CN107168326A - Rail vehicle control system, rail vehicle, rail system and transportation system - Google Patents
Rail vehicle control system, rail vehicle, rail system and transportation system Download PDFInfo
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- CN107168326A CN107168326A CN201710442547.0A CN201710442547A CN107168326A CN 107168326 A CN107168326 A CN 107168326A CN 201710442547 A CN201710442547 A CN 201710442547A CN 107168326 A CN107168326 A CN 107168326A
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- 238000004891 communication Methods 0.000 claims description 11
- 238000003384 imaging method Methods 0.000 claims description 11
- 230000000052 comparative effect Effects 0.000 claims description 7
- 230000004888 barrier function Effects 0.000 claims description 5
- 238000012360 testing method Methods 0.000 claims description 4
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- 230000009466 transformation Effects 0.000 description 3
- 230000032683 aging Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
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- 206010039203 Road traffic accident Diseases 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The present invention provides a kind of rail vehicle control system, a kind of rail vehicle, a kind of rail system and a kind of transportation system.Wherein, the rail vehicle control system realizes positioning based on guide rail band based on rail sensor, information transceiving device and mobile controller and receives the movement requirement that central computer is sent, and and then controls rail vehicle according to the movement requirement along the guide rail Tape movement.The rail vehicle Control system architecture is simple, can repack rail vehicle into by being installed on existing vehicle, and then the transportation system provided applied to the present invention, the utilization rate of road and vehicle can be greatly improved, reduce the quantity of vehicle, so as to the problems such as solving traffic congestion, parking difficulty, while reducing Vehicular exhaust pollution.
Description
Technical field
The present invention relates to technical field of traffic transportation, in particular to a kind of rail vehicle control system, a kind of track
Vehicle, a kind of rail system and a kind of transportation system.
Background technology
With social development, population is continuously increased in city, and urban transportation increasingly can't bear the heavy load, and automobile is on road
Traveling, is influenceed, traffic congestion phenomenon is increasingly severe by road width, traffic lights, traffic accident etc..
But, existing City Traffic Transport System fails effectively to solve urban transport problems：
1st, traditional bus passenger-traffic system：Although the system has the characteristics of bicycle carrying person numble is more, it is due to
Park that website is numerous, traffic lights are more, road traffic congestion along the line, vehicle low running speed, traffic timeliness is very low, and due to people Duo Che
It is few, passenger often face squeeze oneself into a croweded bus it is difficult, the problems such as sit that ticket is few, need to change to.
2nd, taxi transportation system：Taxi is more a little than bus ride comfort, but seating taxi transportation cost is too high, puts down
It is 10-30 times of bus, and because traffic congestion is serious, the transport timeliness of taxi is also had a greatly reduced quality, the high altitude vehicle of taxi
Rate also constitutes a kind of serious waste.
3rd, private car：Private car is convenient, comfortable, but because urban road traffic jam is serious, driving hardly possible, parking difficulty, utilization rate
Low problem is more and more serious, moreover, private car transportation cost is very high, vehicle cost, oil plant cost, maintenance cost are high.
4th, urban light rail：Although light rail transport power is larger, route covering is too limited, parks website very little, its MPS process
Ability in terms of guarantee flexibility with that can not meet city needs, and light rail involves great expense, and cost performance does not have advantage.
5th, overhead road of city highway communication：Overhead road of city highway communication significantly improves traffic efficiency, alleviates traffic and blocks up
Plug, still, improvement of this traffic to whole urban transportation is limited, on the one hand, viaduct is very local, the opposing party
Face, huge wagon flow causes lower crossing usually crowded to capacity, and it is heavier to be additionally, since this viaduct, takes path area
Larger, construction cost is also very high, it is impossible to Large scale construction.
6th, subway：Subway has the features such as transport power is big, seating is relatively comfortable, trip is more convenient, but covers limited, website after all
Limited, its agility, ageing, flexibility still have larger gap with objective demand, moreover, subway cost is high, Urban Underground
Full subway can not possibly be repaiied.
7th, tramcar be using driven by power be a kind of free of contamination environmentally friendly vehicles have it is reliable, comfortable,
The features such as energy-saving and environmental protection, cost is less than light rail, and shortcoming is similar to light rail：Route covering is too limited, parks website very little, its is small
Area's covering power in terms of guarantee flexibility with that can not meet city needs.
For urban transport problems, various imaginations are suggested：
1st, a solution is to build overhead road of city Orbital Transport Systems, but the defect of aerial conveyor transportation system is
Need to build aerial conveyor, invest huge, it is incompatible with existing highway traffic system, it is contemplated that not by fully checking, small range
Interior DeGrain.
2nd, another scheme is planned a city or Town Center from the angle of convenient trip, but by existing city or cities and towns
The heart is planned again undoubtedly invests huge.
3rd, yet another approach is to build city belt system, but to equally exist investment huge for belt system, and existing
Highway traffic system is incompatible, it is contemplated that not by fully checking, a small range DeGrain.
In summary, existing traffic and transportation system can not solve congested in traffic problem, and new imagination investment is huge, feasible
Property is doubtful.
