initial point, A certain main sequence position 8 from main line initial point 6 days 9 June when 0 point set out within 0 second, the section angular velocity of the track rhythm and pace of moving things is 5.85rad/s, section length For 15m, then according to formula S=ω (t₂-t₁)/2 π J, then passenger carriage 7 run to this tagmeme timing clock 5 installation site When control system operating radian ω (t₂-t₁)=S/J × 2 π=3456 ÷ 15 × 2 π=230.4 × 2 π, section cycle angle [alpha] takes Operating radian be less than 2 π value, α=0.4 × 2 π=0.8 π that is to say, that the in rail rhythm and pace of moving things section cycle angle be 0.8 π when, This tagmeme timing clock 5 was 0 moment, and the speed that tagmeme runs can also be calculated with formula v=ω J/2 π, v=5.85 × 15 ÷ 2 π ≈ 13.97m/s (speed per hour is 50.3 kilometers/hour)；This main sequence position 8 reaches used by this tagmeme timing clock 5 installation site Time t=S/J × 2 π/ω ≈ 247.0312s=4 divides 0 7.0312 seconds, reaches the time of this tagmeme timing clock 5 installation site Be during 6 days 9 June 4 points 7 seconds 3.12 milliseconds, this time is also 0 moment of this tagmeme timing clock 5, and at interval of cycle 2 π/ This tagmeme timing clock 5 of ω=2 π/5.85 ≈ 1.074s all show 0 moment (this cycle really a little fast it is seen that to timing apparatus Sensitivity requirement very high it is allowed to error should be Millisecond).

2. in above-mentioned tagmeme timing clock 5 installation site, when the section angular velocity of the track rhythm and pace of moving things is promoted to 6.5rad/s, should Main sequence position runs to the operating radian ω (t of the track rhythm and pace of moving things of this tagmeme timing clock 5 installation site₂-t₁)=S/J × 2 π= 3456 ÷ 15 × 2 π=230.4 × 2 π, section cycle angle [alpha] or 0.8 π, speed v=ω J/2 π=6.5 that tagmeme runs × 15 ÷ 2 π ≈ 15.52m/s (speed per hour is 55.9 kilometers/hour) is it is seen that in the case of not changing the section length of the track rhythm and pace of moving things, lifted Section angular velocity can improve the speed of service of passenger carriage 7, and on track all tagmeme timing clock 0 moment section cycle angle Degree is constant.

3., in above-mentioned tagmeme timing clock 5 installation site, when section length is adjusted to 18m, the section angular velocity of the track rhythm and pace of moving things is still 5.85rad/s, then according to formula S=ω (t₂-t₁)/2 π J, then this main sequence position run to this tagmeme timing clock 5 installation position The operating radian ω (t of the track rhythm and pace of moving things put₂-t₁)=S/J × 2 π=3456 ÷ 18 × 2 π=192 × 2 π, section cycle angle [alpha] takes Operating radian be less than 2 π value, α=0 that is to say, that this position in rail rhythm and pace of moving things section cycle angle be 0 when, the sequence of this position Position timing clock 5 was 0 moment, and the speed that tagmeme runs can also be calculated with formula v=ω J/2 π, v=5.85 × 18 ÷ 2 π ≈ 16.76m/s (speed per hour is 60.3 kilometers/hour).It can be seen that in the case of not changing the section angular velocity of the track rhythm and pace of moving things, increasing section Length can improve the speed of service of passenger carriage 7, but on track, the section cycle angle in all tagmeme timing clock 0 moment there occurs Change.Increase the long increasing tagmeme spacing of can only passing through in the case that passenger carriage 7 length is certain of section to realize.

By introducing above-mentioned concept and theory, drone version high-speed track timetable planning scheduling of the present invention Method includes the following aspects：

1. the setting of running route：In system, the setting of each passenger carriage 7 running route and adjustment are dispatched by control Center determines.Terminal station name, vehicle-mounted intelligence are inputted when passenger gets on the bus at the starting station on the vehicle intelligent terminal be installed on compartment Can terminal can exchange with controlling control centre information, control control centre according to system track net in real time and predicted conditions ( The in-orbit compartment density prediction of random time point on default circuit for all passenger carriages that rail runs, each track of peak interval of time Passenger carriage 7 density prediction, the detouring etc. of real time fail circuit) set optimum operation route, which saves to include in rail net Point handoff path, enters offline approach track in which node disengaging main line track 1 and reaches terminal.Passenger is as in midway by bus Destination need to be changed, change operation can be carried out on vehicle intelligent terminal, input new terminal station name, vehicle intelligent terminal With controlling control centre's information to exchange and corresponding change can be made.

