CN113525215B - Multifunctional rescue vehicle and rescue method of multi-marshalling vehicle - Google Patents

Multifunctional rescue vehicle and rescue method of multi-marshalling vehicle Download PDF

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Publication number
CN113525215B
CN113525215B CN202010300032.9A CN202010300032A CN113525215B CN 113525215 B CN113525215 B CN 113525215B CN 202010300032 A CN202010300032 A CN 202010300032A CN 113525215 B CN113525215 B CN 113525215B
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Prior art keywords
vehicle
fault
rescue
steering
power
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CN113525215A (en
Inventor
吴雄韬
蒋小晴
杨勇
粟爱军
吴俊亮
刘浏
张洪彬
刘伟康
卢祺
董其爱
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CRRC Zhuzhou Institute Co Ltd
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CRRC Zhuzhou Institute Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
    • B60P3/12—Vehicles adapted to transport, to carry or to comprise special loads or objects for salvaging damaged vehicles
    • B60P3/125—Vehicles adapted to transport, to carry or to comprise special loads or objects for salvaging damaged vehicles by supporting only part of the vehicle, e.g. front- or rear-axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/50—Charging stations characterised by energy-storage or power-generation means
    • B60L53/53—Batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/50—Charging stations characterised by energy-storage or power-generation means
    • B60L53/57—Charging stations without connection to power networks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/03—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for
    • B60R16/033—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for characterised by the use of electrical cells or batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D13/00—Steering specially adapted for trailers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/07—Supply of pressurised fluid for steering also supplying other consumers ; control thereof
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The present invention relates to a multi-functional rescue vehicle, a rescue method of a multi-consist vehicle, and a computer-readable storage medium. The multifunctional rescue vehicle comprises a power supply system, a hydraulic system, a wind source system, a lifting system and a processor. The processor is configured to: determining a rescue mode according to the fault condition of the fault vehicle; providing a static rescue to the faulty vehicle using the power system and/or the hydraulic system and/or the wind source system in response to a minor fault condition; and in response to a severe fault condition, providing dynamic assistance to the faulty vehicle using the lift system and the power system and/or the hydraulic system. The invention can provide safe and efficient rescue for the virtual rail tramcar by combining the mechanical structure and the operation characteristics of the virtual rail tramcar.

Description

Multifunctional rescue vehicle and rescue method of multi-marshalling vehicle
Technical Field
The invention relates to a special engineering vehicle of a rail transit train, in particular to a multifunctional rescue vehicle with a static rescue function and a dynamic rescue function and a rescue method for providing a corresponding rescue mode according to the actual fault condition of a multi-marshalling vehicle.
Background
The virtual track tramcar is a novel multi-marshalling rubber-tyred vehicle running in two directions. Based on the design concept of the traditional rail transit system, the virtual rail electric car adopts the full-axle steering control technology, and carries out electronic constraint on running through active safety control, vehicle-mounted signal control, machine vision and the like, so that the similar rail running under the virtual rail is realized. Inevitably, in the process of running the virtual tramcar on the operation line, various fault conditions are inevitably encountered, and special engineering vehicles are required for rescue.
However, conventional rail transit rescue vehicles can only meet basic traction functions by hard-pulling with mechanical power. The simple and rough rescue mode can damage hubs, bearings and steering systems grouped at the rear of a multi-group vehicle on one hand, and also has the problems of low rescue efficiency, influence on line operation and the like on the other hand.
Therefore, in order to overcome the above-mentioned defects in the prior art, there is an urgent need in the art for a rescue vehicle with multiple rescue functions and a rescue method that can adapt to the operation characteristics of a virtual tram, so as to provide safe and efficient rescue for the virtual tram.
Disclosure of Invention
The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.
In order to overcome the above-mentioned drawbacks of the prior art, the present invention provides a multifunctional rescue vehicle having a static rescue function and a dynamic rescue function, a rescue method for providing a corresponding rescue mode according to an actual failure condition of a multi-consist vehicle, and a computer-readable storage medium for providing safe and efficient rescue for a virtual tram in combination with mechanical structure and operation characteristics of the virtual tram.
The multifunctional rescue vehicle provided by the invention comprises a power supply system, a hydraulic system, a wind source system, a lifting system and a processor. The power supply system is used for supplying power to electrical equipment of a fault vehicle. The hydraulic system is used for supplying liquid to a steering system of the fault vehicle, wherein the steering system is distributed in a multi-section group of the fault vehicle. The wind source system is used for supplying air to a brake system of the fault vehicle. The lifting system is used for providing lifting force and traction force for the fault vehicle. The processor is configured to: determining a rescue mode according to the fault condition of the fault vehicle; providing a static rescue to the faulty vehicle with the power system and/or the hydraulic system and/or the wind source system in response to a minor fault condition; and in response to a severe fault condition, providing dynamic assistance to the faulty vehicle using the lift system and the power system and/or the hydraulic system.