The content of the invention
In view of the above-mentioned problems, offer one kind of the present invention is easy to implement, with low cost, operate steadily, compatible existing each
The highway technology of track traffic scheme of normal public traffic means of transport and rail rapid transit means of transport is planted, category is specifically included
In a kind of rail vehicle control system of same inventive concept, a kind of rail vehicle, a kind of rail system and a kind of transport
System.The technical scheme possesses that light rail or subway transport power are big, it is relatively comfortable to take, more conveniently advantage of going on a journey, and turn avoid light rail
Or subway covering is limited, website is limited, and its agility, ageing, flexibility are difficult to the inferior position for fully meeting objective demand；Simultaneously
It can realize that repacking cost and maintenance cost are low using existing vehicle and road.
In a first aspect, the present invention provides a kind of rail vehicle control system, including：Navigation sensor, information transceiving device
And mobile controller；
Wherein, the navigation sensor and described information R-T unit are communicated to connect with the mobile controller；
The navigation sensor is by obtaining projection of the guide rail band on the navigation sensor being set up in above road
It is determined that the vehicle relative position by reference of guide rail band, and the vehicle relative position is sent to the mobile controller；
Described information R-T unit is connected with the beacon communication set along the guide rail band, and by the beacon and remotely
The central computer communication connection of setting, for receiving the movement requirement that the central computer is sent, and will by the movement
Transmission is asked to the mobile controller；
The mobile controller under automatic running state according to the vehicle relative position control rail vehicle according to
The movement requirement is along the guide rail Tape movement.
Optionally, the navigation sensor includes：The receiver array being made up of multiple locating signal receivers；
The positioning signal that the receiver array is launched or reflected according to the guide rail band determines the guide rail band described
Projection in receiver array, and the projection and the positioning reference line of the rail vehicle are compared, and according to than
Relatively result determines vehicle relative position of the rail vehicle using the guide rail band as reference.
Optionally, the navigation sensor includes：At least one camera and image processing apparatus；
The camera is communicated to connect with described image processing unit, and the shooting is head-up fixedly installed in the track
Vehicle roof, the real-time imaging for shooting the guide rail band, and the real-time imaging is sent to described image processing unit,
Described image processing unit determines the projection of the guide rail band according to the real-time imaging, and is projected described and the railcar
Positioning reference line be compared, and vehicle of the rail vehicle using the guide rail band as reference is determined according to comparative result
Relative position.
Optionally, the rail vehicle control system, in addition to：It is arranged in front of the rail vehicle, and/or rear
Obstacle detector, the obstacle detector is communicated to connect with the mobile controller, for detecting the track
Whether vehicle front, and/or rear have barrier, and detection of obstacles result is sent to the mobile controller.
Optionally, the rail vehicle control system, in addition to：It is arranged on the left of the rail vehicle, and/or right side
Distance detection device, the distance detection device is communicated to connect with the mobile controller, for detecting the rail vehicle
Distance away from left side, and/or right side object, and will be sent apart from testing result to the mobile controller.
Second aspect, the present invention provides be configured with that the present invention provides on a kind of rail vehicle, the rail vehicle described
Rail vehicle control system, the rail vehicle under automatic running state the rail vehicle control system control lower edge
Guide rail Tape movement.
The third aspect, the present invention provides a kind of rail system, including：Guide rail band and multiple beacons；
The guide rail band is set up in above road, and height of the guide rail band apart from ground is more than the height of the rail vehicle
Degree, for being used as the motion reference for operating in the rail vehicle below the guide rail band；
Multiple beacons are distributed along the guide rail band to be set, and the beacon is received with the information set on the rail vehicle
Transmitting apparatus is communicated to connect, and is communicated to connect with remotely located central computer, is sent for receiving the central computer
Movement requirement, and the movement requirement is sent to described information R-T unit.
Optionally, the rail system, in addition to：The road that the road that the rail vehicle is used is used with other vehicles
The isolating device that road keeps apart.
Optionally, the guide rail band is provided with the first bifurcated in vehicle parking website, and website is provided with first crotch
Beacon, so that the rail vehicle is moved when entering the vehicle parking website along first bifurcated, and is rested in described
At website beacon.
Optionally, the website beacon is additionally operable to receive the whereabouts information that mobile terminal is sent, and by the whereabouts information
The central computer is sent to, and receives the trip suggestion that the central computer is provided according to the whereabouts information, and
The trip suggestion is sent to the mobile terminal.
Optionally, the guide rail band is provided with the second bifurcated in emergency vehicles docks, is provided with second crotch
Crash beacon, so that emergency processing vehicle is moved when entering the emergency vehicles docks along second bifurcated, and stops
Lean against at the crash beacon.
Optionally, the rail system, in addition to：The road that the rail vehicle uses is arranged to use with other vehicles
Road intersection region first outpost of the tax office and second outpost of the tax office；
First outpost of the tax office passes through the intersection region for the rail vehicle that prevents or let pass；
Second outpost of the tax office passes through the intersection region for other vehicles that prevent or let pass.
