CN1526596A - Rail transportation system of small vehicle - Google Patents
Rail transportation system of small vehicle Download PDFInfo
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- CN1526596A CN1526596A CNA2004100010673A CN200410001067A CN1526596A CN 1526596 A CN1526596 A CN 1526596A CN A2004100010673 A CNA2004100010673 A CN A2004100010673A CN 200410001067 A CN200410001067 A CN 200410001067A CN 1526596 A CN1526596 A CN 1526596A
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Abstract
The rail transportation system of small vehicles is used to replace available underground railway and light rail system, and has small driverless vehicles running in closed rail. The system consists of vehicles, closed rails and stations, the vehicles are computerized automatic ones, the closed rails is provided with vehicle controlling equipment, and the vehicles are started from stations randomly for express service from station to station. The present invention has the advantages of great traffic amount similar to that of main stem transportation, personalized service, low construction investment and low running expensive. It may be used for both passenger transport and cargo transport, and municipal rail transportation network may be constructed.
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.Subway and light rail mainly are made up of dispatching control center, station, train, closed orbit and signal system etc.; The transportation organizational form is to organize train operation by the operational plan of dispatching control center, and train travels by the signal of inaccessible (section blocked, automatically close up or movable block), to guarantee safe, the operation in an orderly manner of train.
But, huge, the technical sophistication of subway and light rail systems, investment is big, and is 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, and the passenger must change to and could go on a journey on the cross-line road; The station that can not realize the personalization in whole city's rail transport road network is to standing erectly shortcomings such as reaching service.
Summary of the invention
The present invention combines the closed orbit characteristics of subway and light rail, the pattern of the point-to-point transportation of taxicar; Adopt information techenology, computing machine and micro controller system application engineering, automatic control technology, wireless data communication applications technology, equipped and transformed traditional Rail Transit System.Proposed the intelligent Rail Transit System of a cover: the diverse intelligentized dilly of employing and subway and light rail, closed orbit and the facilities such as station with scheduling feature are realized intelligentized transport systems.
The station tissue of this system is got off by dispatching a car of needing of passenger and the passenger that arrives vehicle and is waited the item despatching work, operational process is to be worked out operational plan, automatic guidance running velocity voluntarily, travelled ceaselessly through point of destination, centre with single unit vehicle or the virtual train that dynamically is organized into voluntarily on closed orbit by intelligent vehicle.Track and station have disposed corollary apparatus, to cooperate the operation of control vehicle, have simplified the control requirement of vehicle, have reduced the enforcement difficulty of intelligent vehicle.By Computer information network and communication system intelligent track traffic and transportation system with elementary unit groups composition product lignifys such as vehicle, track, stations.
The present invention adopts proven technique or product, by system design technology and product is reconfigured, and the intellectuality by computing machine (micro controller system) realization equipment organically becomes intelligence system by Computer information network with various piece.
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 at rail network and computer scheduling center; And adopted the transportation organizational form of dispatching a car as required.
According to a first aspect of the invention, provide a kind of Rail Transit System of dilly, the Rail Transit System of described vehicle comprises: unpiloted intelligent small-sized electric vehicle 1; The station 3 that supplies passenger loading or get off with scheduling feature; Interval closed orbit AT STATION, described interval closed orbit have craspedodrome track 2, branch fork in the road 4 and merge crossing 5, intelligent vehicle in the closed orbit of dispatching a car between station and the purpose station voluntarily marshalling become virtual train and travel.
Described system comprises and also comprises the wireless communication system that carries out information exchange, move instruction between vehicle and track, the station.Described wireless communication system comprises: regional wireless communication system, the zone wireless communication system is the mobile data communication of vehicle and station local area network, communication coverage is the station district at station, the zone wireless communication system comprises vehicle wireless communication equipment 411 that is installed in vehicle 1 and the station Wireless Telecom Equipment 710 that is arranged on station 3, by this zone wireless communication system, the dispatching that vehicle is accepted the station sends dispatch command or vehicle is carried out wireless guiding vehicle; Vehicle is to the dispatching transmission operation information at station, the instruction of applying for and replying; The track wireless communication system, realize communicating by letter between vehicle and the track computing machine, the track wireless communication system comprises: the vehicle wireless communication device 410 of the vehicle of installing on vehicle 1, the leaky cable 23 of the track wireless communication machine of on track 2, installing 210 and the confession radio communication of installing in the track left side of vehicle operating direction, the antenna 53 of wireless communicator 410 is installed in below the chassis 50 of vehicle 1 and is installed in the left side of vehicle, it receives the radiofrequency signal of leaky cable 23 radiation, and transmits to track wireless communication machine 210; Little wireless communication system, comprise vehicle operating information transmitter 46 on the rear bumper 42 that is arranged on the vehicle and the front truck recipient of installing in the front bumper 41 or the front portion, compartment of vehicle 45, the vehicle operating information transmitter 46 of preceding vehicle is the front truck recipient 45 transmission information of vehicle rearwards, the front truck recipient 45 reception information of back vehicle realize the wireless near field communication of front truck to the back car.