Preferably, in some embodiments of the invention, the critical fault condition may comprise a pump station fault of the steering system. The dynamic rescue may include the steps of: in response to the pump station failure, connecting a liquid supply pipe of the hydraulic system with a steering system of the failed grouping, and providing hydraulic pressure to the steering system of the failed grouping to maintain the steering force of each section of the failed vehicle; and linking the head section marshalling of the fault vehicle to the lifting system, providing lifting force and traction force for the head section marshalling to carry out traction, and carrying out follow-up steering on the rest marshalling of the fault vehicle according to the body posture of the head section marshalling.
Preferably, in some embodiments of the present invention, the lift system may include a boom and a boom. The corbel may be used to provide an upward lifting force to the lead consist of the faulty vehicle to lift the leading axle of the lead consist. The boom arm may be used to provide an upward lifting force and a forward traction force to the lead consist of the faulty vehicle. The remaining axles of the failed vehicle may follow-up steer according to the steering angle of the leading axle.
Optionally, in some embodiments of the invention, the power supply system may include a high voltage plug and a low voltage plug. The severe fault condition may also include a power failure of the steering system. The dynamic rescue may further include the steps of: and responding to the power supply failure, connecting the high-voltage plug with a power steering motor of the steering system to guarantee the steering force of each section group, and connecting the low-voltage plug with a steering control module of the steering system to guarantee the steering control of each section group.
Optionally, in some embodiments of the invention, the minor fault condition may include a power-cell-loss fault, a battery-loss fault, a low hydraulic fault of the steering system, and/or a low air pressure fault of the braking system. The static rescue may include the steps of: in response to the power battery power shortage fault, connecting a high-voltage plug of the power supply system with the power battery to charge the power battery; and/or in response to the battery power-down fault, connecting a low-voltage plug of the power supply system to the battery to charge the battery; and/or in response to the low hydraulic pressure failure, connecting a supply pipe of the hydraulic system to the steering system to replenish the steering system; and/or connecting an air supply pipe of the air source system to the brake system to replenish air for the brake system in response to the low air pressure fault.
According to another aspect of the present invention, a rescue method for a multi-consist vehicle is also provided herein.
The rescue method of the multi-group vehicle provided by the invention comprises the following steps: determining a rescue mode according to the fault condition of the fault vehicle; providing static rescue to the faulty vehicle in response to a minor fault condition, wherein the static rescue comprises: supplying power to electrical equipment of the faulty vehicle by using a power supply system of the rescue vehicle, and/or supplying liquid to a steering system distributed in a multi-section formation of the faulty vehicle by using a hydraulic system of the rescue vehicle, and/or supplying gas to a braking system of the faulty vehicle by using a wind source system of the rescue vehicle; and providing dynamic rescue to the faulty vehicle in response to a severe fault condition, wherein the dynamic rescue comprises: the lifting system of the rescue vehicle is used for providing lifting force and traction force for the fault vehicle, the power supply system is used for supplying power for electrical equipment of the fault vehicle, and/or the hydraulic system is used for supplying liquid for a steering system distributed in a multi-section group of the fault vehicle.
Preferably, in some embodiments of the invention, the critical fault condition may comprise a pump station fault of the steering system. The step of dynamic rescue may include: in response to the pump station failure, connecting a liquid supply pipe of the hydraulic system with a steering system of the failed grouping, and providing hydraulic pressure to the steering system of the failed grouping to maintain the steering force of each section of the failed vehicle; and linking the head section marshalling of the fault vehicle to the lifting system, providing lifting force and traction force for the head section marshalling to carry out traction, and carrying out follow-up steering on the rest marshalling of the fault vehicle according to the body posture of the head section marshalling.
Preferably, in some embodiments of the present invention, the lift system may include a boom and a boom. The step of providing lifting force and traction force to the bow consist for traction may further comprise: providing an upward lifting force to a lead consist of the faulty vehicle with the corbel to lift a leading axle of the lead consist; and providing upward lifting force and forward traction force for the head section marshalling of the fault vehicle by the suspension arm, and carrying out follow-up steering on the rest axles of the fault vehicle according to the steering angle of the head axle.
Optionally, in some embodiments of the invention, the power supply system may include a high voltage plug and a low voltage plug. The severe fault condition may also include a power failure of the steering system. The step of dynamic rescue may further comprise: connecting the high-voltage plug to a power steering motor of the steering system to guarantee the steering force of each section group in response to the power supply failure; and connecting the low-voltage plug with a steering control module of the steering system to ensure steering control of the section groups in response to the power supply failure.
Optionally, in some embodiments of the invention, the minor fault condition may include a power-cell-loss fault, a battery-loss fault, a low hydraulic fault of the steering system, and/or a low air pressure fault of the braking system. The step of static rescue may comprise: connecting a high-voltage plug of the power supply system to the power battery to charge the power battery in response to the power battery power-down fault; and/or in response to the battery power-fail, connecting a low-voltage plug of the power supply system to the battery to charge the battery; and/or in response to the low hydraulic pressure failure, connecting a supply pipe of the hydraulic system to the steering system to replenish the steering system; and/or connecting an air supply pipe of the air source system to the brake system to replenish air for the brake system in response to the low air pressure fault.