Fourth aspect, the present invention provides a kind of transportation system, including：The track that central computer, the present invention are provided
Vehicle, and the rail system that the present invention is provided；
The central computer sends movement requirement to the rail vehicle, and the rail vehicle is according to the movement requirement
Moved along the rail system.
Optionally, the central computer is additionally operable to the rail vehicle according to the whereabouts message scheduling of pedestrian or goods.
Optionally, the central computer be additionally operable to the current pedestrian of history whereabouts information prediction according to pedestrian or goods or
The prediction whereabouts information of goods, and the rail vehicle according to the prediction whereabouts message scheduling.
Optionally, the central computer is additionally operable to outwardly issue the car in the transportation system with setting time interval
State and road condition.
Optionally, the transportation system, in addition to：Vehicle parking website, emergency vehicles docks and emergency processing car
At least one of；
The vehicle parking website is used to stop the rail vehicle, for pedestrian or the goods discrepancy rail vehicle；
The emergency processing vehicle, and/or the railcar broken down are stopped with being used in the emergency vehicles docks
；
When the rail vehicle that the emergency processing vehicle is used in traveling breaks down, the rail vehicle of failure is dragged in
The emergency vehicles docks.
According to the first aspect of the invention, the rail vehicle control system is based on rail sensor, information transceiving device
The movement requirement of positioning and reception central computer transmission based on guide rail band, and and then control rail are realized with mobile controller
Road vehicle is according to the movement requirement along the guide rail Tape movement.The rail vehicle Control system architecture is simple, pass through installation
Rail vehicle, and then the transportation system provided applied to the present invention can be provided on to existing vehicle, can greatly be carried
The utilization rate of high road and vehicle, reduces the quantity of vehicle, so that the problems such as solving traffic congestion, parking difficulty, while reducing car
Tail gas pollution.
The rail vehicle that second aspect of the present invention is provided is based on identical inventive concept with above-mentioned rail vehicle control system,
With identical beneficial effect.
The rail system that third aspect present invention is provided is to coordinate to implement with the rail vehicle, and the rail system is not
Need to change existing urban planning, it is not required that build special overpass or exclusive track, it is only necessary on existing road
Set up guide rail band and beacon, you can realize the guiding to rail vehicle, transform simple, with low cost, and be applied to this hair
The transportation system of bright offer, can be greatly improved the utilization rate of road and vehicle, reduce the quantity of vehicle, so as to solve to hand over
The problems such as logical congestion, parking difficulty, while reducing Vehicular exhaust pollution.
The transportation system that fourth aspect present invention is proposed is carried out using the vehicle and road of existing highway traffic system
Transformation, realizes the automatic transportation along guide rail Tape movement under computer scheduling, had both possessed the advantage of track traffic, and turn avoid it
Inferior position, cost is low.The vehicle of the system can be with long-play in road, and its mobile route can as needed be adjusted, greatly carried
The high utilization rate of road and vehicle, reduces the quantity of vehicle, while solving traffic jam issue, solves parking difficulty and ask
Topic, while greatly reducing the pollution that vehicle is caused.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The accompanying drawing used required in embodiment or description of the prior art is briefly described.In all of the figs, similar element
Or part is general by similar reference mark.In accompanying drawing, each element or part might not be drawn according to actual ratio.
Fig. 1 shows a kind of schematic diagram of transportation system provided in an embodiment of the present invention；
Fig. 2 shows that a kind of navigation sensor based on receiver array provided in an embodiment of the present invention obtains rail vehicle
The schematic diagram of vehicle relative position by reference of guide rail band；
Fig. 3 shows a kind of schematic diagram of isolating device provided in an embodiment of the present invention；
Fig. 4 shows a kind of schematic diagram of vehicle parking website provided in an embodiment of the present invention；
Fig. 5 shows that a kind of outpost of the tax office of intersection region provided in an embodiment of the present invention sets schematic diagram；
Fig. 6 shows a kind of emergency vehicles docks schematic diagram provided in an embodiment of the present invention；
Fig. 7 shows a kind of schematic diagram of emergency processing vehicle handling failure rail vehicle provided in an embodiment of the present invention；
In figure,
1 represents road, and 2 represent guide rail band, and 3 represent beacon, and 4 represent rail vehicle, and 5 represent central computer, during 6 represent
The information transfer between computer and beacon is entreated, 7 represent the information transfer between beacon and rail vehicle, and 10 represent navigation sensing
Device, 11 represent information transceiving device, and 12 represent the road that other vehicles are used, and 13 represent isolating devices；
20 represent the positioning signal of the transmitting of guide rail band or reflection, and 21 represent to receive the receiver of positioning signal, and 22 represent
The receiver of positioning signal is not received, and 23 represent projection of the guide rail band on navigation sensor, and 24 represent determining for rail vehicles
Position reference line, 25 represent distance detection device, and 26 represent the obstacle detector of vehicle front, and 27 represent the barrier of rear view of vehicle
Hinder analyte detection device；
30 represent the first bifurcated, and 33 represent that separate rail vehicle represents door using road and the railing in other regions, 34；
40 represent intersection region, and 42 represent first outpost of the tax office, and 41 represent second outpost of the tax office；
50 represent emergency processing vehicle, and 51 represent emergency vehicles docks, and 52 represent the second bifurcated, and 53 represent failure
Rail vehicle.