Described vehicle comprises the management control part of guide-localization partial sum vehicle operating of security, the vehicle operating of car body, vehicle operating sign part, vehicle operating.
Described vehicle operating sign partly comprises: be installed in information of vehicles projector 54 and track signal receiving device 52 on the vehicle; Information of vehicles receptor 29 of An Zhuaning and track signal sending set 30 in orbit, when vehicle entered one section new-track, the information of vehicles receptor 29 of track received or detects the information that vehicle information transmitter 54 sends; The track signal receiving device 52 of vehicle receives or detects the information that the track signal sending set 30 of track sends, with determine vehicle pass through entered one section new-track with vehicle.
The security of described vehicle operating comprises electrotape 49 and buffer device for collision 43, in the front bumper 41 or the front portion, compartment of vehicle electrotape 49 has been installed, be used to measure and front truck between distance; Front bumper 41 installation shock shock absorbers 43 at vehicle, buffer device for collision 43 has played buffer action when vehicle collision, and the output collision alarm is to information acquisition micro controller system 402, send main control microcomputer 401 again, again by the speed of main control microcomputer 401 control vehicles.Described electrotape 49 can adopt velocity radar commonly used at present, measuring distance is less than 30 meters, buffer device for collision 43 can adopt the buffer device for collision of spring structure or hydraulic stem structure, the spring of buffer device for collision 43 or the elasticity modulus of hydraulic stem are less, when promoting bumper/spoiler with manpower, vehicle can not move, and is length of spring compressed; When no external force, just restore to the original state; When vehicle take-offs, front bumper does not have and significantly trembles, when the back car is chased the fwd vehicle and when colliding, the front bumper 41 of back car is mobile backward, buffer device for collision 43 outputs signal to main control microcomputer, controls motor-drive circuits to reduce the speed of a motor vehicle by main control microcomputer 401 again; When vehicle derailing collided, front bumper 41 recovered, and buffer device for collision 43 outputs signal to main control microcomputer, and main control microcomputer 401 control motor-drive circuits are to improve the speed of a motor vehicle; Main control microcomputer is ceaselessly adjusted the speed of a motor vehicle, reaches synchronous with the running velocity of front truck.The buffer device for collision 43 of spring structure comprises: the guide rod 431 of welding on vehicle front bumper 41, the spring 430 that puts in guide rod 431 outsides, fixed orifice 501, nut 432 and the micro-switch 439 that is installed on the vehicle chassis 50, after guide rod 431 passes the fixed orifice 501 of vehicle chassis 50, fixing by nut 432, match with guide rod 431 in the installation site of micro-switch, there are rib-loop and an inclined-plane in the end of guide rod 431, and the button of micro-switch 439 is aimed on the inclined-plane of guide rod 431, when current insurance 41 is not mobile, the inclined-plane is contact button not, and micro-switch (439) is in normally off, and when front bumper 41 moves, the inclined-plane contact button, contact disconnects.The buffer device for collision 43 of described hydraulic stem structure comprises: at the support 436 of the inboard welding of front bumper, hydraulic stem 434, nut 432, micro-switch 439 and the lath 435 that has an inclined-plane, hydraulic stem 434 1 ends are fixed on the support by nut 432, after the other end passes the fixed orifice 501 of vehicle chassis 50, fixing by nut 432, micro-switch 439 is fixed on the vehicle chassis 50, fixes a lath 435 that has an inclined-plane at support 436, and the button of micro-switch 439 is aimed on the inclined-plane, when front bumper is not mobile, the inclined-plane is contact button not, and when front bumper moved, the inclined-plane pressed the button.
The vehicle operating guide-localization partly comprises locating wheel 44 and track control desk 51, fixed locating wheel 44 respectively at the front bumper 41 of vehicle 1, the two ends of rear bumper 42, track control desk 51 has been installed in centre below chassis 50, locating wheel cover 440 is fixed on the wheel shaft 442 of location by bearing 441, the end that the assembly of locating wheel 44 is fixed on bumper/spoiler by the pad 444 of adjusting height and nut 443, it is level and smooth that there is the surface of outstanding rib-loop or locating wheel 440 on the surface of locating wheel cover 440.
Described vehicle operating administrative section comprises main control microcomputer 401, infrared detector 58, electronic display board 59, gathers micro controller system 402, measures micro controller system 403, drives micro controller system 404, shows micro controller system 405, little communication microcontroller 406, track micro controller system 407, regional micro controller system 408.Main control microcomputer 401 is arranged on the inside of vehicle 1, and each station, parking area, each section track of system, the electronic chart that each crossing distributes have been stored, infrared detector 58 has been installed on car door top, and whether be used for inspection vehicle has the passenger getting on and off outward, with control automatic switch car door 503; Be installed in the point of destination that electronic display board 59 on the vehicle is used to show vehicle operating.Gather micro controller system 402 and gather the on-off signal of buffer device for collision 43, track signal receiving device 52, photoelectricity correlation device 55, infrared detector 58; Measure micro controller system 403 and gather the data that electronic distance-measuring equipment 49 is measured.Drive micro controller system 404 by driving circuit control power motor 65 and control brake device, the operating speed of control motor, the speed of a motor vehicle of realization control vehicle; Show that micro controller system 405 is used to control the displaying contents of electronic display board 59; Little communication microcontroller 406 is handled the information that front truck recipient 45 receives, the operation information of control vehicle operation information projector 46 emission vehicles; Track micro controller system 407 control wireless communicators 410 are communicated by letter with track wireless communication machine 210; Communicating by letter of the Wireless Telecom Equipment 710 at zone micro controller system 408 control wireless communication machines 411 and station; The information that main control microcomputer 401 is gathered 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 control vehicle is pressed the operational plan operation of main control microcomputer 401.
