CN1429726A - Railway communication system of small sized vehicle - Google Patents
Railway communication system of small sized vehicle Download PDFInfo
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- CN1429726A CN1429726A CN03102259A CN03102259A CN1429726A CN 1429726 A CN1429726 A CN 1429726A CN 03102259 A CN03102259 A CN 03102259A CN 03102259 A CN03102259 A CN 03102259A CN 1429726 A CN1429726 A CN 1429726A
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Abstract
A trackway traffic system of small vehicles aimed at replacing subway and overhead railway is composed of small robot vehicles controlled by a computer, an enclosed trackway equipped with a vehicle running controller and trackway stations for scheduling vehicles randomly. The vehicle is running in the station-to-station mode. Its advantages are low cost, personalized service and high throughput for both passengers and goods.
Description
Technical field
The present invention relates to urban track traffic, specifically, is the Rail Transit System to organize unpiloted dilly to transport in the closed orbit road.
Background technology
Subway and light rail are City Rail Transit Systems, and it is the trunk main of the public conveyance and transportation in city, have the big characteristics of passenger flow volume, and it has promoted the economic development in city and has improved the people's live and work.At present, also there is not a kind of city traffic system can substitute subway and light rail.Subway and light rail mainly are made up of control center, station, train and closed orbit; The transportation organizational form is the operational plan operation of train by the control center, carries out section blocked.
But subway and light rail investment are big, long in time limit; The running cost height, passenger traffic slack hours conveying efficiency is low; Transportation services single (only being passenger traffic) can not be realized comprehensive transportation; Be not easy to form the urban track traffic transport network, vehicle can not move on the cross-line road, can not realize station to the station service of whole city's rail transport road network; Can not realize shortcomings such as personalized service.
The present invention combines the rail layout of railway station, the mode of heavy haul train transportation, the method for controlling driving speed of hump marshalling; The closed orbit characteristics of subway and light rail, the pattern of the point-to-point transportation of taxicar; The elec. vehicle of automatic steering, automobile automatically controlled principle; The application engineering of computer networking technology, micro controller system application engineering, telemetry remote control technology, RFDC and leaky cable.One cover brand new City Rail Transit System has been proposed: the dilly that employing is different with subway and light rail, closed orbit, facilities such as the station of dispatching a car at random; And implementation and subway and light rail are fundamentally with regard to different dispatching methods.
Summary of the invention
The purpose of this invention is to provide the Rail Transit System of on blocked road, transporting by the small-sized unpiloted vehicle of computer organization.The characteristics of the big transportation volume of its existing subway and light rail have the alerting ability transportation mode of taxicar again; Compare with light rail with subway, its small investment, the conveying efficiency height can be set up advantages such as city-wide track traffic road network.
For reaching described purpose, the present invention adopts by being provided with supporting control setup on computer-controlled small transporting vehicle, the closed orbit, having the station of rail network and computer scheduling system; And adopted the transportation organizational form of dispatching a car as required.
Described transport vehicle is the driverless operation small-sized electric vehicle of isolated operation, buffer device for collision, electronic distance-measuring equipment 49, front truck recipient 45 are equipped with in the front portion of vehicle, virtual train connecting device 47,48 is installed at middle part at forward and backward bumper/spoiler, locating wheel 44 has been fixed at two ends at bumper/spoiler respectively, vehicle operating information transmitter 46 is equipped with at the rear portion of vehicle, and track control desk 51, track signal receiving device, information of vehicles sending set and RFDC antenna 53 have been installed below the chassis; Main control microcomputer and micro controller system have been formed computer system; Buffer device for collision, electronic distance-measuring equipment, front truck recipient, vehicle operating information transmitter, track signal receiving device, information of vehicles sending set etc. connect micro controller system respectively, and are subjected to Single-chip Controlling.
Described interval closed orbit has craspedodrome track 2, upward slope track 6, descending track 7, branch fork in the road 4, merges crossing 5; Track one bogie side frame is established leaky cable 23, and the track both sides are provided with information of vehicles receiving device and track signal sending set in the middle of the vehicle location guardrail 22, track, speed controller 26; Divide also mounting vehicle steering controlling device 24 of fork in the road; Interval track computing machine and affiliated micro controller system are formed the master-slave mode computer system, and the information of vehicles receiving device is connected micro controller system respectively with track signal sending set, speed controller, Vehicular steering control apparatus, and is subjected to Single-chip Controlling.
Described station is provided with rail network (being constituted by through track 71, current track 73, the platform track 72 of getting off, loading refuges track 80, the track 77 of turning back, departure track 76, the track 75 of shunting, parking track 79, contact track 81 and branch fork in the road, merging crossing etc.), platform 74 (platform 741 of getting off, loading refuges 742).Information of vehicles receiving device and track signal sending set, speed controller 26 have been installed in orbit, vehicle guidance device, Vehicular steering control apparatus 24, or lateral direction of car conveyer 78.
Described wireless data communication system comprises the automobile wireless data communication equipment, station, track radio data communication equipment, and leaky cable; Each radio data communication equipment of station, track connects one section leaky cable respectively, constitutes the RFDC zone, and each zone becomes a RFDC subsystem.
Described transportation method for organizing, be to have the passenger just to dispatch a car at random on each station, the Vehicular automatic driving point of destination of going directly, this method comprises the following steps: that (1) shunt: the computer scheduling system at station is dispatched buses, specify empty wagons to reach the loading refuges track, the control convenience of vehicle and track cooperatively interacts, and control vehicle is parked in assigned address; (2) route selection: after determining the point of destination of vehicle ', passenger loading; The main control microcomputer of vehicle is determined the running route plan; (3) dispatch a car: computer scheduling system sends departure instructions, and vehicle enters departure track by current track; At the place, merging crossing of departures, after the control convenience of vehicle and track cooperatively interacted, control vehicle sailed interval craspedodrome track into; (4) travel: vehicle is up the sailing of craspedodrome track in interval, and registers and definite vehicle place section to the main control microcomputer of track; The main control microcomputer of vehicle is compared actual travel route and running route plan, determines the direction that continues to travel; The track computing machine is determined the working direction of vehicle according to the running route plan and the actual position of vehicle, and when vehicle need turn round in minute fork in the road, the track computing machine started Vehicular steering control apparatus by micro controller system, and control vehicle turns round; In the process of moving, back car and front truck can be formed virtual train automatically and sail in that the craspedodrome track is up; (5) arrive at a station: vehicle is when arriving the branch fork in the road of point of destination, and the control convenience of vehicle and track cooperatively interacts, and control vehicle sails to the appropriate location of the platform track of getting off; (6) return the vehicle to the garage and knock off: behind the intact car, vehicle is parked in the parking track by the track of turning back under the passenger.