Embodiment
The embodiment of technical solution of the present invention is described in detail below in conjunction with accompanying drawing.Following examples are only used for
Clearly illustrate technical scheme, therefore be intended only as example, and the protection of the present invention can not be limited with this
Scope.
It should be noted that unless otherwise indicated, technical term or scientific terminology used in this application should be this hair
The ordinary meaning that bright one of ordinary skill in the art are understood.
As shown in figure 1, it illustrates a kind of schematic diagram of transportation system provided in an embodiment of the present invention, the transportation system
Including：Central computer 5, rail vehicle 4, and rail system；The central computer 5 can be sent out to the rail vehicle 4
Movement requirement is sent, the rail vehicle 4 is moved according to the movement requirement along the rail system.
Wherein, the rail vehicle 4 is configured with rail vehicle control system, the rail vehicle 4 can by pilot steering,
Can also under the control of the rail vehicle control system automatic running, it is possible in pilot steering and two kinds of shapes of automatic running
Switch between state, the rail vehicle 4 is under automatic running state along guide rail band 2 under the control of the rail vehicle control system
It is mobile.
The rail vehicle 4 can be formed based on the transformation of the public transportation instruments such as existing bus, bus, only be needed
The rail vehicle control system to be installed on existing vehicle, you can be transformed into rail vehicle 4, facilitate with transformation,
Cost is relatively low, compatible existing public transportation instrument, it is easy to implement the advantages of.
The rail vehicle control system includes：Navigation sensor 10, information transceiving device 11 and mobile controller；
Wherein, the navigation sensor 10 and described information R-T unit 11 with the mobile controller communication link
Connect；
The navigation sensor 10 is set up in the guide rail band 2 of the top of road 1 by obtaining on the navigation sensor 10
Projection 23 determine vehicle relative position with guide rail band 2 for reference, and the vehicle relative position is sent to the movement
Control device；
Described information R-T unit 11 is communicated to connect with the beacon 3 set along the guide rail band 2, and passes through the beacon 3
Communicated to connect with remotely located central computer 5, for receiving the movement requirement that the central computer 5 is sent, and by institute
Movement requirement is stated to send to the mobile controller；
The mobile controller under automatic running state according to the vehicle relative position control rail vehicle 4 according to
The movement requirement is moved along the guide rail band 2.
The navigation sensor 10 has numerous embodiments, and a kind of mode can be by receiver array realization, such as Fig. 2
It is shown, obtain rail vehicle to lead it illustrates a kind of navigation sensor based on receiver array provided in an embodiment of the present invention
Rail band for reference vehicle relative position schematic diagram, the receiver array by multiple array arrangements locating signal receiver
Composition, the guide rail band 2 is located at the top of the rail vehicle 4, and the receiver array is launched for receiving the guide rail band 2
Or the positioning signal 20 of reflection, and projection of the guide rail band 2 in the receiver array is determined according to the positioning signal
23, and the projection 23 and the positioning reference line 24 of the rail vehicle 4 are compared, and institute is determined according to comparative result
Rail vehicle 4 is stated with vehicle relative position of the guide rail band 2 for reference.
For example, the guide rail band 2 is provided with positioning signal emitter, the positioning signal emitter is to the receiver
Array emitter positioning signal, then part receiver is just had in receiver array and receives positioning signal, part receiver connects
Can not receive positioning signal, as shown in Fig. 2 the receiver 21 for receiving positioning signal is represented in figure with all black so that with not
The receiver 22 for receiving positioning signal makes a distinction, and whether such receiver array can receive positioning letter according to receiver
Number projection 23 of the determination guide rail band 2 on navigation sensor 10, by the way that the projection 23 and the positioning of the rail vehicle 4 are joined
Examine line 24 to be compared, you can determine that the rail vehicle 4 is relative for the vehicle of reference with the guide rail band 2 according to comparative result
Position (including angle, and/or position).
And for example, the guide rail band 2 is provided with positioning signal reflection unit, and the receiver can also launch positioning upwards
Signal, then the positioning signal 20 that the guide rail band 2 is reflected can be then received in the position for having guide rail band 2, next i.e.
Can refer to above-mentioned example and determine projection 23 of the guide rail band 2 on navigation sensor 10, so by by the projection 23 with it is described
The positioning reference line 24 of rail vehicle 4 is compared, you can determine the rail vehicle 4 with the guide rail band according to comparative result
2 be the vehicle relative position of reference.
Wherein, the positioning signal can be any one in light wave, electromagnetic wave or ultrasonic wave.