The employed power supply of stock rail traffic system is a storage battery, or based on ground power supply system power supply, storage battery as standby.
Track
Guardrail 22, orbital plane 21, support 31 have been installed in the both sides of every unidirectional track,, in equipment sealing cabinet 32, have been placed track computing machine 201 and track wireless communication machine 210 at the arranged outside equipment sealing cabinet 32 of track.
The Vehicular steering control apparatus 24 by micro controller system 202 controls has been installed in the turnoff of unidirectional minute fork in the road 4, vehicle steering device 24 is mounted in the belt conveyor 244 of a pair of opposite rotation direction on the track, belt conveyor 244 is driven by imput shaft 241, driven axle 242 supports, imput shaft 241 connects slowspeed machine 243 or has the motor of change-speed box, pressure-sensitive device 246 is installed on the orbital plane 21 at Vehicular steering control apparatus 24 rears, and pressure-sensitive device 246 is positioned at the place, ground of belt conveyor 244 outlets, the output signal of pressure-sensitive device 246 send micro controller system 202, when the trailing wheel of car is pressed in pressure-sensitive device 246, this vehicle of expression that micro controller system 202 is received pressure-sensitive device 246 output is the signal by vehicle steering device, control motor 243 rotates, when left side belt conveyor 244 transmission forward, right side belt conveyor 244 transmission backward, vehicle 1 are just driven towards the turnout under Vehicular steering control apparatus 24 cooperates.Installed many to vehicle location wheel 25 in the fork exit, the axle base maximum of first pair of vehicle location wheel, each right axle base reduces gradually later on, when vehicle 1 passes through to divide fork in the road 4, the track control desk 51 of vehicle enters first pair of locating wheel 25, gradually by second pair, the 3rd pair ... vehicle is positioned in track centre, avoids the Vehicular impact guardrail.Described vehicle location wheel 25 comprises: two rubber wheels 250, bearing 252, two axles 251, support 253, two rubber wheels 250 are separately fixed on two axles 251 by bearing 252, axle 251 is fixing with support 253 welding, and the minor increment between the diaxon 251 is greater than the thickness of the track control desk 51 of vehicle.
In addition, a pair of locating wheel 25 and speed controller 26 have been installed in entrance at two tracks at unidirectional merging crossing 5, ground in speed controller 26 back, pressure-sensitive device 246 has been installed in the position that wheel can pressed, and installs some to locating wheel 25 in the exit that merges the crossing.Speed controller 26 comprises axle 261, a pair ofly is fixed on revolving wheel 260, bearing 262 and the support 263 of axle on 261, change speed gear box 264 and by the motor 265 of micro controller system 203 controls that merge crossing 5, and axle 261 is fixed on the support 263 by bearing 262; The thickness of the track control desk 51 under the gap between two revolving wheels 260 and the vehicle chassis equates, and is flush fit; Wherein an axle is connected on the motor of being controlled by micro controller system 203 265 by change speed gear box 264.
The speed controller 26 that merges two routes of micro controller system 203 controls at crossing 5 is to adopt ping-pong, and the vehicle of the route of promptly letting pass is just prevented the vehicle pass-through of another route, the management control law of micro controller system 203: generally be to arrive first to get ahead; When the vehicle of two routes arrived simultaneously, main road was preferential; The virtual train 8 of main road by the time, treat that virtual train 8 is passed through after, clearance bypass vehicle.
The station is divided into 3 grades: little passenger flow volume station, medium passenger flow volume station, bus's flow station; The different rail network of station configuration of different brackets.
At little passenger flow volume station, 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, main track is for providing the through track 71 by vehicle, another side line is the platform track 720 of getting on the bus and getting off, and the outside or through track 71 that platform 74 is located at platform track 720 are arranged in the outside and platform are located at middle.
Station in medium above passenger flow volume, 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 three tracks of isolating mutually in the middle of the station, article one, main track is for providing the through track 71 by vehicle, and second is the platform track 720 of getting on the bus and getting off, and increases the 3rd current track 73 between through track 71 and platform track 720, platform 74 is located at the outside of platform track 720, does not have isolation guard rail between platform track 720 and the current track 73.On platform track 702 and current track 73, Vehicular steering control apparatus 24 has been installed, vehicle sails to Vehicular steering control apparatus 24 places of appointment by dispatch command, by Vehicular steering control apparatus 24 vehicle is turned to platform track 720 from current track 73, or vehicle is moved to current track 73 from platform track 720.