Why Rail Transit System of the present invention has the transport capacity of subway and light rail, is to adopt a large amount of small transporting vehicles to form a virtual train to proceed like a school of fishes, one after the other on interval orbit, and the passenger flow volume in their per hour unidirectional track cross section is as follows:
For example: vehicle length is 4 meters, 3 arrange seatses, and 1.6 meters of vehicle inner widths, every arrange seats is taken advantage of seat 3 people, each vehicle-mounted objective 9 people; 40 kilometers/hour of the speed of a motor vehicle, average convoy spacing is 1 meter, the passenger flow volume in then unidirectional track cross section is
40 kilometers/hour * 200/kilometer * 9 people /=36,000 people/hours;
When vehicle length is 6 meters, 4 arrange seatses, 1.6 meters of vehicle inner widths, every arrange seats is taken advantage of seat 3 people, each vehicle-mounted objective 12 people; 40 kilometers/hour of the speed of a motor vehicle, average convoy spacing is 2 meters, the passenger flow volume in then unidirectional track cross section is
40 kilometers/hour * 125/kilometer * 12 people /=60,000 people/hours;
The passenger flow volume in the unidirectional track cross section of general subway be 4～60,000 people/hour;
The unidirectional track cross section visitor's of general light rail flow be 1～30,000 people/hour.
Carrying capacity when improving vehicle by the station, the technical scheme of employing is the rail layout of similar railway station, and through track and platform track are set AT STATION, an influence to straight-through vehicle reduces to, dispatches a car.
Another object of the present invention is to compare with light rail, when identical transportation volume, reduces construction investment significantly, mainly is the construction investment that reduces cost, track and the station of vehicle.
The way that reduces the vehicle cost is to adopt the motor of smaller power, reduces the capacity of storage battery; With the mechanical device that reduces vehicle, simplify vehicle structure.
Use the motor of smaller power, can run into the problem of the under power when going up a slope, the present invention is provided with speed controller on the upward slope track, forces vehicle to press the speed operation of speed controller, thereby has remedied the under power of vehicle when going up a slope.
Reduce the mechanical device of vehicle, omitted brake system and steering swivel system at this.Car retardation reduces motor speed by main control microcomputer to be realized; When descending, rely on the speed controller control speed of a motor vehicle that is provided with in orbit.Solve the way that turns to of vehicle: when travelling on the bend of craspedodrome track, vehicle relies on locating wheel to keep normal operation; When need turn round in minute fork in the road, turn round by the vehicle steering device control vehicle on the track; When the platform track turns round, turn round by the vehicle steering device control vehicle.
The dilly that the present invention uses is compared with the vehicle of subway and light rail, has alleviated the load on the unit length track significantly, thereby can simplify track structure, has reduced the orbit construction investment at interval and station.
Large, medium and small 3 passenger flow grades are divided at station of the present invention, because vehicle operating density is big, the station passenger flow volume is even, and the maximum passenger flow volume at station is wanted much less than subway and light rail; The height at station and width also can be than subway and light rail little, the construction investment at station also can reduce.
RFDC is guaranteed the requisite measure of automatic driving vehicle energy cruising accurately, except that employing has the communication protocol of error-detection error-correction ability, also must guarantee the signal to noise ratio of received signal.The present invention has adopted the known leaky cable of radio communication specialty system, in track one side leaky cable has been installed, and the antenna of the RFDC of vehicle is installed in leaky cable one side below the vehicle chassis.
Vehicle needs to cooperate accurately with the control convenience of track, and vehicle need be understood the section at place, and track need be known the vehicle number on the track; RFDC between the computing machine of vehicle and track need be avoided co-channel interference, etc. reason.Vehicle and track are provided with the device that signal sends and signal receives respectively.These devices have adopted certain mode of light, electricity, magnetic, or the combination of several modes.For example: utilize light correlation device (received signal) 55, the anti-dazzle device 56 (transmission signal) of optical principle, infrared transmitter and receptor, signal lamp 54 and optical signal detector 52 utilize the wireless marking signal projector and the receptor of electrical principles; Utilize the electromagnet and the hall device of magnetics principle.
Native system can reach the purpose of invention, and its problem that mainly solves is that the virtual train that adopts lightweight groups of unmanned ground vehicles to become is transported, and the station sends measures such as vehicle, the three-dimensional rail network of combination in any at random; For guaranteeing the normal operation of automatic driving vehicle, vehicle, track and station have disposed the information sending and receiving device, the equipment and the device of Wireless Telecom Equipment, control and guided vehicle operation, the accurate cooperation between the equipment at vehicle, track and station; Total system has adopted all that computing machine (comprising micro controller system) carries out information acquisition, data handing, analysis and judgement, draws up a plan for, output command and information and carry out and control, guarantees the dispatching automation and the vehicle operating automation of system.
Native system does not adopt the mode of the planning transportation of subway and light rail, has cancelled the control center; Vehicle has also been cancelled steering swivel system and brake system.
Native system can adopt various transport vehicles to form comprehensive transportation systems, and the transportation that has not only solved the big transportation volume in city also improves the efficiency of operation of system.
Native system is a kind of small investment, transportation volume is big, efficient is high, serve, pollute less, take up an area of few City Rail Transit System.