According to another aspect of the present invention, a computer-readable storage medium is also provided herein.
The present invention provides the above computer readable storage medium having stored thereon computer instructions. When the computer instructions are executed by the processor, the rescue method for the multi-group vehicle provided by any one of the above embodiments can be implemented, so that the mechanical structure and the operation characteristics of the virtual tramcar are combined, and safe and efficient rescue is provided for the virtual tramcar.
Drawings
The above features and advantages of the present disclosure will be better understood upon reading the detailed description of embodiments thereof in conjunction with the following drawings. In the drawings, components are not necessarily drawn to scale, and components having similar relative characteristics or features may have the same or similar reference numerals.
Figure 1 illustrates a schematic diagram of a multi-consist virtual rail trolley provided according to some embodiments of the present invention.
Fig. 2 shows a schematic structural view of a utility rescue vehicle provided according to some embodiments of the present invention.
Fig. 3 illustrates a connection schematic of a utility rescue vehicle provided according to some embodiments of the present invention with a virtual tram.
Fig. 4 illustrates a flow diagram of a rescue method of a multi-consist vehicle provided according to an aspect of the present invention.
Reference numerals are as follows:
10. a virtual rail trolley;
11-13 compartment marshalling;
111. 112 axle shafts;
121. 122 axle shafts;
131. 132 axle shafts;
20. a multi-functional rescue vehicle;
21. a power supply system;
22. a hydraulic system;
23. a wind source system;
24. a lift system;
241. a bracket arm;
242. a suspension arm;
243. a hoisting mechanism;
244. a support leg;
245. a power take-off mechanism;
25. a control system;
261. an auxiliary frame;
262. a cover;
27. a monitoring system;
30. a virtual rail trolley to be rescued;
311. a power battery;
312. a storage battery;
32. a steering system;
33. a braking system;
34. a connecting mechanism;
37. and (5) monitoring the system.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure. While the invention will be described in connection with the preferred embodiments, there is no intent to limit the features of the invention to those embodiments. On the contrary, the invention is described in connection with the embodiments for the purpose of covering alternatives or modifications that may be extended based on the claims of the present invention. In the following description, numerous specific details are included to provide a thorough understanding of the invention. The invention may be practiced without these particulars. Moreover, some of the specific details have been omitted from the description in order not to obscure or obscure the focus of the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
Also, the terms "upper," "lower," "left," "right," "top," "bottom," "horizontal," "vertical" and the like used in the following description shall be understood to refer to the orientation as it is drawn in this section and the associated drawings. The relative terms are used for convenience of description and do not imply that the described apparatus should be constructed or operated in the specific orientation and therefore should not be construed as limiting the invention.
It will be understood that, although the terms "first", "second", "third", etc. may be used herein to describe various elements, regions, layers and/or sections, these elements, regions, layers and/or sections should not be limited by these terms, but rather should be used to distinguish one element, region, layer and/or section from another. Thus, a first component, region, layer and/or section discussed below could be termed a second component, region, layer and/or section without departing from some embodiments of the present invention.
As described above, the virtual railroad car is a novel multi-consist rubber-tyred vehicle that travels in both directions. As a novel rail transit system, the system has the dual characteristics of rail transit and public road traffic. In some embodiments of the present invention, a virtual rail trolley with a three-section consist carried using rubber wheels is provided.
Referring to fig. 1, fig. 1 illustrates a schematic diagram of a multi-consist virtual rail trolley provided according to some embodiments of the present invention.
As shown in fig. 1, in some embodiments, a virtual railroad car 10 having three-segment consists 11-13 may have six axles 111, 112, 121, 122, 131, 132. In some embodiments, the virtual tram 10 may advance to the left of the illustration, leading the first section consist 11. In other embodiments, the virtual tram 10 may proceed to the right side of the illustration, leading under the third section consist 13.
In some embodiments, the six axles 111, 112, 121, 122, 131, 132 may each be provided with a respective dedicated steering mechanism. The steering system of the virtual tram 10 can control the rear axles 112, 121, 122, 131, 132 to travel along the traveling track of the first axle 111 through a set of coordinated control steering schemes, so as to realize the following steering of the rear consists 12, 13.
In some embodiments of the present invention, proper operation of the virtual railroad car 10 requires proper operation involving the power system, steering system, braking system, and control system. The operation safety of the virtual tram 10 can be affected by the fault condition of any one of the vehicles, so that special engineering vehicles are required to provide rescue service.
However, the conventional rail transit rescue vehicle can be maintained only by dragging the virtual rail tram 10 back to the vehicle section in a mechanically hard-drawn manner, thereby satisfying a basic traction function. The simple and rough rescue method can damage hubs, bearings and steering systems of the rear marshalling 12 and 13 of the virtual tramcar 10, and has the problems of low rescue efficiency, influence on line operation and the like.