At bus's flow station, the station track divides two-layer up and down, the upper strata is through track 71-1,71-2 and get off platform track 72-1,72-2, lower floor is current track 73-1,73-2 and loading refuges track 80-1,80-2, and interval craspedodrome track 2 connects the craspedodrome track respectively and shunt track 75-1,75-2 at the 1st branch fork in the road 4-1,4-2 entering the station; Platform track 72-1,72-2 that the craspedodrome track meets through track 71-1,71-2 and Gong gets off by the 2nd branch fork in the road 4-3,4-4 respectively, platform track 72-1, the 72-2 that gets off is connected with turn back track 77-1,77-2; Turn back track 77-1,77-2 is the track that arrives lower floor from the upper strata, is connected with parking track or parking area 79-2,79-1 in lower floor; Parking track or parking area 79-2,79-1 join with reciprocal current track 73-2,73-1 respectively; Current track 73-2,73-1 join with loading refuges track 80-2,80-1 respectively; Loading refuges track 80-2,80-1 are parallel with current track 73-2,73-1, between loading refuges track 80-2,80-1 and current track 73-2,73-1, there is not isolation guard rail, lateral direction of car conveyer 78 has been installed, current track 73-2,73-1 are connected to departure track 76-2,76-1 respectively, and departure track 76-2,76-1 are the tracks that arrives the upper strata from lower floor; Departure track 76-2,76-1 are merging the craspedodrome track that crossing 5-2,5-1 merge to the interval with through track 71-2,71-1 respectively, and empty wagons sails the parking track 79-1 of lower floor, 79-2 and current track 73-1,73-2 respectively into from shunt track 75-1,75-2.
Mounting vehicle alongside transfer device 78 in the middle of current track and platform track, be used for the alongside transfer vehicle, described lateral direction of car conveyer 78 comprises initiatively motor 783, driving roller 781, belt conveyor 784, auxiliary wheel 782, on belt conveyor fixing limiting stopper 785, positioning plate 786 and limit switch move to left and move to right.
By platform track computer controlled active motor 783, active driven by motor driving roller 781, thereby drive belt conveyor 784, belt conveyor is supported by auxiliary wheel 782, motor on demand can cw and left-hand revolution, having fixed limiting stopper 785 on the belt conveyor, on platform and current track, having fixed two positioning plates 786 that move to left and move to right, limited the miles of relative movement of belt conveyor; At positioning plate 786 limit switch has been installed, switch connection at ordinary times, when the lateral direction of car conveyer carried car and moves to the position of platform track, positioning plate contacted with limiting stopper, has limited belt conveyor and has moved, simultaneously, limit switch disconnects, and monolithic processor controlled motor shuts down, when the lateral direction of car conveyer carries car and moves to the position of current track, another piece positioning plate contacts with limiting stopper, has also limited belt conveyor and has moved and control motor and shut down.
Be provided with the computer scheduling center AT STATION, the computer scheduling center at station comprises a cover LAN, LAN comprises ticketing system 709, subway concourse computing machine 702, platform computing machine 703 and dispatching 701, computing machine in the LAN is networked by concentrator 704, and insert enterprise's Metropolitan Area Network (MAN) by dedicated communication line by concentrator 704, LAN also is provided with vehicle distributing position data bank 708 and Customer information data bank 707
Subway concourse computing machine 702 and the micro controller system 705 of the guiding electronic direction board 85 of platform, respectively by bus mouthful ticket checking gate 86 control single chip computers 706 are formed Distributed Control System.Subway concourse computing machine 702 send micro controller system 705 with the displaying contents of electronic display board 85, drives electronic direction board 85 by micro controller system 705.The point of destination information that subway concourse computing machine (702) will be ridden mouthful is sent the control single chip computer 706 of ticket checking gate (86), when ticket checking is correct, and ticket checking gate 86 clearance passengers, and the patronage that will the pass through Room computing machine 702 that sees off.