Description of drawings
Fig. 1 is the Rail Transit System scheme drawing of dilly
Fig. 2 is the two-way track schematic top plan view of keeping straight on
Fig. 3 is the scheme drawing of looking closely of the two-way track of craspedodrome
Fig. 4 is unidirectional minute fork in the road track schematic top plan view
Fig. 5 is a unidirectional merging crossing track schematic top plan view
Fig. 6 is unidirectional upward slope track schematic top plan view
Fig. 7 is unidirectional upward slope track schematic side view
Fig. 8 is an One-way Downgrade track schematic top plan view
Fig. 9 is an One-way Downgrade track schematic side view
Figure 10 is the speed controller scheme drawing
Figure 11 is the Vehicular steering control apparatus scheme drawing
Figure 12 is the minibus schematic top plan view
Figure 13 is that scheme drawing is looked on the minibus right side
Figure 14 is little proud car schematic top plan view
Figure 15 is that scheme drawing is looked on little proud car right side
Figure 16 is the vehicle chassis elevational schematic view
Figure 17 is vehicle chassis (Z) schematic side view
Figure 18 is vehicle chassis (Y) schematic side view
Figure 19 is the scheme drawing of vehicle location wheel construction
Figure 20 is a vehicle location wheel A-A generalized section
Figure 21 is a crusherbull zone spring structure scheme drawing (1)
Figure 22 is a crusherbull zone spring structure scheme drawing (2)
Figure 23 is the scheme drawing of little passenger flow volume station track
Figure 24 is the scheme drawing of medium passenger flow volume station track
Figure 25 is the scheme drawing of bus's flow station track
Figure 26 is the scheme drawing of platform track (A)
Figure 27 is the scheme drawing of platform track (B)
Figure 28 is a lateral direction of car conveyer scheme drawing
The specific embodiment
Below in conjunction with accompanying drawing the present invention being carried out segmentation describes: (one) system:
The Rail Transit System of dilly shown in Figure 1, system mainly contains dilly 1, interval closed orbit 2 and station 3 and forms, wherein interval closed orbit has the such craspedodrome track of similar railway and express highway, branch fork in the road 4 and merges crossing 5, and the track structure that system has adopted branchs fork in the road 4 and merging crossing 5 is the road network of track traffic easily just; Upward slope track 6 and descending track 7 (as Fig. 6, Fig. 7, Fig. 8, shown in Figure 9) are arranged in the craspedodrome track of native system.
Utilize the branch fork in the road and merge the crossing and just can form the track road network.(2) track:
The structure of Fig. 2 and interval two-way craspedodrome track shown in Figure 3: the track two ends are connected with the track at station, guardrail 22, orbital plane 21 have been installed in the both sides of every unidirectional track, the leaky cable 23 for radio communication has been installed in the track left side of vehicle operating direction; The information of vehicles receiving device that the detection vehicle passes through has been installed in the entrance of vehicle operating direction, it is a pair of optical receiver 29, the orbit information sending set that is used for detecting test of vehicle, it is a signal lamp 30, be used to detect vehicle by also having a lot, for example: the photoelectricity correlation device 27 and the anti-dazzle device 28 of shading principle, the electromagnet of magnetic technology and hall device with the method that is used for detecting test of vehicle, wireless marking signal emitter, pressure-sensitive device and acceleration pick-up etc.(vehicle need be installed relevant device).At the approaching craspedodrome track place that divides the fork in the road and merge the crossing, information of vehicles receiving device and orbit information sending set (as shown in Figure 4 and Figure 5, they are by minute fork in the road micro controller system and the micro controller system management of merging crossing) have been installed equally.
Orbit information receiving device and the information of vehicles sending set installed on the corresponding vehicle of information of vehicles receiving device on the track and orbit information sending set, when the main control microcomputer of vehicle and track computing machine are received square signal, realize once triggering, start a job.At diverse location, action is different.
Unidirectional minute shown in Figure 4 fork in the road track structure, has installed by monolithic processor controlled Vehicular steering control apparatus 24 entrance.Branch fork in the road micro controller system receives the vehicle operating information that the track computing machine sends, and arrives near information of vehicles receiving device and the orbit information sending set position of dividing the fork in the road at vehicle, and crossing micro controller system and vehicle main control microcomputer carry out information exchange; When vehicle need turn round, the crossing micro controller system started Vehicular steering control apparatus 24, and control vehicle turns round and drives towards the turnout.When vehicle need be kept straight on, Vehicular steering control apparatus quit work.
Centre in the exit of minute fork in the road has been installed vehicle location and has been taken turns 25 some rightly, and its first pair of locating wheel installation interval is slightly wide, and reduce gradually at the interval of back locating wheel.Locating wheel is a pair of motorless pulley.
Vehicle steering device is mounted in a pair of belt conveyor 244 (seeing Figure 11) on the track, and belt conveyor is driven by imput shaft 241, driven axle 242 location, and imput shaft connects slowspeed machine 243.When the line speed on the left side during greater than the line speed on the right, vehicle will turn round to the right, otherwise vehicle turns round left, and when two line speeds equated, vehicle was kept straight on.
Unidirectional merging shown in Figure 5 crossing track structure in the entrance of two tracks, has been installed a pair of locating wheel 25 and speed controller 26 respectively, is used to control current vehicle, is convenient to vehicle and passes through the crossing in an orderly manner.
Fig. 6, Fig. 7 and Fig. 8, Fig. 9 are respectively the structural representations of upward slope track and descending track, in the entrance, the information of vehicles receiving device have been installed, and a pair of locating wheel and some groups of speed controllers are installed on the ramp.After the information of vehicles receiving device detects information of vehicles, start speed controller, vehicle is pressed the speed operation of speed controller.
The speed controller of upward slope track can remedy the vehicle power deficiency, and the speed controller of descending track plays the effect of vehicle brake.
The structure of speed controller as shown in figure 10, speed controller is the revolving wheel 260 that is fixed on the axle by a pair of, the axle 261 of revolving wheel is fixed on the support 263 by bearing 262; The thickness of the control desk 51 under the gap between two revolving wheels and the vehicle chassis matches; Wherein an axle is connected by monolithic processor controlled motor 265 by change speed gear box 264.(3) vehicle:
Figure 12, Figure 13 and Figure 14, Figure 15 illustrate the structure of vehicle, Figure 16, Figure 17, Figure 18 to illustrate the equipment installation situation of vehicle chassis.
The front bumper of vehicle has been installed electrotape 49, buffer device for collision 43, and front truck recipient 45 and virtual train connecting device, the rear bumper 42 of vehicle is equipped with vehicle operating information transmitter 46 and virtual train connecting device.
The buffer unit of buffer device for collision is spring or hydraulic stem, the structure of crusherbull zone spring shown in Figure 21,22: welding guide rod 431 on front bumper 41, guide rod outside cover upper spring, there is rib-loop the end of guide rod, after passing the fixed orifice 501 of vehicle chassis 50, fixing by nut 432;
The end connection location sensing device of guide rod---micro-switch 439 or potential device 436 (seeing Figure 21), potential device is connected with the end of guide rod by the pipe link 433 that has anchor shaft 435 and adapter shaft 434.Position sensing device can also adopt contactless cond (seeing Figure 22), fixes two group capacitor stators 4381,4382 on chassis 50, connects rotor plate 437 in the end of guide rod 431.