The another embodiment of the navigation sensor 10, can be by least one camera and image processing apparatus
Composition；Wherein, the camera is communicated to connect with described image processing unit, and the shooting is head-up fixedly installed in the rail
The top of road vehicle 4, the real-time imaging for shooting the guide rail band 2, and the real-time imaging is sent to described image processing
Device, described image processing unit determines the projection 23 of the guide rail band 2 according to the real-time imaging, and by the projection 23 with
The positioning reference line 24 of the rail vehicle 4 is compared, and determines the rail vehicle 4 with the guide rail according to comparative result
It is the vehicle relative position of reference with 2.
Specifically, in the real-time imaging that the camera is shot, the guide rail band and the color of surrounding enviroment or brightness are deposited
In difference, so, described image processing unit can be identified using existing image recognition technology from the real-time imaging
Guide rail band, so that it is determined that projection 23 of the guide rail band on the rail vehicle 4, and then project 23 and the track by described
The positioning reference line 24 of vehicle 4 is compared, and determines that the rail vehicle 4 is ginseng with the guide rail band 2 according to comparative result
According to vehicle relative position.
In one embodiment that the present invention is provided, the rail vehicle control system, in addition to：It is arranged at the track
The front of vehicle 4, and/or rear obstacle detector 27, the obstacle detector leads to the mobile controller
Letter connection, for detecting whether the front of rail vehicle 4, and/or rear have barrier, and detection of obstacles result is sent out
The mobile controller is delivered to, so that mobile controller rail vehicle 4 according to detection of obstacles output control
Operation, it is to avoid bump against with the barrier of front or behind, improve the security of rail vehicle 4.
In another embodiment that the present invention is provided, the rail vehicle control system, in addition to：It is arranged at the rail
The left side of road vehicle 4, and/or right side distance detection device 25, the distance detection device 25 leads to the mobile controller
Letter connection, for detecting the distance of the rail vehicle 4 away from left side, and/or right side object, and will send apart from testing result
To the mobile controller, so that the mobile controller apart from testing result controls the rail vehicle 4 according to described
Operation, it is to avoid be less than safe distance to cause security incident with the object distance on left side or right side, improve rail vehicle 4
Security.
In another embodiment that the present invention is provided, the drivetrain of the mobile controller and the rail vehicle 4
System connection, so as to control the rail vehicle 4 to advance, retreat, turn to and stop by the drive system, and then is realized
The rail vehicle 4 is controlled to move according to the movement requirement.
In another embodiment that the present invention is provided, the rail vehicle control system also includes：It is installed on the rail
Itself mobile status monitoring device on road vehicle 4, the mobile status for detecting the rail vehicle 4, and pass through the letter
Breath R-T unit 11 is sent to beacon 3, is then sent to by the beacon 3 on the central computer 5, so that the center
Computer 5 can know the mobile status of the rail vehicle 4, and then send more accurate, rational movement requirement, it is ensured that whole
Individual transportation system is stable, orderly operation.
The rail system, including：Guide rail band 2 and multiple beacons 3；
The guide rail band 2 is set up in the top of road 1, and height of the guide rail band 2 apart from ground is more than the rail vehicle 4
Height, the motion reference for being used as the rail vehicle 4 for operating in the lower section of the guide rail band 2；
Multiple beacons 3 are distributed along the guide rail band 2 to be set, the beacon 3 and the letter set on the rail vehicle 4
Breath R-T unit 11 is communicated to connect, and is communicated to connect with remotely located central computer 5, is calculated for receiving the center
The movement requirement that machine 5 is sent, and the movement requirement is sent to described information R-T unit 11.
In another embodiment that the present invention is provided, the beacon 3 can be realized using wireless communication apparatus, for example,
The beacon based on REID (RFID) can be used, it would however also be possible to employ Bluetooth beacon etc., it all should be in guarantor of the invention
Within the scope of shield.
The beacon 3 is distributed along the guide rail band 2 to be set, and on the one hand can realize that center is calculated as signal forwarding unit
6 represent the information transfer between central computer 5 and beacon 3,7 tables in radio communication between machine 5 and rail vehicle 4, such as Fig. 1
Show the information transfer between beacon 3 and rail vehicle 4；On the other hand, each beacon 3 is designed with exclusive identification code, and in guide rail
It is also clear and definite with 2 position and order, so, central computer 5 can give birth to according to beacon sequence and the mobile route set
Into the movement requirement, in one embodiment that the present invention is provided, the content of the movement requirement includes：Beacon identifier,
Next beacon identifier, distance, suspension of licence, angle of turn, the information such as maximum permission speed, so as to control the rail vehicle
4 move according to the identifier of neighbouring beacon 3 and with guide rail band 2 for the vehicle relative position of reference according to the movement requirement.
It is easily understood that in order to ensure that can only at most there be a rail the same time between safety, two adjacent beacons 3
Road vehicle 4.
In order to ensure quick, the orderly function of the rail vehicle 4, it is to avoid influence to advance with other vehicle Shared Lanes,
As shown in figure 3, in another embodiment that the present invention is provided, the rail system, in addition to：The rail vehicle 4 is made
The isolating device 13 that road 1 is kept apart with the road 12 that other vehicles are used.In figure, what 1 expression rail vehicle 4 was used
Road, 12 represent that the road 12,13 that other vehicles are used represents isolating device, and the specific isolating device 13 can use column
Bar is realized.