According to a second aspect of the invention, provide a kind of control method of Rail Transit System of vehicle, the Rail Transit System of described vehicle comprises: unpiloted vehicle 1; Interval closed orbit, wherein interval closed orbit have craspedodrome track 2, branch fork in the road 4 and merge crossing 5, and vehicle travels at closed orbit; Station 3 is provided with the station that supplies passenger loading or get off between interval closed orbit.Described control method comprises the transportation method for organizing of stock rail traffic system, and described transportation method for organizing comprises the following steps:
Shunt: the dispatching that goes out tours start here is the random schedule vehicle on demand, specifies the platform track of empty wagons to passenger loading, and vehicle is under the cooperation of the vehicle steering device of track or lateral direction of car conveyer, and control vehicle is parked in assigned address;
Determine the route of point of destination and selection vehicle ': after determining the point of destination of vehicle ', passenger loading, the main control microcomputer of the vehicle of automatic steering are determined the plan of running route, straight point of destination voluntarily;
Dispatch a car: dispatching sends departure instructions, and vehicle enters departure track by current track; At the merging crossing of departures, vehicle sails interval craspedodrome track under the speed controller of track cooperates;
Travel: vehicle is up the sailing of craspedodrome track in interval, and registers, checks and sort 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 notified the crossing micro controller system in the place ahead with working direction, 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;
Vehicle operating: vehicle drives to the purpose platform from tours start here; Vehicle is formed virtual train automatically and is moved in orbit;
Vehicle arrives at a station: vehicle is when arriving the branch fork in the road of point of destination, and vehicle is under the cooperation of Vehicular steering control apparatus, and control vehicle sails to current track, and by the dispatch command of point of destination dispatching, vehicle stops to the assigned address of the platform track of getting off; Under the passenger behind the intact car, be parked in parking track or parking area by the dispatch command vehicle of dispatching, perhaps be parked in the platform track of passenger loading by the dispatch command vehicle of dispatching.
Described step of shunting is as follows:
When the empty wagons quantity of loading refuges track is not enough, the vehicle position data storehouse 708 of making station control computer inquery station local area network, when the parking track that inquires this station or the platform track of getting off empty wagons is arranged the time, dispatching 701-1 directly notifies the parking track by regional wireless communication system or the empty wagons of the platform track of getting off drives to current track 73-1, by lateral direction of car conveyer 78 empty wagons is moved on to loading refuges track 80-1;
If when all not having empty wagons on the parking track at this station or the platform track of getting off, the vehicle dynamic data bank 803 of dispatching 701 retrieval enterprise Metropolitan Area Network (MAN)s, according to result for retrieval, by the nearly back rearward station transmission empty wagons scheduling application that is rich in empty wagons of principle far away earlier; The dispatching 701 at the other side station is assigned dispatch command by regional wireless communication system on the one hand, leaves for the station of application by the ID address designated vehicle of vehicle, notifies platform computing machine 703 to be dispatched a car on the other hand; Dispatching is with the dispatching at scheduling result notice application station; A dispatching of being shunt is revised the vehicle position data storehouse at station; A dispatching of being shunt is revised vehicle dynamic data bank 803, is shunt by the through empty wagons station of calling, interval, is shunt to enter parking track or parking area 79-1 by the branch fork in the road 4-3 that enters the station, and enters the loading refuges track then.
The step of the route of described definite point of destination and selection vehicle ' is as follows:
Determine the point of destination: the passenger determines the point of destination that reaches when booking, the ticketing computing machine sends Customer information to the Customer information data bank, dispatching sends dispatch command to platform computing machine, subway concourse computing machine: be parked in the point of destination that certain number vehicle of certain position leaves for, dispatching is by the instruction of regional wireless communication system to vehicle transmission point of destination, and the electronic display board of vehicle shows the purpose name of station; The computer-controlled passenger of subway concourse guides electronic direction board, shows to leave for the vehicle location of point of destination; Mouthful demonstration purpose name of station by bus of platform guardrail;
Passenger loading: the passenger holds ticket and gets on the bus by mouthful ticket checking of riding, when the passenger who goes to the point of destination all get on the bus or vehicle full after, the passenger is closed to traffic, the subway concourse computing machine sends to dispatching and can close the door and dispatch a car information, dispatching is assigned instruction to vehicle and is closed the door and dispatch a car, the ticket checking equipment patronage notice subway concourse computing machine of will getting on the bus, the subway concourse computing machine number of will getting on the bus is revised the Customer information data bank;
When the infrared detector of vehicle detects on the platform no passenger, receive close the door and departure instructions after, the car door SELF CL; Vehicle is to the application of dispatching a car of platform computing machine;
Select running route: the main control microcomputer of vehicle is according to the information of set out station and point of destination, system-wide electronic chart according to storage, automatically select running route, determine running route plan, the track that passes through, branch fork in the road, the code that merges crossing, station and order.
Described step of dispatching a car is as follows:
Departure instructions: after receiving the application of dispatching a car of platform computing machine transmission, dispatching sends departure instructions to the platform computing machine, and the vehicle that the platform computing machine is dispatched a car to preparation by the track wireless communication system sends departure instructions; Start Vehicular steering control apparatus, vehicle turns round and drives towards current track, or by the lateral direction of car conveyer vehicle is sent to current track; The platform computing machine will the information of dispatching a car sends to the merging crossing micro controller system of departures;
Speed of a motor vehicle control: after 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, the Single-chip Controlling that merges the crossing speed controller of aspect of dispatching a car, the set out speed of vehicle of restriction;
Departures: the micro controller system that merges the crossing 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.
The step of described vehicle operating is as follows:
Send registering instruction: when vehicle enters the craspedodrome track, after the track signal receiving device of vehicle detects the signal that the track signal feedway sends, the wireless communication machine of vehicle sends the information of vehicle number and point of destination, and the track computing machine is registered after receiving vehicle operating information;
Check running section and ordering: after the information of vehicles receptor of track detects information 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: vehicle number, sequence number, point of destination.