When vehicle collided, the collision alarm sensor output signal of vehicle collision shock absorber reduced the speed of a motor vehicle, during collision alarm sensor non-output signal, improved the speed of a motor vehicle, and the running velocity that main control microcomputer does not stop to adjust the speed of a motor vehicle and front truck keeps synchronous; Vehicle before and after the virtual train connecting device of front and back vehicle is located by connecting.The virtual train connecting device has many modes, for example has the knock hole 47 and the circular cone locating dowel pin 48 that same slope is arranged of tapering.
Locating wheel 44 has been fixed at the two ends of the forward and backward bumper/spoiler of vehicle respectively, and track control desk 51 has been installed in the centre below the chassis.The structure of Figure 19, vehicle location shown in Figure 20 wheel, locating wheel is fixed on the wheel shaft 442 of location by bearing 441, the end that the assembly of locating wheel is fixed on bumper/spoiler by the pad 444 of adjusting height and nut 443.The locating wheel of vehicle and the guardrail of track rub for a long time, and for reducing the localized wear of guardrail, there is outstanding rib-loop on the surface of locating wheel, can select the locating wheel of surface smoothing in addition for use, but its setting height(from bottom) is a ccasual.
For example vehicle width is 1.8 meters, and the locating wheel diameter is 0.2 meter, exceeds 0.1 meter of vehicular sideview, and the guardrail width is slightly larger than 2 meters.
Track signal receiving device 55, information of vehicles sending set 54,56 that vehicle chassis is installed down, the signals of vehicles receiving device 27,29 of installation site and track, orbit information sending set 28, corresponding.As previously mentioned, track signal receiving device and information of vehicles sending set can adopt other method.
Vehicle chassis is the RFDC antenna 53 of installation down, is installed in the left side of vehicle, and its receives the radiofrequency signal of leaky cable radiation, and the radio data communication equipment of track receives the radiofrequency signal of vehicle antenna emission by leaky cable.The leaky cable system can accurately control the field intensity of radiofrequency signal according to designing requirement, satisfies the requirement of radio communication; Because antenna is installed in the vehicle bottom, reduced the intensity of interfering signal, improve the signal to noise ratio of signal.
Vehicle roof has been installed photosensor group 57, is used to receive the optical signal of guiding vehicles.
Infrared detector 58 has been installed on car door top, is used for the automatic switch car door; Electronic display board 59 also is installed, is used to show the point of destination of vehicle operating.
The computer system that the main control microcomputer of vehicle and micro controller system are formed; Buffer device for collision, electronic distance-measuring equipment, front truck recipient, vehicle operating information transmitter, track signal receiving device, information of vehicles sending set connect micro controller system respectively.Main control microcomputer is gathered the information of each micro controller system, sends work order to micro controller system; Each micro controller system acts in accordance with the division of their functions and duties, and the operational plan operation that control vehicle is pressed main control microcomputer realizes driverless operation.(4) station:
The station is divided into 3 grades: little passenger flow volume station, medium passenger flow volume station, bus's flow station.
The rail layout at little passenger flow volume shown in Figure 23 station, the little station of its similar railway, branch fork in the road 4 is arranged at the place of entering the station, in departures place the crossing 5 of merging is arranged, every direction has two tracks of isolating mutually in the middle of the station, article one, for providing through track 71, another platform track 72 for getting on the bus and getting off by vehicle.Platform is located at the outside of platform track, can certainly be located at the centre by platform, and through track is arranged in the outside, and two kinds of rail layouts respectively have merits and faults.
The rail layout at medium passenger flow volume shown in Figure 24 station, between through track and platform track, increase a current track 73, there is not isolation guard rail between platform track and the current track, on these two tracks, aforesaid signals of vehicles receiving device, orbit information sending set and vehicle steering device and lateral direction of car conveyer have been installed, control vehicle turnover platform track.
The rail layout at bus's flow shown in Figure 25 station, the station track divides two-layer up and down, and the upper strata is the through track 71 and the platform track 72 of getting off, and lower floor is current track 73 and loading refuges track 80.Interval craspedodrome track connects the craspedodrome track respectively and the track 75 of shunting in the 1st the branch fork in the road of entering the station; The craspedodrome track is by the platform track 72 that the 2nd branch fork in the road connects through track 71 respectively and Gong get off, and the platform track of getting off is connected with the track 77 of turning back, and the track of turning back is the track that arrives lower floor from the upper strata, is connected with parking track 79 in lower floor; The parking track joins with oppositely directed current track 73 and loading refuges track 80, loading refuges track and current parallel track, do not have isolation guard rail between loading refuges track and the current track, current track is connected to departure track 76, and departure track is the track that arrives the upper strata from lower floor; Departure track and through track are merging the craspedodrome track that the crossing merges to the interval.For ease of calling empty wagons from the station, rear, empty wagons sails lower floor's parking track and current track into from the track of shunting.
For in scheduling during empty wagons, reduce taking Crane Rail (the branch fork in the road of craspedodrome track, through track, main line and merge the crossing), in departure track and turn back one section contact track 81 is set between the track.
Figure 26 is the scheme drawing of platform track, on current track and loading refuges track signals of vehicles receiving device, orbit information sending set and vehicle steering device has been installed, and control vehicle turns round and sails and sail out of the loading refuges track into; After vehicle entered the loading refuges track, the vehicle guidance device guided vehicle at station was stopped accurate position.
Vehicle guidance device is mounted in the row of 2 on loading refuges track guiding lamp, and the track optical signal detector 52 on the vehicle chassis detects the optical signal of guiding lamp, and vehicle is followed light and travelled.Another kind of scheme is mounted in the guiding lamp of loading refuges track top rotation, and the guiding light of top is received in the photosensor winding of vehicle roof, and vehicle is followed light and travelled.Vehicle guidance device can also be that the wireless remote control emitter carries out remote control (vehicle need dispose corresponding wireless remote control receiver) to vehicle.