In order to overcome the above-mentioned drawbacks of the prior art, the present invention provides a multifunctional rescue vehicle having a static rescue function and a dynamic rescue function, a rescue method for providing a corresponding rescue mode according to an actual failure condition of a multi-consist vehicle, and a computer-readable storage medium for providing safe and efficient rescue for a virtual tram in combination with mechanical structure and operation characteristics of the virtual tram.
Referring to fig. 2 and 3 in combination, fig. 2 shows a schematic structural diagram of a multifunctional rescue vehicle provided according to some embodiments of the invention, and fig. 3 shows a schematic connection diagram of the multifunctional rescue vehicle provided according to some embodiments of the invention and a virtual tram.
As shown in FIG. 2, in some embodiments of the present invention, multi-function rescue vehicle 20 may include an electrical power system 21, a hydraulic system 22, a wind source system 23, lift systems 241-245, and a control system 25. In some embodiments, the power supply system 21 may include a high voltage plug and a low voltage plug, respectively, for supplying power to various electrical devices of the failed vehicle. The hydraulic system 22 is used to supply liquid to the steering system of the malfunctioning vehicle. The wind source system is used to supply air to the brake system of the faulty vehicle. The lift systems 241-245 are used to provide lift and traction to the malfunctioning vehicle. The control system 25 may include a processor that may determine a rescue mode based on the actual failure condition of the failed vehicle, thereby providing a safe and efficient rescue for the virtual tram in conjunction with its mechanical structure and operational characteristics. In some embodiments, in addition to ensuring that the rescue maneuver is reliable and smooth, control system 25 may also provide various safety protection functions to ensure operational safety of rescue vehicle 20. In some embodiments, the power system 21, the hydraulic system 22, the wind source system 23, the lifting systems 241-245 and the control system 25 can be centrally installed on the subframe 261 of the rescue vehicle 20, and the unused systems and modules are covered and protected by a detachable cover 262.
As shown in fig. 3, in some embodiments of the present invention, the electric devices of the virtual rail electric vehicle 30 may include a power battery 311, a storage battery 312, a steering control module of the steering system 32, and a power steering motor. The power battery 311 is used for supplying electric energy to the motor of the vehicle 30 to drive the vehicle 30 to run. The battery 312 is used to provide weak current to the control, lighting and monitoring systems 37 of the vehicle for normal operation of these systems. The steering control module of the steering system 32 is configured to formulate a steering control command for each axle 111, 112, 121, 122, 131, 132 to achieve the above-described effect of cooperatively controlling steering. The power steering motors of the steering system 32 may be distributed over the axles 111, 112, 121, 122, 131, 132 of each consist 11-13 of the vehicle 30 for providing steering force to the corresponding axle in accordance with received steering control commands, thereby controlling the rear axles 112, 121, 122, 131, 132 to follow the trajectory of the leading axle 111.
In some embodiments, the power steering motor of the steering system 32 may drive the corresponding axle through a hydraulic transmission to steer. In some preferred embodiments, each axle 111, 112, 121, 122, 131, 132 of each consist 11-13 may be provided with an independent hydraulic transmission. Therefore, even if any one hydraulic transmission mechanism is subjected to leakage failure or damage, the normal operation of other axles cannot be influenced.
In some embodiments, the braking system 33 of the virtual railroad car 30 may utilize a pneumatic transmission to drive a brake actuation module to brake the axles and hubs of the vehicle. In some preferred embodiments, each of the section groups 11-13 of the virtual railroad car 30 may be configured with an independent pneumatic transmission. Therefore, even if any one pneumatic transmission mechanism has air leakage failure or damage, the normal braking of other marshalling can not be influenced.
The rescue function and the rescue principle of the utility vehicle 20 will be described below in connection with a rescue method for a multi-consist vehicle. It is to be understood that these illustrative examples are provided solely for the purposes of clearly illustrating the concepts of the invention for the convenience of the public and are not intended to limit the scope of the invention.
Referring to fig. 3 and 4 in combination, fig. 4 is a schematic flow chart illustrating a rescue method for a multi-consist vehicle according to an aspect of the present invention.
As shown in fig. 4, in the rescue method for a multi-consist vehicle provided by the present invention, the method may include the steps of: the rescue mode is determined according to the failure condition of the failed vehicle 30.
In some embodiments of the present invention, the rescue method for multi-consist vehicles described above may be performed by a processor of the control system 25. In some embodiments, the rescuer may utilize a data line to connect the processor of the control system 25 to the control system of the faulty vehicle 30. The processor can determine whether the fault can be repaired by performing static rescue in the field according to the fault condition fed back by the faulty vehicle 30. If it is determined that the fault can be repaired by performing a static rescue in the field, the processor may determine that the faulty vehicle 30 is involved in only a minor fault condition. Conversely, if it is determined that the fault cannot be repaired by performing static rescue in the field, the processor may determine that the faulty vehicle 30 is involved in a severe fault condition.