Described vehicle can adopt the virtual train mode to travel, and the step that described virtual train mode is travelled is as follows:
Range finding: the electronic distance-measuring equipment 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;
Chase: when distance during less than threshold values, the front truck recipient of back car can receive the vehicle operating information of front truck, and main control microcomputer is controlled this car and chased with the speed greater than front truck according to the speed of front truck.The velocity contrast and the distance between the vehicle of two cars are linear, and the difference that spacing approaches the speed of zero vehicle also approaches zero;
Virtual train operation: when vehicle distances approaches zero and during collision, the buffer device for collision of vehicle plays buffer action, sensor provides collision information to main control microcomputer, and 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 enters the virtual train operation scheme.
The step that described vehicle arrives at a station is as follows:
Sail the platform track of getting off into: when vehicle passed through the branch fork in the road of entering the station, by the control of Vehicular steering control apparatus, vehicle sailed the platform track of getting off into;
The stop 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;
Stop 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 parking track, is parked on the track after entering the parking track;
Stop and register: vehicle is when entering the parking track, and vehicle is registered to the micro controller system of parking track.
The transportation of the transportation tissue of dilly Rail Transit System and traditional track traffic is organized different: traditional transportation tissue is implemented according to plan by dispatching control center, and native system is to be implemented on demand by the computer scheduling center at each station.
The transportation method for organizing of the Rail Transit System of dilly is that the dispatching that tours start here sends vehicle on demand at random; The vehicle of automatic steering is worked out operational plan, selection schemer straight point of destination voluntarily; Unpiloted dilly is formed the virtual train operation in the mode of chasing on closed orbit.
Another advantage of the present invention is, when identical transportation volume, compares than other track traffic, can reduce construction investment significantly, reduces operation cost, improved safety performance and is convenient to the networking of track traffic.
In addition, the present invention also has following advantage:
Reduce construction investment:
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; The cross section of vehicle is little, reduces tunnel diameter, reduces the tunnel engineering amount; Transfer station has been cancelled in the operation of the through point of destination of the tours start here of vehicle; The platform length at station shortens the platform length at middle or small passenger flow volume station significantly by the passenger flow volume design, has reduced the construction scale at station; Replaced dispatching control center with information center, replaced signal system with information system; Reduce the garage area of car depot, reduced the factors such as scale between tool car, reduced construction scale and construction investment significantly.Also have vehicle based on electronic system to replace vehicle based on machinery, the measure of adopting the ground cooperation to control has reduced the intelligent requirement of vehicle, fully reduces the investment of vehicle.
Reduce operation cost: the scale at station reduces, and the minimizing of corresponding electromechanical appliance cuts down the consumption of energy and maintenance cost; Dispatching a car has as required replaced dispatching a car according to plan, on the peak beyond the time, reduced over-the-road expense; Reduce construction cost, reduce loan interest and amortization charge or the like.
Improved safety performance: system adopts the technology of chasing, and inaccessible distance is zero, has avoided knocking into the back; Adopt the table tennis mode that merges the crossing, prevented that the side between the vehicle from hitting; Adopt forward the bonded assembly line of turning back, cancelled the tune line of turning back, the accident of avoiding track switch to cause.Existing in the world tens subway lines adopt automatic steering, facts have proved that the safety performance of automatic steering is superior to pilot steering.Owing to adopted storage battery as (standby) electrical source of power, when forced outage, vehicle can continue to travel and break away from scene of the accident or the like.
Be convenient to the networking of track traffic: native system adopts the ground communications mode, and being equivalent to the networking of single way through street becomes the Rail Transit System of not having transfer; System not only is suitable for and trunk-line traffic and loop wire traffic, also is applicable to collecting and distributing traffic, really can build up the track traffic networking in city.
Native system is the combination of mature technology: adopt conventional computer controlled, common computing machine and micro controller system; The control of vehicle is also simple than traditional electric automobile, just controls the speed of advancing; Adopt simple wireless communication transmissions low speed data, communication distance is near, requires low.The present invention is decomposed into several simple techniques with complicated technology, reluctant closed loop control is decomposed into the open loop problem handles.The present invention relates to face width, need multidisciplinary, multi-specialized those of ordinary skill collaborative development.
Therefore, native system is a kind of small investment, transportation volume is big, efficient is high, serve, pollute less, take up an area of less, the City Rail Transit System of easy exploiting.