As public transportation mode, the transportation system needs to set vehicle parking website, for stopping the rail
Road vehicle 4, the rail vehicle 4 stopped with facilitating row people and goods to come in and go out, as shown in figure 4, being carried it illustrates the embodiment of the present invention
A kind of schematic diagram of the vehicle parking website supplied, the guide rail band 2 is provided with the first bifurcated 30 in vehicle parking website, described the
At one bifurcated 30 be provided with website beacon 3 so that the rail vehicle 4 enter the vehicle parking website when along described first point
Fork 30 is moved, and is rested at the website beacon 3.In order to ensure pedestrains safety, in the vehicle parking website, provided with separating
Rail vehicle 4 uses road 1 and the railing in other regions.In addition, in the vehicle parking website, can also set for pedestrian or
Goods is come in and gone out the door 34 of the rail vehicle 4, and when pedestrian or goods need to enter the rail vehicle 4, door 34 is opened；It is no
Then, door 34 is closed, and prevents pedestrian or goods from entering the rail vehicle 4.
In one embodiment that the present invention is provided, the website beacon 3 is additionally operable to receive the whereabouts that mobile terminal is sent
Information, and the whereabouts information is sent to the central computer 5, and the reception central computer 5 is gone according to described
The trip suggestion provided to information, and the trip suggestion is sent to the mobile terminal.
In view of the transportation system and the compatibility and security of existing road 1, as shown in figure 5, in present invention offer
One embodiment in, the rail system also includes：The road 1 that the rail vehicle uses is arranged to use with other vehicles
Road 12 intersection region 40 first outpost of the tax office 42 and second outpost of the tax office 41；
First outpost of the tax office 42 passes through the intersection region 40 for the rail vehicle 4 that prevents or let pass；
Second outpost of the tax office 41 passes through the intersection region 40 for other vehicles that prevent or let pass.
Specifically, the outpost of the tax office 41 of first outpost of the tax office 42 and second can be realized using railing, lever, roadblock etc., work as track
When vehicle 4 is by the intersection region 40, opens first outpost of the tax office 42 and close second outpost of the tax office 41；When other vehicles are logical
When crossing the intersection region 40, close first outpost of the tax office 42 and open second outpost of the tax office 41.
In view of equivalent to one semi-enclosed system of the transportation system, if operating certain rail vehicle 4 occurs
Failure, may influence the traveling of rearward tracks vehicle 4, or even produce security incident, therefore, the reality provided in the present invention
Apply in example, the emergency vehicles docks that emergency processing vehicle 50 and interval pre-determined distance are set are additionally provided with the transportation system
51, refer to Fig. 6 and Fig. 7, which respectively show a kind of emergency vehicles docks schematic diagram provided in an embodiment of the present invention and
Stop described with being used in a kind of schematic diagram of emergency processing vehicle handling failure rail vehicle, the emergency vehicles docks 51
Emergency processing vehicle 50, and/or the rail vehicle 4 broken down；
When the rail vehicle 4 that the emergency processing vehicle 50 is used in traveling breaks down, by the rail vehicle 4 of failure
It is dragged in the emergency vehicles docks 51.
Wherein, the emergency processing vehicle 50 can possess pilot steering functional status and receive central computer 5 and move
It is required that along the AutoPlay function state of guide rail band 2, can switch between two kinds of functional statuses.
Emergency processing vehicle 50 docks at emergency vehicles docks when not in use, and the guide rail band 2 stops in emergency vehicles
The second bifurcated 52 is provided with by region 51, crash beacon 3 is provided with second bifurcated 52, so that emergency processing vehicle 50 is entering
Move, and rest at the crash beacon 3 along second bifurcated 52 when entering the emergency vehicles docks 51；Work as road
During the rail vehicle 4 broken down on 1, the emergency processing vehicle 50 leaves emergency vehicles docks, into road 1, will
The rail vehicle 4 of the failure drags road 1 away from, concedes road 1 and is used for other rail vehicles 4.
In one embodiment that the present invention is provided, the central computer 5 is additionally operable to the whereabouts according to pedestrian or goods
Rail vehicle 4 described in message scheduling, to ensure operation that the transportation system is stable, smooth, orderly.
In another embodiment for providing of the present invention, the central computer 5 is additionally operable to going through according to pedestrian or goods
The current pedestrian of history whereabouts information prediction or the prediction whereabouts information of goods, and the track according to the prediction whereabouts message scheduling
Vehicle 4, to ensure operation that the transportation system is stable, smooth, orderly.
In another embodiment that the present invention is provided, the central computer 5 is additionally operable to outside with setting time interval
Boundary issues vehicle-state and the state of road 1 in the transportation system, so that pedestrian or other vehicles understand the transport in real time
The running status of system, reasonable arrangement plan of travel.