2. track switching：In the rail network of system, passenger may be dry through different several from the starting station to terminal Trajectory 1 gets to, and therefore passenger carriage 7 runs handoff path in way is frequent thing.The system passenger carriage 7 switches rail Road adopts main line track 1 and thread-changing tagmeme adjustment track 2 (containing the upper trajectory 3 of starting and offline approach track 4) double-track system, is not required to As railway, switch becomes rail, and passenger carriage 7 is in the switching of main line operating track through being：(1) main line track 1 and thread-changing sequence The passenger carriage 7 of position adjustment track 2 joins；(2) passenger carriage 7 adjusts in thread-changing tagmeme and runs on track 2 and rapidly by tagmeme It is adjusted to the remittance tagmeme of the main line track 1 that will import；(3) passenger carriage 7 of adjustment twilight orbit and another main line track 1 Handing-over completes.The switching of track departs from all on the right of main orbit or accesses (traffic right lateral rule when two-way track sets up side by side Then).(offline approach track 4 and the upper trajectory 3 of starting only have head end or tail end to exist at thread-changing tagmeme adjustment track 2 head and the tail two ends Handing-over) transition switching phase with the main line track 1 joining in the parallel overlap of vertical direction, but not in same level plane, no There is the cross point of level, thread-changing tagmeme adjusts the vertical lower that track 2 switching phase is in main line track 1, hanging down between them The height (because lower wheel can be packed up when main line track runs) of a straight distance about passenger carriage 7.

In rail is along the line, and all appropriate locations becoming rail section all can be provided with node signal device.In systems, each Node signal device has its unique signal characteristic, shows its unique address in systems, with to by way of passenger carriage Send addressed nodes information, node signal device may be installed corresponding location as the change rail terrestrial reference signal on circuit.

When needing to become rail, generally realized by three below step：

S1：Corresponding change rail node signal device installation site, passenger carriage in passenger carriage 7 runs to default circuit 7 also reach thread-changing tagmeme adjustment track 2 head end, this section on reading track of the node signal reading device on passenger carriage 7 After point signal, information is passed to vehicle intelligent terminal, the vehicle intelligent terminal of passenger carriage 7 will be to the track on passenger carriage 7 Switching mechanism sends track switching command, and track switching mechanism puts down 7 times wheels of passenger carriage, so that lower wheel is adjusted in thread-changing tagmeme The weight in whole compartment is carried on whole track 2, and lifting passenger carriage 7, make passenger carriage 7 main wheel lifting and remove main line rail Road 1, passenger carriage 7 enters thread-changing tagmeme adjustment track 2 and runs, as shown in Figure 7；

S2：The remittance of the main line track 1 that the main sequence position 8 of thread-changing tagmeme adjustment track 2 will switch into for passenger carriage 7 Tagmeme (left remittance tagmeme 9 or right remittance tagmeme 10), passenger carriage 7 adjusts in the short-time duty of track 2 in thread-changing tagmeme, passes through During vehicle-mounted tagmeme timing clock pair and arrangements for speed regulation 6 and intensive speed governing (thread-changing when installing 5 pairs, tagmeme timing clock in orbit The main sequence position 8 that tagmeme adjusts track 2 videlicet will import the remittance tagmeme of main line), rapidly passenger carriage 7 is adjusted to will converge Enter the remittance tagmeme of main line；

S3：When passenger carriage 7 enters thread-changing tagmeme adjustment track 2 rear, a machine on thread-changing tagmeme adjustment track 2 rear Tool structure triggers the track switching mechanism on passenger carriage 7, and lower wheel is packed up, and passenger carriage 7 main wheel enters another main line rail Road 1 runs, and now, passenger carriage 7 enters the remittance tagmeme of another main line.Just import the speed governing of the passenger carriage 7 of main line track 1 Device all using slightly slowing down, proceeds to main sequence position 8 up to compartment by importing tagmeme.