The structure of the platform track of employing lateral direction of car conveyer 78 shown in Figure 27, vehicle sails to the lateral direction of car conveyer place of appointment by dispatch command, the loading refuges track that the lateral direction of car conveyer is transferred vehicle; When treating to dispatch a car, the current track that the lateral direction of car conveyer is transferred vehicle.
Figure 28 is the structural representation of lateral direction of car conveyer, and the lateral direction of car conveyer is by platform track computer controlled motor 783 initiatively, driven by motor driving roller 781 initiatively, thus driving belt conveyor 784, belt conveyor is fixing by auxiliary wheel 782.Motor on demand can cw and left-hand revolution.(5) method of tissue vehicle operating: 1. shunt:
The dispatching at station sends the instruction of scheduling empty wagons by station local area network to relevant computing machine;
When the parking track did not have empty wagons, the dispatching that dispatching is rearward stood called empty wagons, and the empty wagons that the station, rear is come will stop to the parking track by the track of shunting from the branch fork in the road of entering the station, and registered to parking track computing machine transmission vehicle number.
When oppositely (for vehicle heading) parking track has empty wagons, parking track computing machine is by wireless transmission shunt instruction---vehicle number, parking track code, shunt reply after, enter complete rotation track from current track, arrive the parking track of forward, vehicle is registered to (forward) parking track computing machine, and waits for and calling.
When forward parking track had car, parking track computing machine was by the wireless transmission instruction of shunting---and vehicle number, stop the position code of platform, being shunt sends a response message, and starts and sail current track into; The detecting test of vehicle track signal, when arriving the relevant position of current track, vehicle and track equipment cooperatively interact, and vehicle rests in assigned address exactly, and opens the door automatically and wait the passenger and step on car.2. dispatch a car:
The ticketing computing machine sends to dispatching with Customer information, after dispatching carries out information processing, sends dispatch command to the platform computing machine, and the platform computing machine sends dispatch command to vehicle---vehicle number, point of destination.The electronic display board of vehicle shows the point of destination name of station; Mouthful electronic display board by bus of platform computer controlled platform shows that vehicle leaves for the point of destination name of station, steps on car after the ticket-validating machine ticket checking of passenger by the mouth of riding.
The main control microcomputer of vehicle is arranged the travel way plan according to the information of set out station and point of destination---the track in the stroke, the code and the order of dividing fork in the road, merging crossing, station.
After vehicle is full, will close the door automatically; Perhaps, when the infrared detector of vehicle detects on the platform no passenger, also will close the door automatically.Vehicle is dispatched a car to the application of platform track computing machine immediately, and dispatching sends departure instructions according to the vehicle operating information of each track: the lateral direction of car conveyer of platform transmits vehicle to current track, and vehicle launch is dispatched a car; Perhaps vehicle launch, the vehicle steering device control vehicle on the track drives to current track; Vehicle drives to the entrance at the merging crossing of departure track by current track.
The platform computing machine will the information of dispatching a car sends to the merging crossing micro controller system of departures, the crossing micro controller system is controlled according to the vehicle condition of two circuits, as run into when having vehicle to pass through simultaneously, elder generation's clearance through vehicles, the speed controller of craspedodrome track is pressed the running velocity running of vehicle, the micro controller system that merges the crossing limits the speed of the vehicle that sets out by speed controller; Micro controller system is selected the driving space of through track, the departures vehicle of letting pass; During clearance, adjust the speed of a motor vehicle that speed controller improves the departures vehicle.3. travel:
When vehicle entered the craspedodrome track, after the track signal receiving device of vehicle detected signal, the radio data communication equipment of vehicle sent information---vehicle number, point of destination, and the track computing machine is registered after receiving vehicle operating information; After the signals of vehicles receiving device of track detected signals of vehicles and receives vehicle registration information, the track computing machine sent instruction to vehicle---sequence number, vehicle highest running speed that section code, vehicle move at section; Vehicle is checked operational plan after receiving the information and instruction of track computing machine, determines the direction that continues to travel, and notice track computing machine; The track computing machine is with the branch fork in the road micro controller system that sends to vehicle operating the place ahead for information about of vehicle operating.
On the craspedodrome track, vehicle is chased front truck, and when vehicle distances during less than threshold values, the information of vehicles receptor of vehicle can receive the vehicle operating information that the information of vehicles projector of front truck sends.If when the travel direction of vehicle and front truck was identical, vehicle was formed virtual train automatically and is travelled; Otherwise keep certain distance to travel between the vehicle.
Realize that virtual train is to have adopted vehicle to chase technology, it relates to electrotape, information of vehicles receptor, information of vehicles projector, virtual train connecting device and the buffer device for collision of installing on the vehicle.Concrete steps are: (1) range finding: the electrotape that install the front portion of vehicle is constantly measured the distance with front truck when operation, the main control microcomputer of vehicle is according to distance control vehicle speed; When distance during greater than threshold values, vehicle press the speed of the appointment of track computing machine and is moved; (2) chase: when distance during less than threshold values, the information of vehicles receptor of back car can receive the vehicle operating information of the information of vehicles projector transmission of front truck, main control microcomputer is according to the speed of front truck, control this car and chase with the speed greater than front truck, the difference of the more little then speed between the vehicle of vehicle distances is more little; (3) collision: when vehicle near and when collision, the buffer device for collision of vehicle plays buffer action, and provides collision information to main control microcomputer, main control microcomputer reduces car speed, up to breaking away from collision; Back car is constantly regulated the speed, till the speed synchronization of two cars.By that analogy, vehicle has just been formed virtual train at section operation, has improved transport capacity.
Near branch fork in the road, merging crossing the time, the crossing micro controller system is pressed the vehicle operating information that the track computing machine sends, information of vehicles receiving device and orbit information sending set position before vehicle arrives the crossing, crossing micro controller system and vehicle main control microcomputer carry out information exchange.In a minute fork in the road, when vehicle need turn round, the crossing micro controller system started Vehicular steering control apparatus, and control vehicle turns round and drives towards the turnout; When vehicle need be kept straight on, Vehicular steering control apparatus quit work or constant speed work.Merging the crossing, its mode of operation is the same with the mode of operation at the merging crossing of departures place.Vehicle need be checked the correctness of running route.
Vehicle need be when the station, through the branch fork in the road of the entering the station through track of keeping straight on.The merging crossing micro controller system of departures is sent to the operation information of vehicle in the compunication of vehicle and through track, the computing machine of through track; Vehicle is pressed the speed operation of through track computing machine appointment; Perhaps, according to the distance of front vehicles and the velocity contrast of two cars, the speed of a motor vehicle of control vehicle.Vehicle passes through the merging crossing of departures again and enters the craspedodrome track.