In one embodiment for providing of the present invention, the rail vehicle 4 work according to the following steps under automatic running state
Make：
S11, rail vehicle 4 is moved by along the guide rail band 2 for needing to detect；
S12, the state of the detection guide rail of rail vehicle 4 band 2, the state of beacon 3, the state of road 1 and central computer 5 communicate shape
State；
Status information is stored in Ben Che or is sent to central computer 5 in real time by S13, rail vehicle 4.
In one embodiment that the present invention is provided, the central computer 5 dispatches rail vehicle 4 and hair according to the following steps
Cloth vehicle-state and the status information of road 1：
S21, collects pedestrian or the current whereabouts information of goods；
S22, according to the current pedestrian of history whereabouts information prediction or goods whereabouts demand；
S23, dispatches buses with reference to current whereabouts and prediction whereabouts；
S24, outwardly issues vehicle-state and the status information of road 1.
In another embodiment that the present invention is provided, pedestrian can obtain central computer 5 by following steps and provide
Trip suggestion：
Whereabouts information is sent to beacon 3 by S31, pedestrian by mobile phone；
S32, beacon 3 is by whereabouts information delivery central computer 5；
S33, central computer 5 provides trip suggestion according to whereabouts information；
S34, trip suggestion reaches pedestrian's mobile phone by beacon 3.
Scheme proposed by the present invention is transformed using the vehicle and road of existing highway traffic system, realizes that computer is adjusted
The automatic transportation along guide rail Tape movement under degree, had both possessed the advantage of track traffic, and turn avoid its inferior position, cost is low.This is
The rail vehicle of system can be with long-play in road, and its mobile route can be adjusted as needed, greatly improve road and car
Utilization rate, reduce the quantity of vehicle, while solving traffic jam issue, parking difficulty solved the problems, such as, while significantly
Reduce the pollution that vehicle is caused.
It should be noted that unless otherwise indicated, technical term or scientific terminology used in this application should be this hair
The ordinary meaning that bright one of ordinary skill in the art are understood.
In the description of the present application, term " first ", " second " etc. be only used for describe purpose, and it is not intended that indicate or
Imply relative importance or the implicit quantity for indicating indicated technical characteristic.In the description of the invention, " multiple " contain
Justice is two or more, unless otherwise specifically defined.
In this application, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected to by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.For the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In this application, unless otherwise clearly defined and limited, fisrt feature can be with "above" or "below" second feature
It is that the first and second features are directly contacted, or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height less than second feature.
In the specification of the present invention, numerous specific details are set forth.It is to be appreciated, however, that embodiments of the invention can be with
Put into practice in the case of these no details.In some instances, known method, structure and skill is not been shown in detail
Art, so as not to obscure the understanding of this description.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or the spy that the embodiment or example are described
Point is contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the not be the same as Example or the feature of example and non-be the same as Example or example described in this specification
Close and combine.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme, it all should cover among the claim of the present invention and the scope of specification.
Claims (17)
1. a kind of rail vehicle control system, it is characterised in that including：Navigation sensor, information transceiving device and mobile control
Device；
Wherein, the navigation sensor and described information R-T unit are communicated to connect with the mobile controller；
The navigation sensor is determined by obtaining projection of the guide rail band being set up in above road on the navigation sensor
Vehicle relative position by reference of guide rail band, and the vehicle relative position is sent to the mobile controller；
Described information R-T unit is connected with the beacon communication set along the guide rail band, and by the beacon with it is remotely located
Central computer communication connection, for receiving the movement requirement that the central computer is sent, and the movement requirement is sent out
Deliver to the mobile controller；
The mobile controller controls rail vehicle according to described under automatic running state according to the vehicle relative position
Movement requirement is along the guide rail Tape movement.
2. rail vehicle control system according to claim 1, it is characterised in that the navigation sensor includes：By many
The receiver array of individual locating signal receiver composition；
The positioning signal that the receiver array is launched or reflected according to the guide rail band determines that the guide rail band is received described
Projection on device array, and the projection and the positioning reference line of the rail vehicle are compared, and according to comparing knot
Fruit determines vehicle relative position of the rail vehicle using the guide rail band as reference.
3. rail vehicle control system according to claim 1, it is characterised in that the navigation sensor includes：At least
One camera and image processing apparatus；
The camera is communicated to connect with described image processing unit, and the shooting is head-up fixedly installed in the rail vehicle
Top, the real-time imaging for shooting the guide rail band, and the real-time imaging is sent to described image processing unit, it is described
Image processing apparatus determines the projection of the guide rail band according to the real-time imaging, and is projected described and the rail vehicle
Positioning reference line is compared, and determines that the rail vehicle is relative using the guide rail band as the vehicle of reference according to comparative result
Position.
4. rail vehicle control system according to claim 1, it is characterised in that also include：It is arranged at the railcar
Front, and/or rear obstacle detector, the obstacle detector and the mobile controller communication link
Connect, for detecting in front of the rail vehicle, and/or whether rear has a barrier, and by detection of obstacles result send to
The mobile controller.
5. rail vehicle control system according to claim 1, it is characterised in that also include：It is arranged at the railcar
Left side, and/or right side distance detection device, the distance detection device communicates to connect with the mobile controller, uses
In the detection distance of the rail vehicle away from left side, and/or right side object, and it will be sent apart from testing result to the movement
Control device.