3. on track compartment density regulation：Passenger carriage 7 due to importing main line must be adjusted from remittance tagmeme by slowing down Tagmeme 8 based on whole, now it is possible to immediately behind continuously multiple main sequence positions 8 all taken by passenger carriage 7, these Passenger carriage 7 by because the new passenger carriage 7 importing main line slow down adjustment tagmeme be forced coherent adjust tagmeme backward, and adjust tagmeme Need certain time and vacant main sequence position 8, adjustment tagmeme, required time and vacant main sequence position 8 that many passenger carriages 7 link up Also can be more, thus may lead to when passenger carriage 7 runs to next remittance mouth, also the tagmeme adjustment of passenger carriage 7 Also do not complete and put in place, the operation to passenger carriage 7 is brought danger by that, so system controls control centre to each passenger carriage When the setting of 7 working lines or change, can be by calculating the passenger carriage 7 predicting each section operation on each main line in arbitrary period It is no more than the in-orbit Safe Density in compartment of default.

4. the process of fault passenger carriage：Passenger carriage is in operation when can not run by main sequence position 8 as chance failure, Vehicle intelligent terminal on passenger carriage will be in time to control control centre reporting fault situation, the positioner on passenger carriage Also the accurate location that passenger carriage when breaking down is located can be reported, system controls control centre by according to the situation pair reporting Passenger carriage sends the instruction of On-line Fault disposal, when fault compartment dynamical system and arrangements for speed regulation are normal, issues instructions to event Barrier compartment, relies on passenger carriage self power so that fault passenger carriage is run and exits the operation of main line track to website nearby；Fault Compartment dynamical system or arrangements for speed regulation are abnormal, push fault passenger carriage by rear passenger carriage and run and exit to website nearby Run (rear passenger carriage optionally controls control centre to decide whether to need appropriateness to slow down by system, it is to avoid collision), rear visitor When fortune compartment pushes fault passenger carriage, rear passenger carriage is in main sequence position 8, can slow down after being broken down due to passenger carriage Retreat to right remittance tagmeme 10 (taking the tagmeme of accompanying drawing 1 to put in order) and pushed by rear passenger carriage and advance, so the time is erratically Occupy and be responsible for pushing all tagmemes of the main sequence interdigit of passenger carriage from the main sequence position of fault passenger carriage to rear, therefore exist Fault passenger carriage exits this time period before backbone, if other plans use passenger carriage and the event of these tagmemes in system Barrier passenger carriage has the conflict of overlap on the time taking these tagmemes, then control control centre to issue instruction adjustment by system Running route.As rail fault, maintenance, control control centre also can to the planned passenger carriage through rail fault section Send instruction of detouring.

Claims

1. a kind of drone version high-speed track timetable planning controls scheduling it is characterised in that including Rail Transit System Center, main line track, thread-changing tagmeme adjustment track, trajectory and offline approach track, tagmeme timing clock, vehicle-mounted sequence in starting Position timing clock pair when and arrangements for speed regulation, node signal device, node signal reading device, passenger carriage, passenger platform and chain Formula compartment hanger, wherein：

Described Rail Transit System controls control centre to comprise 3 modules：Set the track rhythm and pace of moving things for track each in system one by one Module, for being set in real time according to practical situation and the adjustment track rhythm and pace of moving things, and by clockwise during each tagmeme timing by way of visitor Fortune compartment sends track circadian signal, and the passenger carriage in constrained operation is pressed the track rhythm and pace of moving things and run；With passenger carriage each in system Car-mounted terminal, each signalling arrangement keep the module of liaison, for track each in real-time monitoring system, each passenger carriage, each Electric power, the operation conditions of communication link, and respectively can be transported according to the real time status determination of each bar track circuit and real-time adjustment The running route of row passenger carriage, makes emergency processing it is ensured that the safe operation of system to the unusual condition occurring；To in system It is dispersed in the module that the passenger carriage of each website is scheduling；