As shown in fig. 4, the rescue method for a multi-consist vehicle according to the present invention may further include: static rescue is provided to the faulty vehicle 30 in response to a minor fault condition.
In some embodiments of the present invention, the above-mentioned minor fault conditions may include a power-deficit fault in the power cell 311, a power-deficit fault in the battery 312, a low hydraulic fault in the steering system 32, and a low air pressure fault in the braking system 33.
In some embodiments, in response to a power-down failure of the power battery 311, the processor may instruct the rescuer that the high voltage plug of the power system 21 may be connected to the power battery 311 of the failed vehicle 30. In response to the high voltage plug being connected to the power battery 311 of the failed vehicle 30, the processor may switch on the corresponding charging loop to charge the power battery 311. In some preferred embodiments, in response to the power battery 311 returning to a State of Charge (SOC) sufficient to complete the remainder of the service line, the processor may automatically stop charging the power battery 311 and instruct the rescuer to unplug the high voltage plug, thereby completing a static rescue of the faulty vehicle 30 in the shortest amount of time.
In some embodiments, in response to a power-deficit failure of the battery 312, the processor may instruct the rescuer that a low-voltage plug of the power supply system 21 may be connected to the battery 312 of the failed vehicle 30. In response to the low voltage plug being connected to the battery 312 of the faulty vehicle 30, the processor may switch on the corresponding charging loop to charge the battery 312. In some preferred embodiments, the virtual trolley 30 may include a circuit that utilizes the power battery 311 to charge the storage battery 312. In response to the battery 312 returning to a state of charge sufficient to start the virtual tram 30 to activate the charging circuit described above, the processor may automatically stop charging the battery 312 and instruct the rescuer to unplug the low voltage plug, thereby completing a static rescue of the failed vehicle 30 in the shortest amount of time.
In some embodiments, in response to a low hydraulic fault in steering system 32, the processor may instruct the rescuer that the supply tube of hydraulic system 22 may be connected to steering system 32 of faulty vehicle 30. In response to the supply line being connected to the steering system 32 of the failed vehicle 30, the processor may open the proportional valve of the hydraulic system 22 and drive the hydraulic pump of the hydraulic system 22 to replenish the steering system 32. In some preferred embodiments, the processor may dynamically adjust the proportional valve of the hydraulic system 22 based on the difference between the current hydraulic pressure of the steering system 32 and the target hydraulic pressure required to perform a normal steering operation, thereby completing a static rescue of the malfunctioning vehicle 30 in a minimum amount of time.
In some embodiments, in response to a low air pressure failure of the brake system 33, the processor may instruct the rescuer that air supply pipes of the wind source system 23 may be connected to the brake system 33 of the failed vehicle 30. In response to the air supply tube being connected to the brake system 33 of the failed vehicle 30, the processor may activate the air supply system 23 to replenish the failed brake system 33. In some preferred embodiments, the processor may determine a target braking force required based on the current actual weight load of the virtual tram 30, and a target air pressure required to generate the target braking force within a specified braking time. In response to the air pressure of the pneumatic actuator of the brake system 33 reaching the target air pressure, the processor may automatically stop supplying air to the brake system 33 and instruct the rescuer to unplug the air supply pipe, thereby completing a static rescue of the malfunctioning vehicle 30 in a minimum amount of time.
By diagnosing the actual fault condition of the faulty vehicle 30, providing static rescue for the virtual tram 30 that involves only slight fault conditions, the trouble of pulling the virtual tram 30 back to the vehicle section for maintenance can be avoided, thereby avoiding damage to the vehicle 30 during pulling, and shortening the time for rescue maintenance to reduce the impact on the operating line.
As shown in fig. 4, the rescue method for a multi-consist vehicle according to the present invention may further include: dynamic rescue is provided to the faulty vehicle 30 in response to a severe fault condition.
In some embodiments of the present invention, the critical fault conditions may include a pump station failure of the steering system 32 and a power supply failure of the steering system 32.
In some embodiments, in the event of a pump station failure in the steering system 32, the power steering motor of the failed vehicle 30 will fail to drive the corresponding axle for steering due to a hydraulic drive failure. At this time, even if the steering control module of the steering system 32 can provide an accurate steering command, the axle with the pump station failure cannot travel along the travel track of the first axle 111, and thus there is a great safety risk. Furthermore, in some embodiments, if the pump station failure occurs on the first axle 111, the rear axles 112, 121, 122, 131, 132 will travel along the wrong driving track of the first axle 111, thereby causing a greater safety accident.
In response to a pump station failure of the steering system 32, the processor may first instruct the rescuer to connect the supply line of the hydraulic system 22 to the hydraulic drive of the malfunctioning group 11, 12 or 13. In response to the supply line being connected to the hydraulic drive of the faulty consist 11, 12 or 13, the processor may open the proportional valve of the hydraulic system 22 and drive the hydraulic pump of the hydraulic system 22 to supply hydraulic pressure to the hydraulic drive in place of the faulty pump station. At this time, the steering assist motor may drive the corresponding axle to steer using hydraulic pressure supplied from the hydraulic pump of the hydraulic system 22.