Relevant technical materials:
1. urban track traffic Mao Baohua etc. writes Beijing: Science Press 2001
2. Distributed Control System principle and application He Yanqing, Yu Jinshou write Beijing: Chemical Industry Press 2002.10
3. the Shi Guosheng of AC-DC speed-regulating system edits Beijing: Chemical Industry Press 2002.1
4. automotive electronic technology Wu Ji peace is write Beijing: People's Telecon Publishing House 1999.11
5. modern electric vehicle engineering/Chen Qingquan, Sun Fengchun, wish that good light writes/Beijing: press of Beijing Institute of Technology 2002.11
6. micro controller system is used what upright democracy of collected works (1) (2) and is compiled press of BJ University of Aeronautics ﹠ Astronautics
7. what upright democracy of micro controller system application engineering a collection of selected materials 1-8 is compiled press of BJ University of Aeronautics ﹠ Astronautics
8. write Shanghai during urban track traffic Cai Jun: press of Tongji University 2000.3
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 be Fig. 2 the I-I direction look closely scheme drawing
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 the schematic top plan view of vehicle
Fig. 7 is that scheme drawing is looked on the right side of vehicle
Fig. 8 is the vehicle chassis elevational schematic view
Fig. 9 is the scheme drawing of little passenger flow volume station track
Figure 10 is the scheme drawing of medium passenger flow volume station track
Figure 11 is the scheme drawing of bus's flow station track
Figure 12 is the structural representation of speed controller
Figure 13 is a centralized positioning wheel construction scheme drawing
Figure 14 is the scheme drawing of vehicle location wheel construction
Figure 15 is the A-A generalized section of Figure 14
Figure 16 is the scheme drawing of Vehicular steering control apparatus
Figure 17 is the scheme drawing of lateral direction of car conveyer
Figure 18 is the relative position scheme drawing of track guardrail and vehicle
Figure 19 is the platform track scheme drawing that adopts Vehicular steering control apparatus
Figure 20 is the platform track scheme drawing that adopts the lateral direction of car conveyer
Figure 21 is the buffer device for collision structural representation that adopts spring
Figure 22 is the crusherbull zone spring structure scheme drawing that adopts hydraulic stem
Figure 23 is the computer network block diagram
Figure 24 is the Distributed Control System block diagram of platform computing machine
Figure 25 is the Distributed Control System block diagram of vehicle
Figure 26 is a track computer controlled block diagram
Figure 27 is a subway concourse computer controlled block diagram
Figure 28 is regional wireless communication system block diagram
Figure 29 is little wireless communication system block diagram
Figure 30 is a track wireless communication system block diagram
Figure 31 is a multistage track wireless communication system block diagram
Figure 32 is a process of calling empty wagons
Figure 33 is a process of organizing the passenger to ride
Figure 34 is the process of dispatching buses and dispatching a car
Figure 35 is the procedure chart of dispatching buses and moving
Figure 36 is that vehicle is by merging the process at crossing
Figure 37 is the process that vehicle passes through the branch fork in the road
Figure 38 is the process that vehicle is registered, checked and sorts
The specific embodiment
Describe the present invention below in conjunction with accompanying drawing:
(1) system:
Fig. 1 shows the Rail Transit System of the dilly of single transporting direction, and system mainly comprises dilly 1, interval closed orbit 2 and station 3, and wherein interval closed orbit has craspedodrome track 2, branch fork in the road 4 and merges crossing 5.In addition, be combined into grade separation and loop track, track can be connected into rail network by craspedodrome track 2, branch fork in the road 4, merging crossing 5.
All there are ENTRANCE and exit in each station 3 at each transporting direction, and its track into and out of exit connects into a complete transportation route track with interval orbit 2 respectively; Vehicle moves on this track by transportation request.The present invention adopts the custom of railway, and transporting direction (direction of arrow among Fig. 2) divides up direction and down direction, and respectively there is unique numbering at each station by up direction, down direction.
Every section craspedodrome track 2 is meant that (by transporting direction) has only the closed orbit of an inlet and an outlet.Branch fork in the road 4 is meant the sealing road junction of an inlet, two outlets.As shown in Figure 1, divide the outlet of the inlet connection track 2 of fork in the road 4, and its two outlets connect the inlet of back two tracks 2 respectively.Merge the sealing road junction that crossing 5 is meant two inlets, an outlet.As shown in Figure 1, two inlets that merge crossing 5 connect the outlet of two tracks 2, and its outlet connects the inlet of a track 2.Equally, all there is unique numbering at every section track, crossing.
Vehicle 1 can be solo running in orbit, also can form virtual train 8 operations automatically.
Shown in Figure 4, in minute fork in the road 4 Vehicular steering control apparatus 24 has been installed, during Vehicular steering control apparatus work, drive towards the turnout with regard to control vehicle.Establish a micro controller system at the crossing and manage, detection signal of its collection vehicle recipient and the work of control vehicle steering controlling device.
Shown in Figure 5, merging crossing 5 has two routes, hits for side appears in the vehicle of avoiding two routes, at two routes speed controller 26 has been installed respectively.Two speed controllers 26 are managed by a micro controller system, and two devices are operated in the table tennis state, and during a permission vehicle pass-through, another rotating speed is zero, and just no thoroughfare for vehicles.
Rail Transit System of the present invention is to adopt a large amount of small transporting vehicles composition virtual train to proceed like a school of fishes, one after the other on interval orbit, and the passenger flow volume and the subway in their per hour unidirectional track cross section are suitable, and casehistory is as follows:
◇ is for example: vehicle length is 4 meters, and interior space length is 3 meters, and is wide 1.6 meters; One side has 6 seats, and opposite side is 4 seats and 1 meter wide door, and each car is taken 10 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---maximum transport capacity:
40 kilometers/hour X200/kilometer X10 people /=80,000 people/hour;
Generally should be controlled at 40,000 people/hour to 60,000 people/hour.