Described main line track is used for guiding passenger car, is the major trunk roads that in system, compartment runs, compartment hangs on main line track Lower section is run, and control system is provided with main sequence position, left remittance tagmeme, right these three tagmemes of remittance tagmeme in main line track；

Described thread-changing tagmeme adjustment track is two parallel tracks, for compartment is proceeded to another main line from a main line track Track；

Above trajectory is two parallel tracks with offline approach track for described starting, and in starting, trajectory is used for passenger carriage Start to walk to import main line track remittance tagmeme from passenger platform, offline approach track is used for passenger carriage from the rail-guided visitor of main line Visitor under fortune platform；

In rail fixed position along the line installed by described tagmeme timing clock, remains communication connection with controlling control centre, It is the track circadian signal display device controlling control centre's in rail along the line, can show that track tagmeme reaches the system of this position Standard time；

During described vehicle-mounted tagmeme timing clock pair and arrangements for speed regulation are arranged on passenger carriage, quick when running for passenger carriage Read the clock value of described tagmeme timing clock, and the clock value reading is compared with etalon time 0 moment value, vehicle intelligent Difference between the two is converted into the speed-regulating instruction to arrangements for speed regulation by terminal again, make passenger carriage and track main sequence position align into Position；

Described node signal device installs in rail node location along the line, for by way of passenger carriage send address letter Number；

Described node signal reading device is arranged on passenger carriage, and the node for reading node signal device on track is believed Number, and the information reading is passed to vehicle intelligent terminal, vehicle intelligent terminal must conversion in receiving default working line After the node signal of track, track switching command is sent to passenger carriage upper rail switching mechanism；

Described passenger carriage is provided with two groups of wheels, and one of which is main wheel, above passenger carriage, before main wheel includes Latter two wheel, former and later two wheels all adopt wheel and motor Integral design, for running on main line track；Another Group wheel is mounted in the lower wheel below passenger carriage, and lower wheel includes two pairs of wheels of before and after, and one pair of which wheel adopts car Wheel and motor Integral design, main wheel is run in main line track, and lower wheel adjusts track, rail of starting to walk to reach the standard grade in thread-changing tagmeme Run on road or offline approach track；Vehicle intelligent terminal is furnished with passenger traffic railway carriage, vehicle intelligent terminal can and control in scheduling Heart real-time exchange information, execution controls the instruction of control centre, the operation conditions of real-time report passenger carriage, can receive vehicle-mounted During tagmeme timing clock pair and arrangements for speed regulation, node signal reading device signal, and control passenger carriage by track main sequence position Run or run in default node thread-changing, passenger can be arranged or midway modification destination on vehicle intelligent terminal；Passenger train Current-collecting device is furnished with case, in order to accept electric energy on the track distribution line setting up along the line；It is also equipped with passenger traffic railway carriage controlling Main wheel and the track switching mechanism of lower wheel；It is furnished with during vehicle-mounted tagmeme timing clock pair on passenger traffic railway carriage and arrangements for speed regulation, lead to Cross the adjustment to the passenger carriage speed of service, so that passenger carriage is strictly run by main sequence position, passenger carriage is provided with positioning dress Put, enable main website monitor in real time run location；

Described passenger platform is used for passenger loading, gets off, dispatches a car and the storing of standby compartment；

Described chain type compartment hanger by L-shaped framework, a pair of bushroller chain, sprocket wheel, motor and is fixed on bushroller chain Peg, can folding link composition, bushroller chain forms closed loop on L-shaped framework, for pulling described peg, link and extension The passenger carriage hanging on ring, described peg has some, is fixed in parallel to each other on bushroller chain, is used for undertaking passenger traffic The weight in compartment, the distance between peg is more than the height of a passenger carriage, can folding link be fixedly connected in the middle part of peg Position, and linking up with passenger carriage is entangled by folding link and is lifted, the link of folding equally also can be by hanger Track is put in compartment, and track passes through from framework, is easy to compartment and deviates from from track or put into track.

2. a kind of drone version high-speed track timetable planning according to claim 1 is it is characterised in that also comprise Compartment cross-line scheduling track, standby passenger carriage mutually dispatched by the platform for the bidirectional line both sides in same place.