6. a kind of rail vehicle, it is characterised in that the track described in claim any one of 1-5 is configured with the rail vehicle
Vehicle control system, the rail vehicle is under automatic running state along guide rail under the control of the rail vehicle control system
Tape movement.
7. a kind of rail system, it is characterised in that including：Guide rail band and multiple beacons；
The guide rail band is set up in above road, and height of the guide rail band apart from ground is more than the height of the rail vehicle,
For being used as the motion reference for operating in the rail vehicle below the guide rail band；
Multiple beacons are distributed along the guide rail band to be set, and the beacon is filled with the information transmit-receive set on the rail vehicle
Communication connection is put, and is communicated to connect with remotely located central computer, for receiving the shifting that the central computer is sent
It is dynamic to require, and the movement requirement is sent to described information R-T unit.
8. rail system according to claim 7, it is characterised in that also include：The road that the rail vehicle is used
The isolating device that the road used with other vehicles is kept apart.
9. rail system according to claim 7, it is characterised in that the guide rail band is provided with first in vehicle parking website
Bifurcated, website beacon is provided with first crotch, so that rail vehicle edge when entering the vehicle parking website
The first bifurcated movement, and rest at the website beacon.
10. rail system according to claim 9, it is characterised in that the website beacon is additionally operable to receive mobile terminal
The whereabouts information of transmission, and the whereabouts information is sent to the central computer, and receive the central computer root
The trip suggestion provided according to the whereabouts information, and the trip suggestion is sent to the mobile terminal.
11. rail system according to claim 7, it is characterised in that the guide rail band is set in emergency vehicles docks
There is the second bifurcated, crash beacon is provided with second crotch, so that emergency processing vehicle stops into the emergency vehicles
Move, and rest at the crash beacon along second bifurcated during by region.
12. rail system according to claim 7, it is characterised in that also include：It is arranged at what the rail vehicle was used
First outpost of the tax office and second outpost of the tax office of the intersection region for the road that road is used with other vehicles；
First outpost of the tax office passes through the intersection region for the rail vehicle that prevents or let pass；
Second outpost of the tax office passes through the intersection region for other vehicles that prevent or let pass.
13. a kind of transportation system, it is characterised in that including：Rail vehicle described in central computer, claim 6, Yi Jiquan
Profit requires the rail system described in any one of 7-12；
The central computer sends movement requirement to the rail vehicle, and the rail vehicle is according to the movement requirement along institute
State rail system movement.
14. transportation system according to claim 13, it is characterised in that the central computer be additionally operable to according to pedestrian or
Rail vehicle described in the whereabouts message scheduling of goods.
15. transportation system according to claim 13, it is characterised in that the central computer be additionally operable to according to pedestrian or
The current pedestrian of history whereabouts information prediction of goods or the prediction whereabouts information of goods, and according to the prediction whereabouts message scheduling
The rail vehicle.
16. transportation system according to claim 13, it is characterised in that the central computer is additionally operable to setting time
Outwardly issue vehicle-state and road condition in the transportation system in interval.
17. transportation system according to claim 13, it is characterised in that also include：Vehicle parking website, emergency vehicles stop
By at least one of region and emergency processing vehicle；
The vehicle parking website is used to stop the rail vehicle, for pedestrian or the goods discrepancy rail vehicle；
The emergency processing vehicle, and/or the rail vehicle broken down are stopped with being used in the emergency vehicles docks；
When the rail vehicle that the emergency processing vehicle is used in traveling breaks down, the rail vehicle of failure is dragged in described
Emergency vehicles docks.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710442547.0A CN107168326A (en) | 2017-06-13 | 2017-06-13 | Rail vehicle control system, rail vehicle, rail system and transportation system |
| PCT/CN2018/088208 WO2018228161A1 (en) | 2017-06-13 | 2018-05-24 | Rail vehicle control system, rail vehicle, rail system, and transportation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710442547.0A CN107168326A (en) | 2017-06-13 | 2017-06-13 | Rail vehicle control system, rail vehicle, rail system and transportation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107168326A true CN107168326A (en) | 2017-09-15 |
Family
ID=59825768
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710442547.0A Pending CN107168326A (en) | 2017-06-13 | 2017-06-13 | Rail vehicle control system, rail vehicle, rail system and transportation system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107168326A (en) |
| WO (1) | WO2018228161A1 (en) |
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| WO2018228161A1 (en) * | 2017-06-13 | 2018-12-20 | 湖南云辙科技有限公司 | Rail vehicle control system, rail vehicle, rail system, and transportation system |
| CN109955848A (en) * | 2017-12-25 | 2019-07-02 | 郑州宇通客车股份有限公司 | A kind of vehicle parking website and automatic running control method and control system |
| CN112313139A (en) * | 2018-06-28 | 2021-02-02 | 科路实有限责任公司 | System and method for rail transit control |
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| WO2018228161A1 (en) | 2018-12-20 |
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