After vehicle was located through branch fork in the road, merging crossing, station etc., when entering the craspedodrome track, vehicle need be set up new registration procedure and sort.4. arrive at a station:
Vehicle arrives the point of destination, and when dividing the fork in the road, being turned round by Vehicular steering control apparatus control enters the platform track of getting off, and vehicle broadcast announcement passenger prepares to get off; Vehicle ' arrives platform foremost, and when there was parked vehicles in the place ahead, vehicle rested in the back of front truck with regard to automatic compensation speed.After the parking, vehicle opens the door automatically, and vehicle broadcasting prompt passengers is got off.
When the sensor determination of vehicle interior did not have the passenger, vehicle was closed the door automatically, followed front vehicles and drove to turn back track and parking track, was parked in the front truck back of parking track.Behind the vehicle parking, register by wireless computing machine to the parking track.5. call empty wagons:
By the communication line exchange message, need empty wagons quantity between the dispatching of dispatching and rear large-scale station, rear large-scale station tissue sends empty wagons, and it dispatches a car process as previously mentioned.
In sum, the advantage that the passenger flow volume of the existing trunk road transportation of the present invention is big has the personalized service characteristics again; It not only reduces construction investment, and reduces running cost; It can carry out passenger traffic, also can carry out shipping; It can not only build into citywide track traffic road network, and can connect private siding easily; Its track takes up an area of few, and bending spring is little, and vehicle is short, and it is convenient to build the grade separation circuit, also builds track traffic in trade centre easily.That is to say: it can substitute subway and light rail fully, and can also realize subway and the irrealizable function of light rail.
Claims (45)
1. the Rail Transit System of a dilly, include the computer scheduling center, the electric transportation vehicle, interval closed orbit and for the systems such as station of passenger getting on/off also comprises wired, the wireless data communication system of transfer instruction and information, electric system, water supply system, ticketing system, the intellectualizing system of computer management, control, detection is characterized in that:
Described computer scheduling center is the station computer local area network.
Described transport vehicle is the automatic steering small-sized electric vehicle of isolated operation, buffer device for collision, electronic distance-measuring equipment (49), front truck recipient (45) are equipped with in the front portion of vehicle, the forward and backward installation virtual train connecting device of vehicle, fixed locating wheel (44) respectively at the two ends of bumper/spoiler, vehicle operating information transmitter (46) is equipped with at the rear portion of vehicle, and track control desk (51), track signal receiving device, information of vehicles sending set and RFDC antenna (53) have been installed below the chassis; The computer system that main control microcomputer and micro controller system are formed; Buffer device for collision, electronic distance-measuring equipment, front truck recipient, vehicle operating information transmitter, track signal receiving device, information of vehicles sending set connect micro controller system respectively, and by Single-chip Controlling;
Described interval closed orbit has craspedodrome track (2), upward slope track (6), descending track (7), branch fork in the road (4), merging crossing (5), track one bogie side frame is established leaky cable (23), and the track both sides are provided with information of vehicles receiving device and track signal sending set in the middle of the vehicle location guardrail (22), track, speed controller (26); Divide also mounting vehicle steering controlling device (24) of fork in the road; The main control microcomputer of interval orbit and all micro controller systems are formed the master-slave mode computer system, and the information of vehicles receiving device is connected micro controller system respectively with track signal sending set, speed controller, Vehicular steering control apparatus;
Described station is provided with rail network, and information of vehicles receiving device and track signal sending set, speed controller (26) have been installed in orbit, vehicle guidance device, and Vehicular steering control apparatus (24);
Described wireless data communication system comprises the automobile wireless data communication equipment, station, track radio data communication equipment, and leaky cable; Each radio data communication equipment of station, track connects one section leaky cable respectively, constitutes the RFDC zone, and each zone becomes a RFDC subsystem.
2. the Rail Transit System of dilly according to claim 1, it is characterized in that, the buffer device for collision of described vehicle is to go up welding guide rod (431) at front bumper (41), guide rod outside cover upper spring, there is rib-loop the end of guide rod, after passing the fixed orifice (501) of vehicle chassis, fixing by nut (432); The end connection location sensing device of guide rod.
3. the Rail Transit System of dilly according to claim 1 is characterized in that, the buffer device for collision of described vehicle is to be connected with vehicle chassis (50) by hydraulic stem at front bumper (41).
4. the Rail Transit System of dilly according to claim 2 is characterized in that, described position sensing device is pipe link (a 433) bonded assembly potential device.
5. the Rail Transit System of dilly according to claim 2 is characterized in that, described position sensing device is drive link (a 433) bonded assembly micro-switch (439).
6. the Rail Transit System of dilly according to claim 2 is characterized in that, described position sensing device is the moving plate of adjustable condenser, and the stator of adjustable condenser is fixed on the chassis.
7. the Rail Transit System of dilly according to claim 1, it is characterized in that, the forward and backward installation virtual train connecting device of described vehicle is at front bumper a bevelled knock hole (47) to be arranged, and in the relevant position of rear bumper a circular cone locating tab (48) is installed.
8. the Rail Transit System of dilly according to claim 1 is characterized in that, the forward and backward installation virtual train connecting device of described vehicle is the electromagnet of installing on front bumper.
9. the Rail Transit System of dilly according to claim 1 is characterized in that, described front truck recipient is an infrared receiver, and cooresponding information of vehicles projector is an infrared transmitter.
10. the Rail Transit System of dilly according to claim 1 is characterized in that, described front truck recipient is a wireless receiver, and cooresponding information of vehicles projector is a wireless launcher.
11. the Rail Transit System of dilly according to claim 1 is characterized in that, described locating wheel by bearing fixing on axle.
12. the Rail Transit System of dilly according to claim 1 is characterized in that, there is an outstanding screw thread on described locating wheel surface.
13. the Rail Transit System of dilly according to claim 1 is characterized in that, described locating wheel is slim, and the surface is straight and even, and setting height(from bottom) is a ccasual.
14. the Rail Transit System of dilly according to claim 1 is characterized in that, described track signal receiving device is a photoelectricity correlation device.
15. the Rail Transit System of dilly according to claim 1 is characterized in that, described track signal receiving device is the wireless beacon receptor.