3. a kind of drone version high-speed track timetable planning according to claim 1 and 2 is it is characterised in that institute State and main sequence position one tagmeme is only arranged on the upper trajectory of starting and offline approach track.

4. a kind of drone version high-speed track timetable planning according to claim 1 and 2 is it is characterised in that institute State and on thread-changing tagmeme adjustment track, main sequence position one tagmeme is only set, compartment can change speed, adjusts track in thread-changing tagmeme Run on main sequence position.

5. a kind of drone version high-speed track timetable planning according to claim 1 and 2 is it is characterised in that institute State the intensive setting in climb and fall section that tagmeme timing clock adjusts track and track in thread-changing tagmeme.

6. a kind of drone version high-speed track timetable planning according to claim 1 and 2 is it is characterised in that visitor Fortune compartment adopts miniaturization light design, takes only for 2-3 people, in same system, passenger carriage consistent appearance size mark Accurate.

7. according to any one of claim 1-6 drone version high-speed track timetable planning dispatching method, it is special Levy and be, including operation method on main line track for the passenger carriage, the setting of the speed of service, control and control method, operation The processing method of the control method of compartment density and fault passenger carriage on the establishing method of route, orbit changing method, track, its In：

1) operation method on main line track for the passenger carriage：Rail Transit System controls control centre to be provided with master in main line track Tagmeme, left remittance tagmeme, three tagmemes of right remittance tagmeme, left remittance tagmeme is that the passenger carriage of other main lines on the left of main line turns The busy tagmeme of passenger carriage is left for, right remittance tagmeme is the passenger carriage of other main lines on the right side of main line during to this main line Leave passenger carriage busy tagmeme when going to this main line for, whole piece track passive movement and by main sequence position, left remittance tagmeme, Right 3 track tagmemes importing the arrangement of tagmeme sequential loop and the tagmeme spacing between them are covered, and main line track is transported The compartment of row is all required to travel at the uniform speed on the main sequence position of this main line track, runs when passenger carriage does not strictly align main sequence position When, it follow these steps to adjust：

S1：When passenger carriage runs, during vehicle-mounted tagmeme timing clock pair and arrangements for speed regulation quick read by way of be fixedly installed in The clock value of the tagmeme timing clock on track is along the line, and the clock value reading is compared with etalon time 0 moment value；

S2：The clock value reading and 0 moment value difference between the two is passed to vehicle intelligent terminal, by vehicle intelligent terminal It is converted into speed adjust instruction, during vehicle-mounted tagmeme timing clock pair and when the tagmeme timing clock that reads of arrangements for speed regulation should be 0 Carve, if being slightly larger than for 0 moment, passenger carriage arrangements for speed regulation will be fast slightly, if being slightly less than for 12 moment, passenger carriage arrangements for speed regulation will Slightly slow down, the passenger carriage importing sequence be in for the firm main line track that imports, arrangements for speed regulation all using slightly slowing down, until vehicle-mounted During tagmeme timing clock pair and the tagmeme timing clock that reads of arrangements for speed regulation switched to for 0 moment by 4 or 8 moment, residing for compartment Tagmeme is changed to main sequence position by importing tagmeme；

2) setting of the speed of service, control and control method：The speed that passenger carriage runs in main line track is by controlling in scheduling The main line rhythm and pace of moving things that the heart sets determines, the rhythm and pace of moving things can represent with v=ω J/2 π, v is the compartment speed of service, and ω is to control control centre For the section angular velocity of this main line track rhythm and pace of moving things setting, unit is radian per second, and J is section length, and unit is rice, changes the track rhythm and pace of moving things Section is long and saves the speed of service that angular velocity can change passenger carriage in rail；

3) establishing method of running route, the setting of each passenger carriage running route and adjustment in system is dispatched by control The heart determines, its step is：

S2：Vehicle intelligent terminal exchanges with controlling control centre information, control control centre according to system track net in real time and Predicted conditions set optimum operation route；

S3：After route sets, passenger, as changed destination in midway by bus, carries out change operation on vehicle intelligent terminal, Input new terminal station name, vehicle intelligent terminal is exchanged with control control centre information and makes corresponding change；