Meanwhile, since the virtual tram 30 with the pump station failure cannot be separated from the rescue vehicle 20 to independently complete normal steering, the processor can determine that the failure condition of the virtual tram 30 relates to a serious failure condition, so as to instruct the rescue personnel to couple the first marshalling of the failed vehicle 30 to the lifting system 24 of the rescue vehicle 20. In response to completing the hitching operation of the faulty vehicle 30, the processor may control the lift system 24 to provide an upward lifting force and a forward traction force to the lead consist 11 of the faulty vehicle 30, thereby providing hydraulic pressure to the faulty hydraulic drive mechanism to maintain its ability to provide steering force to the corresponding axle while pulling the lead consist 11 of the faulty vehicle 30 forward. At this time, the steering system 32 of the faulty vehicle 30 may acquire the body attitude of the leading consist 11 through the sensor of the own vehicle, and the steering control module makes a steering control command for each axle 121, 122, 131, 132 of each rear consist 12, 13, so as to control the rear consists 12, 13 of the faulty vehicle 30 to follow the steering according to the body attitude of the leading consist 11.
Alternatively, in other embodiments, in the event of a power failure in the steering system 32, the steering control module of the failed vehicle 30 may cease operating due to a loss of power to the control loop, thereby losing the ability to provide steering control commands. In some embodiments, the power steering motor may also be disabled due to a loss of power to the power circuit, thereby failing to provide steering force to the corresponding axle. At this time, the faulty vehicle 30 may face the problems of the failure of the steering control and the loss of the steering force at the same time.
In some embodiments, in response to a power failure with the control loop de-energized, the processor may instruct the rescuer to connect a rescue low voltage plug of the power supply system 21 to the steering control module of the steering system 32. In response to the rescue low voltage plug being connected to the steering control module, the processor may communicate with the low voltage power supply loop to provide 12V or 24V dc power to the steering control module. At this time, the rescue vehicle 20 can supply power to the steering control module while pulling the leading consist 11 of the faulty vehicle 30 forward, thereby ensuring that the steering control module can control the rear consists 12 and 13 of the faulty vehicle 30 to follow the steering.
In some embodiments, in response to a power failure with the power loop losing power, the processor may instruct the rescuer to connect the rescue high voltage plug of power supply system 21 to the power steering motor of steering system 32. In response to the rescue high-voltage plug being connected to the power steering motor, the processor may communicate with the high-voltage power supply circuit to provide 380V ac power to the power steering motor. At this time, the rescue vehicle 20 can supply power to the power steering motor while pulling the leading formation 11 of the failed vehicle 30 forward, thereby ensuring that the power steering motor can provide sufficient steering force to the corresponding axle to ensure that the rear formations 12 and 13 of the failed vehicle 30 perform follow-up steering.
In some preferred embodiments, the rescue low-voltage plug and the rescue high-voltage plug may be led out from the power supply system 21 and disposed at the rear end of the rescue vehicle 20 under the covering protection of the cover 262, so that the rescue vehicle 20 may supply power to the steering system 32 of the faulty vehicle 30 while towing the leading consist 11 of the faulty vehicle 30 forward.
As shown in fig. 2, in some embodiments of the invention, the lift system 24 of the rescue vehicle 20 may include a boom 241 and a boom 242. In some embodiments, the supporting arm 241 may have one or more auxiliary devices, and has functions of amplitude variation, folding, horizontal expansion and the like, so as to provide flexible and convenient lifting operation capability under complex road rescue conditions, thereby realizing traction and lifting operations of the faulty vehicle 30. In some embodiments, the boom arm can be flexibly moved forward, backward, left, right, up and down by the winch mechanism 243 to couple the connection mechanisms 34 at different positions of the faulty vehicle 30. In some embodiments, lift system 24 may also include legs 244 and a power take off mechanism 245 for stabilizing rescue vehicle 20 while engaging operation of failed vehicle 30 is taking place.
In some embodiments, the processor may first instruct the rescuer to fixedly connect the hitch of the boom 242 to the connection mechanism 34 of the faulty vehicle 30 and then control the hoisting mechanism 243 to drive the boom 242 to lift the lead consist 11 of the faulty vehicle 30 and to hang the lead consist in parallel to the boom 241. The processor may then control the corbel 241 to provide an upward lifting force to the lead consist 11 of the faulty vehicle 30 to lift the lead axle 111 of the lead consist 11, thereby controlling the travel trajectory of the lead axle 111 in a fixed connection.
In some embodiments, boom 242 may provide forward traction to the lead consist 11 of the failed vehicle 30 as the rescue vehicle 20 travels forward to pull the lead consist 11 forward. The steering control module of the fault vehicle 30 can monitor the steering angle and the attitude change of the rescue vehicle 20 and the first axle 111 in real time, so as to make a steering control command for the rest axles 112, 121, 122, 131 and 132 in real time, so as to control the rest axles 112, 121, 122, 131 and 132 to follow the traveling track of the first axle 111 for steering.