16. the Rail Transit System of dilly according to claim 1 is characterized in that, described track signal receiving device is a hall device.
17. the Rail Transit System of dilly according to claim 1 is characterized in that, described track signal receiving device is a photosensor.
18. the Rail Transit System of dilly according to claim 1 is characterized in that, described information of vehicles sending set is a shutter.
19. the Rail Transit System of dilly according to claim 1 is characterized in that, described information of vehicles sending set is wireless marking signal projector.
20. the Rail Transit System of dilly according to claim 1 is characterized in that, described information of vehicles sending set is an electromagnet.
21. the Rail Transit System of dilly according to claim 1 is characterized in that, described information of vehicles sending set is a luminotron.
22. the Rail Transit System of dilly according to claim 1 is characterized in that, described information of vehicles receiving device is photoelectricity correlation device (shutter of installing on the corresponding vehicle).
23. the Rail Transit System of dilly according to claim 1 is characterized in that, described information of vehicles receiving device is wireless marking signal receptor (the wireless marking signal projector on the corresponding vehicle).
24. the Rail Transit System of dilly according to claim 1 is characterized in that, described information of vehicles receiving device is hall device (electromagnet of installing on the corresponding vehicle).
25. the Rail Transit System of dilly according to claim 1 is characterized in that, described information of vehicles receiving device is photosensor (luminotron of installing on the corresponding vehicle).
26. the Rail Transit System of dilly according to claim 1 is characterized in that, described track signal sending set is a shutter (the photoelectricity correlation device of installing on the corresponding vehicle).
27. the Rail Transit System of dilly according to claim 1 is characterized in that, described track signal sending set is wireless marking signal projector (the wireless marking signal receptor of installing on the corresponding vehicle).
28. the Rail Transit System of dilly according to claim 1 is characterized in that, described track signal sending set is an electromagnet (hall device of installing on the corresponding vehicle).
29. the Rail Transit System of dilly according to claim 1 is characterized in that, described track signal sending set is luminotron (photosensor of installing on the corresponding vehicle).
30. the Rail Transit System of dilly according to claim 1 is characterized in that, described speed controller is a pair of revolving wheel by driven by motor, matches with the thickness of the track control desk of vehicle in the gap between the two-wheeled.
31. the Rail Transit System of dilly according to claim 1 is characterized in that, described Vehicular steering control apparatus is a pair of belt conveyor, and belt conveyor is by motor-driven, and motor is by Single-chip Controlling.
32. the Rail Transit System of dilly according to claim 1, it is characterized in that described rail network is made of through track, current track, platform track, the track of shunting, the track of turning back, parking track, contact track, branch fork in the road, merging crossing; Upward slope track and descending track are arranged in the track.
33. the Rail Transit System of dilly according to claim 32 is characterized in that, does not describedly establish isolation guard rail between current track and platform track, on these two tracks guiding vehicles equipment and auxiliary device has been installed.
34. the Rail Transit System of dilly according to claim 33 is characterized in that, described guiding vehicles equipment is mounted in the guide lamp on track top, and the rotary electric machine of guide lamp is subjected to Single-chip Controlling.
35. the Rail Transit System of dilly according to claim 33 is characterized in that, the wireless remote control emitter that described guiding vehicles equipment is the station and the wireless remote control receiver of vehicle.
36. the Rail Transit System of dilly according to claim 33 is characterized in that, described guiding vehicles equipment is the optical signal detector of installing on the group lamp installed in orbit and the vehicle.
37. the Rail Transit System of dilly according to claim 33 is characterized in that, described auxiliary device is Vehicular steering control apparatus or lateral direction of car conveyer.
38. the transportation method for organizing of the Rail Transit System of a dilly, this method is to send vehicle at random at the station of setting out, the vehicle straight point of destination of automatic steering, this method comprises the following steps: that (1) shunt: the computer scheduling system at station is dispatched buses, specify the platform track of empty wagons to passenger loading, the control convenience of vehicle and track cooperatively interacts, and control vehicle is parked in assigned address; (2) route selection: after determining the point of destination of vehicle ', passenger loading; The main control microcomputer of vehicle is determined the running route plan; (3) dispatch a car: computer scheduling system sends departure instructions, and vehicle enters departure track by current track; At the merging crossing of departures, the control convenience of vehicle and track cooperatively interacts, and sails interval craspedodrome track into; (4) travel: vehicle is up the sailing of craspedodrome track in interval, and registers and definite vehicle place section to the track computing machine, and the main control microcomputer of vehicle is compared actual travel route and running route plan, determines the direction that continues to travel; The track computing machine is determined vehicle forward direction according to the running route plan and the actual position of vehicle, when vehicle need turn round in minute fork in the road, and the computer starting Vehicular steering control apparatus of track, control vehicle turns round;
Back car and front truck can be formed virtual train automatically and sail in that the craspedodrome track is up; (5) arrive at a station: vehicle is when arriving the branch fork in the road of point of destination, and vehicle protects cooperation mutually with the control convenience of track, and control vehicle sails to current track, and by the dispatch command of point of destination computer scheduling system, vehicle stops to the assigned address of the platform track of getting off; (6) return the vehicle to the garage and knock off: behind the intact car, vehicle is parked in the parking track by the track of turning back under the passenger.
39. in the transportation method for organizing of the Rail Transit System of dilly as claimed in claim 38, the step that the computer scheduling system at station is dispatched buses is as follows: (1) transfers empty wagons to the parking track: on the parking track during no empty wagons, the dispatching application empty wagons that dispatching is rearward stood, empty wagons will be from the branch fork in the road of entering the station to shunting track and sail the parking track into;
When oppositely the parking track had empty wagons, parking track computing machine was by the wireless transmission instruction of shunting, after quilt is shunt and replied, enter the contact track from current track, arrive the parking track of forward, vehicle is registered to (forward) parking track computing machine, and waits for and calling.(2) transfer empty wagons to current track: parking track computing machine be parked in the vehicle transmission response message and the vehicle number of first place, and current track is sailed in startup into by the wireless transmission instruction of shunting; The track computing machine sends to dispatching with vehicle number; (3) specify stop position: dispatching sends instruction to the platform computing machine, the vehicle of assigned number and the position that should stop; The position code that stops is specified in platform computing machine and vehicle communication; (4) vehicle parking puts in place: vehicle ' is to the relevant position of current track, and the Vehicular steering control apparatus of track starts, and vehicle turns round and drives towards the platform track, and the vehicle guidance device guided vehicle of track accurately is parked in assigned address; Also can vehicle be transmitted and put in place by the lateral direction of car conveyer.