4) orbit changing method, when needing to become rail, is realized by three below step：

S1：Run on passenger carriage in rail main line to default circuit strain rail node signal device installation site when, visitor Fortune compartment also reaches thread-changing tagmeme adjustment track head end, and the node signal reading device on passenger carriage should on reading track After node signal, signal is passed to vehicle intelligent terminal, the vehicle intelligent terminal of passenger carriage switches to the track on passenger carriage Mechanism sends track switching command, and track switching mechanism puts down wheel under passenger carriage, makes lower wheel adjust rail in thread-changing tagmeme The weight in whole compartment is carried on road, and lifting passenger carriage, make passenger carriage main wheel lifting and remove main line track, passenger traffic Compartment enters thread-changing tagmeme adjustment track；

S2：Passenger carriage adjusts in the short-time duty of track in thread-changing tagmeme, by during vehicle-mounted tagmeme timing clock pair and speed governing Speed governing when device and intensive installation tagmeme timing clock pair in orbit, adjusts passenger carriage to will import main line rapidly Remittance tagmeme；

S3：When passenger carriage enters thread-changing tagmeme adjustment track rear, thread-changing tagmeme adjusts the machinery installed on track rear Structure triggers the track switching mechanism on passenger carriage, and lower wheel is packed up, and passenger carriage main wheel enters another main line track and converges Enter tagmeme to run, just import the passenger carriage of main line track, passenger carriage arrangements for speed regulation are all using slightly slowing down, until compartment is by converging Enter tagmeme and proceed to main sequence position；

5) on track compartment density control method：System control control centre in the setting to each passenger carriage working line or During change, can predict that the passenger carriage that on each main line, each section is run is no more than default in arbitrary period by calculating The in-orbit Safe Density in compartment；

6) processing method of fault passenger carriage, when passenger carriage is in operation chance failure, causes and can not run by main sequence position When, processed in accordance with the following steps：

S1：Vehicle intelligent terminal on passenger carriage is in time to control control centre reporting fault situation, determining on passenger carriage Position device reports the accurate location that the passenger carriage breaking down is located；

S2：System controls control centre that according to situation about reporting, fault passenger carriage is sent with the instruction of on-line handling, disabled vehicle Railway carriage or compartment dynamical system or arrangements for speed regulation are abnormal, by rear passenger carriage push fault passenger carriage run exit to website nearby dry When trajectory, fault compartment dynamical system and arrangements for speed regulation are normal, issue instructions to fault compartment, rely on passenger carriage itself to move Power makes fault passenger carriage run and exits main line track to website nearby；

S3：When rear passenger carriage pushes fault passenger carriage, rear passenger carriage is in main sequence position, because passenger carriage occurs Can slow down after fault and advance until being pushed by rear passenger carriage in right remittance tagmeme, so the time erratically occupies from fault Main sequence position is responsible for rear pushing all tagmemes of the main sequence interdigit of passenger carriage, therefore exits backbone in fault passenger carriage This time period front, if other plans are taking these sequences using the passenger carriage of these tagmemes with fault passenger carriage in system The conflict of overlap is had on the time of position, then controls control centre to issue instruction adjustment running route by system；

S4：As walked or track is not normally functioning in fault compartment, control control centre can planned to institute through track The passenger carriage of faulty section sends instruction of detouring.

8. the dispatching method of a kind of drone version high-speed track timetable planning according to claim 7, its feature It is, in described passenger carriage in the operation method on main line track, main line track is in climb and fall section appropriateness many installations sequence Position timing clock, so that passenger carriage adjusts motor power output in time according to section, to be maintained at the operation of main sequence position.

9. the dispatching method of a kind of drone version high-speed track timetable planning according to claim 7, its feature It is, in described passenger carriage in the operation method on main line track, reach the standard grade stage, the switching track stage, offline in starting The track in stage of entering the station only has main sequence position.

10. the dispatching party of a kind of drone version high-speed track timetable planning according to any one of claim 7-9 Method is it is characterised in that in the setting of the speed of service, control and control method, to the sensitivity allowable error of timing apparatus be Millisecond.