As shown in fig. 3, in some preferred embodiments, rescue vehicle 20 may also include a monitoring system 27. The monitoring system 27 of the rescue vehicle 20 may be used in connection with the monitoring system 37 of the faulty vehicle 30 for providing steering control commands to the power steering motors of the rear axles 112, 121, 122, 131, 132 when a fault occurs in the steering control module of the faulty vehicle 30.
In some embodiments, in response to a failure of the steering control module of the virtual tram 30, the processor may instruct the monitoring system 27 to intervene in the steering system 32 of the failed vehicle 30 to provide coordinated driving assistance. In response to the intervention instructions of the processor, the monitoring system 27 may monitor the steering angle and the attitude change of the first axle 111 of the rescue vehicle 20 and the fault vehicle 30 in real time, and make a steering control instruction to the remaining axles 112, 121, 122, 131, 132 in real time according to the acquired steering angle and attitude change. The monitoring system 27 may then send steering control commands to each axle 112, 121, 122, 131, 132 to the corresponding axle to control each axle 112, 121, 122, 131, 132 to follow the trajectory of the leading axle 111 to achieve follow-up steering of each consist 12, 13 behind.
By providing dynamic rescue such as hydraulic pressure, electric power, steering control, etc. to the faulty vehicle 30 while towing, the steering ability of the multi-consist faulty vehicle 30 can be maintained, so that the rescue vehicle 20 and the faulty vehicle 30 run safely and quickly on the road, thereby providing safe and efficient rescue to the multi-consist vehicle exemplified by the virtual railroad car 10.
While, for purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated that the methodologies are not limited by the order of acts, as some acts may, in accordance with one or more embodiments, occur in different orders and/or concurrently with other acts from that shown and described herein or not shown and described herein, as would be understood by one skilled in the art.
According to another aspect of the present invention, a computer-readable storage medium is also provided herein.
The present invention provides the above computer readable storage medium having stored thereon computer instructions. When executed by the processor, the computer instructions may implement the rescue method for multi-consist vehicles provided in any of the above embodiments, so as to provide safe and efficient rescue for multi-consist vehicles such as the virtual tram 10 by combining the mechanical structure and operation characteristics of the virtual tram 10.
Those of skill in the art would understand that information, signals, and data may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits (bits), symbols, and chips that may be referenced throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The various illustrative logical modules, and circuits described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.
In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a web site, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk (disk) and disc (disc), as used herein, includes Compact Disc (CD), laser disc, optical disc, digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks (disks) usually reproduce data magnetically, while discs (discs) reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.
The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (11)

1. A utility rescue vehicle, characterized by comprising:
a power supply system for supplying power to electrical equipment of a faulty vehicle, wherein the faulty vehicle is a faulty virtual tram;
a hydraulic system for supplying liquid to a steering system of the failed vehicle, the steering system being distributed over a multi-section consist of the failed vehicle;
a wind source system for supplying air to a braking system of the faulty vehicle;
the lifting system is used for providing lifting force and traction force for the fault vehicle; and
a processor configured to:
determining a rescue mode according to the fault condition of the fault vehicle;
providing a static rescue to the faulty vehicle using the power system and/or the hydraulic system and/or the wind source system in response to a minor fault condition; and
in response to a severe fault condition, providing dynamic rescue to the faulty vehicle using the lift system and the power system and/or the hydraulic system.
2. The rescue vehicle of claim 1, wherein the severe fault condition includes a pump station failure of the steering system, and wherein the dynamic rescue includes:
in response to the pump station failure, connecting a liquid supply pipe of the hydraulic system with a steering system of the failed grouping, and providing hydraulic pressure to the steering system of the failed grouping to maintain the steering force of each section of the failed vehicle; and
and linking the first section marshalling of the fault vehicle to the lifting system, providing lifting force and traction force for the first section marshalling to carry out traction, and carrying out follow-up steering on the other marshalling of the fault vehicle according to the body posture of the first section marshalling.
3. The utility rescue vehicle of claim 2, wherein the lift system includes a boom and an arm,
the bracket arm is used for providing upward lifting force to the head section marshalling of the fault vehicle so as to lift the head axle of the head section marshalling,
the suspension arm is used for providing upward lifting force and forward traction force for the head section marshalling of the fault vehicle,
and the other axles of the fault vehicle carry out follow-up steering according to the steering angle of the first axle.
4. The multi-purpose rescue vehicle of claim 2, wherein the power system includes a high voltage plug and a low voltage plug, the critical fault condition further includes a power failure of the steering system, and the dynamic rescue further includes:
and responding to the power supply failure, connecting the high-voltage plug with a power steering motor of the steering system to guarantee the steering force of each section group, and connecting the low-voltage plug with a steering control module of the steering system to guarantee the steering control of each section group.