40. in the transportation method for organizing of the Rail Transit System of dilly as claimed in claim 38, the route of vehicle ' and the step of point of destination are as follows: (1) determines the point of destination: the passenger determines the point of destination that reaches when booking, the ticketing service computing machine sends information to the platform computing machine, the platform computing machine is to the instruction of vehicle transmission point of destination, and the electronic display board of vehicle shows the purpose name of station; Mouthful demonstration purpose name of station by bus of platform guardrail; (2) passenger loading: the passenger holds ticket and gets on the bus by the mouth of riding, and after mouthful definite vehicle of riding is full, is closed to traffic; When the infrared detector of vehicle detects on the platform no passenger, the car door SELF CL; Vehicle is to the application of dispatching a car of platform computing machine.(3) select running route: the main control microcomputer of vehicle is selected running route automatically according to the information of set out station and point of destination, determines the running route plan: the track that passes through, branch fork in the road, the code that merges crossing, station and order;
41. in the transportation method for organizing of the Rail Transit System of dilly as claimed in claim 38, the step of dispatching a car is as follows: (1) departure instructions: behind the passenger loading, dispatching sends departure instructions, the platform computing machine is after the vehicle of dispatching a car on the current track passes through, and the vehicle of dispatching a car to preparation sends departure instructions; Start Vehicular steering control apparatus, vehicle turns round and drives towards current track; The platform computing machine will the information of dispatching a car sends to the merging crossing micro controller system of departures; (2) speed of a motor vehicle control: the platform computing machine will the information of dispatching a car sends to the merging crossing micro controller system of departures; When through track has vehicle to pass through, merge the Single-chip Controlling speed controller at crossing, limit the speed of the vehicle that sets out; (3) departures: micro controller system is selected the driving space of through track, the departures vehicle of letting pass; During clearance, adjust the speed of a motor vehicle that speed controller improves the departures vehicle.
42. in the transportation method for organizing of the Rail Transit System of dilly as claimed in claim 38, the step of registering to the track computing machine is as follows: (1) sends registering instruction: when vehicle enters the craspedodrome track, after the track signal receiving device of vehicle detects signal, the radio data communication equipment of vehicle sends vehicle number and point of destination, and the track computing machine is registered after receiving vehicle operating information; (2) check running section: after the signals of vehicles receiving device of track detects signals of vehicles and receives vehicle registration information, sequence number and running velocity that the track computing machine moves at section to vehicle transmission section code, vehicle; Vehicle is checked with circulation line after receiving the information and instruction of track computing machine; The track computing machine sends the operation information of vehicle to the branch fork in the road in vehicle operating the place ahead micro controller system.
43. in the transportation method for organizing of the Rail Transit System of dilly as claimed in claim 38, the process of travelling is as follows: (1) speed control: vehicle is pressed the speed operation of the operating instruction of track computing machine, when the place ahead does not have vehicle, just move by the speed of instruction; When measuring the running velocity of front vehicles, this car is to be slightly larger than the running velocity operation of front truck; In the highway section of vehicle speed control device, vehicle is pressed the control rate operation of track; (2) virtual train operation: be close to when colliding in the distance with front vehicles, this vehicle is identical with the speed of front vehicles, enters the virtual train operation scheme; Front vehicles constantly sends vehicle operating information, and this car judges and select running velocity, and is same, and also rearward vehicle sends the operation information of this car; (3) solo running: near dividing in the highway section, fork in the road, when with the front vehicles service direction not simultaneously, this car reduces the speed of a motor vehicle, breaks away from the virtual train operation scheme; (4) pass through the station; Vehicle is pressed circulation line and need after dividing the fork in the road, be entered through track and continue to keep straight on when the station; The vehicle steering device of branch fork in the road quits work or with equidirectional and speed operation; (5) set up new registration procedure: when vehicle enters interval craspedodrome track at every turn, all need to register and resequence.
44. in the transportation method for organizing of the Rail Transit System of dilly as claimed in claim 38, the step that vehicle arrives at a station is as follows: (1) sails the platform track of getting off into: during vehicle process branch fork in the road, by the control of Vehicular steering control apparatus, vehicle sails the platform track of getting off into; (2) stop the platform of getting off: after vehicle enters the platform track, drive to platform foremost; When there was parked vehicles in the place ahead, vehicle rested in the back of front truck with regard to automatic compensation speed, after vehicle comes to a complete stop, and the self-opening car door; (3) by the track of turning back to the parking track: vehicle treat the passenger get off finish after, vehicle SELF CL car door is followed front vehicles and is driven to the track of turning back, and is parked on the track after entering the parking track; (4) parking registration: vehicle is when entering the parking track, and vehicle is registered to parking track computing machine.
45. in the transportation method for organizing of the Rail Transit System of dilly as claimed in claim 39, the step of the dispatching application empty wagons that dispatching is rearward stood is as follows: communicate by letter between (1) dispatching: communicate by letter between the dispatching at dispatching and rear, need to require the vehicle and the quantity of empty wagons; (2) empty wagons sets out: the dispatching at station, rear is readjusted the distribution empty wagons, and the point of destination is an our station; (3) arrive at a station: vehicle ' is turned round by track and the parking track of shunting to the branch fork in the road of entering the station, and vehicle is registered at the parking track.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
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| CN03102259A CN1429726A (en) | 2003-01-30 | 2003-01-30 | Railway communication system of small sized vehicle |
| PCT/CN2004/000087 WO2004068438A1 (en) | 2003-01-30 | 2004-01-30 | Mini-vehicle track traffic system |
| CNB2004100010673A CN1309605C (en) | 2003-01-30 | 2004-01-30 | Rail transportation system of small vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN03102259A CN1429726A (en) | 2003-01-30 | 2003-01-30 | Railway communication system of small sized vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1429726A true CN1429726A (en) | 2003-07-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN03102259A Pending CN1429726A (en) | 2003-01-30 | 2003-01-30 | Railway communication system of small sized vehicle |
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| CN (1) | CN1429726A (en) |
| WO (1) | WO2004068438A1 (en) |
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