5. A multifunctional rescue vehicle as claimed in claim 1, characterized in that the slight fault condition comprises a power-battery-low fault, a low hydraulic fault of the steering system, and/or a low air pressure fault of the braking system, the static rescue comprising:
in response to the power battery power shortage fault, connecting a high-voltage plug of the power supply system with the power battery to charge the power battery; and/or
Connecting a low voltage plug of the power supply system to the battery to charge the battery in response to the battery power-down fault; and/or
Connecting a supply pipe of the hydraulic system to the steering system to replenish the steering system in response to the low hydraulic pressure failure; and/or
Connecting an air supply pipe of the air source system to the brake system to replenish the brake system in response to the low air pressure fault.
6. A rescue method for a multi-consist vehicle, comprising:
determining a rescue mode according to the fault condition of a fault vehicle, wherein the fault vehicle is a fault virtual tramcar;
providing static rescue to the faulty vehicle in response to a minor fault condition, wherein the static rescue comprises: supplying power to electrical equipment of the faulty vehicle by using a power supply system of the rescue vehicle, and/or supplying liquid to a steering system distributed in a multi-section formation of the faulty vehicle by using a hydraulic system of the rescue vehicle, and/or supplying gas to a braking system of the faulty vehicle by using a wind source system of the rescue vehicle; and
providing dynamic rescue to the malfunctioning vehicle in response to a severe fault condition, wherein the dynamic rescue comprises: the lifting system of the rescue vehicle is used for providing lifting force and traction force for the fault vehicle, the power supply system is used for supplying power for electrical equipment of the fault vehicle, and/or the hydraulic system is used for supplying liquid for a steering system distributed in a multi-section group of the fault vehicle.
7. The rescue method of claim 6, wherein the severe fault condition includes a pump station failure of the steering system, the step of dynamically rescuing comprising:
in response to the pump station failure, connecting a liquid supply pipe of the hydraulic system with a steering system of a failed grouping, and providing hydraulic pressure to the steering system of the failed grouping to maintain the steering force of each section of the failed vehicle; and
and linking the first section marshalling of the fault vehicle to the lifting system, providing lifting force and traction force for the first section marshalling to carry out traction, and carrying out follow-up steering on the other marshalling of the fault vehicle according to the body posture of the first section marshalling.
8. The rescue method of claim 7, wherein the lift system includes a lift arm and a boom arm, the step of providing a lift force and a traction force to the bow consist for traction further comprising:
providing an upward lifting force to a lead consist of the faulty vehicle with the corbel to lift a leading axle of the lead consist; and
and the suspension arm is used for providing upward lifting force and forward traction force for the head section marshalling of the fault vehicle, and the rest axles of the fault vehicle perform follow-up steering according to the steering angle of the head axle.
9. The rescue method of claim 7, wherein the power system includes a high voltage plug and a low voltage plug, the severe fault condition further includes a power failure of the steering system, and the step of dynamically rescuing further includes:
connecting the high-voltage plug to a power steering motor of the steering system to guarantee the steering force of each section group in response to the power supply failure; and
in response to the power failure, connecting the low voltage plug to a steering control module of the steering system to ensure steering control of the section groups.
10. The rescue method of claim 6, wherein the mild fault conditions include a power-cell-loss fault, a battery-loss fault, a low hydraulic fault of the steering system, and/or a low air pressure fault of the braking system, the step of statically rescuing comprising:
connecting a high-voltage plug of the power supply system to the power battery to charge the power battery in response to the power battery power-down fault; and/or
Connecting a low voltage plug of the power supply system to the battery to charge the battery in response to the battery power-down fault; and/or
Connecting a supply line of the hydraulic system to the steering system to replenish the steering system in response to the low hydraulic fault; and/or
Connecting an air supply pipe of the air source system to the brake system to replenish air for the brake system in response to the low air pressure fault.
11. A computer readable storage medium having computer instructions stored thereon, wherein the computer instructions, when executed by a processor, implement the rescue method of any of claims 6-10.
CN202010300032.9A 2020-04-16 2020-04-16 Multifunctional rescue vehicle and rescue method of multi-marshalling vehicle Active CN113525215B (en)

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DE19623037A1 (en) * 1996-06-08 1997-03-06 Gerd Zander Traffic light control system for transit of rescue and emergency vehicles
CN205365581U (en) * 2015-11-20 2016-07-06 南车株洲电力机车研究所有限公司 Rubber tyer low -floor intelligence rail train's air braking system
CN109421539B (en) * 2017-08-28 2022-03-11 株洲中车时代电气股份有限公司 Train rescue power supply device and control method thereof
CN109094586B (en) * 2018-09-12 2020-12-04 大连铁丰轨道交通装备有限责任公司 Magnetic suspension train traction maintenance engineering vehicle
CN209776433U (en) * 2018-10-26 2019-12-13 中车株洲电力机车研究所有限公司 be applied to trolley-bus guidance system's of smart rail trolley bus emergency rescue equipment
CN109334705B (en) * 2018-10-30 2024-02-13 瑞立集团瑞安汽车零部件有限公司 Trolley bus braking system and trolley bus

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