Need to increase transport capacity and will reduce the personalized service ability, otherwise can improve the personalized service ability.
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 that adopts is the rail layout of similar railway station, have by the main track of vehicle and the side line that gets on and off for the passenger, the composition rail network such as He Lu crossing of branch fork in the road, through track, platform track and the departures of entering the station are set AT STATION.Reduce to (station), (going out) a influence of dispatching a car, reduce getting on and off of slow motion passenger the influence of dispatching a car to straight-through vehicle.
(2) track:
Fig. 2 shows the structural representation of interval two-way craspedodrome track, it with the class of track of the O-Banh system of Germany like (data 8 82 pages).Fig. 3 show interval two-way craspedodrome track the I-I direction look closely structural representation.Guardrail 22, orbital plane 21, support 31 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; Installed in the entrance of vehicle operating direction and to have detected the information of vehicles receptor 29 that vehicle passes through and the track signal sending set 30 of detecting test of vehicle.Track signal sending set 30 sends and indicates that vehicle has entered the signal of one section new track.At the arranged outside equipment sealing cabinet 32 of track, place equipment such as track computing machine 201, track wireless communication machine 210 in the equipment sealing cabinet 32.
(1) track structure
The effect of the guardrail 22 among Fig. 2 is the guiding that are used for vehicle operating, adopts level and smooth steel plate to be formed by connecting, and the width of its plate is greater than the scope (seeing Figure 18) of vehicle (guiding) locating wheel activity; Orbital plane 21 is reinforced concrete road surfaces, it can be whole road surface, also can be by two reinforced concrete road surfaces of reinforced concrete bonded assembly, whole ground-surface reinforced concrete road surface can be adopted in crossing, station, and the craspedodrome track can adopt two reinforced concrete road surfaces of reinforced concrete bonded assembly.Support 31 is applicable to elevated line, is fixed on the elevated bridge, and be precast reinforced concrete spare, both supported orbital plane 21, but nonfloating rail 22 again; At tunnel line and ground line, orbital plane 21 directly places ground, and support 31 is root posts, only is used for fixing guardrail 22.
(2) device for marking of orbital motion
The device for marking of orbital motion comprises information of vehicles receptor 29 and track signal sending set 30.Information of vehicles receptor 29 in Fig. 2 is to be used to detect vehicle pass through, and track signal sending set 30 is to be used for vehicle to detect vehicle and whether entered one section new-track.
The installation site of information of vehicles receptor 29 and track signal sending set 30 and back are corresponding with the installation site of the information of vehicles sending set 54 of the device for marking of the vehicle operating described in detail and track signal receiving device 52.The device for marking of orbital motion and back constitute the device for marking of the vehicle operating of detailed description the device for marking of the system of operation.When vehicle passed through, the information of vehicles receptor 29 of track received or detects the information that vehicle information transmitter 54 sends, to determine passing through of vehicle.Equally, when vehicle entered one section new-track, the information that track signal receiving device 52 receptions of vehicle or the track signal sending set 30 of detection track send was to determine that vehicle has entered one section new-track.
Information of vehicles receptor 29 detects vehicle by detecting the method that vehicle enters one section new-track with track signal sending set 30, can adopt the method for inspection of a variety of prior arts, for example: the signal lamp (for example luminotron etc.) and the optical receiver (for example photosensor) that adopt the optical signal principle, adopt the magnet (for example electromagnet) and hall device (for example dry reed relay) of magnetic technology, adopt the projector of wireless marking signal and receptor etc.; Adopting the photoelectricity correlation device 27 of shading principle also is wherein a kind of with anti-dazzle device 28.Specifically: information of vehicles receptor 29 is a kind of of optical receiver, photosensor, hall device, dry reed relay, and the information of vehicles projector 54 that cooresponding with it back will be described in detail is exactly cooresponding a kind of in signal lamp, luminotron, magnet, the electromagnet; Track signal sending set 30 is a kind of in signal lamp, luminotron, magnet, the electromagnet, and the track signal receiving device 52 that is installed on the vehicle that cooresponding with it back will be described is exactly cooresponding a kind of in optical receiver, photosensor, hall device, the dry reed relay.
As shown in figure 26, information of vehicles receptor 29, track signal sending set 30, track wireless communication machine 210 all connect track computing machine 201.When vehicle enters track section, information of vehicles receptor 29 detect vehicle by the time the signal that sends of information of vehicles projector 54, just produce an impulse singla and be sent to track computing machine 201; Track signal sending set 30 can be sent by 201 controls of track computing machine, also can be manually operated continuous transmission.
(3) be installed in the first track radio communication device of track
That installs that in orbit the first track radio communication device and back will describe in detail is installed in communicating by letter between second track radio communication device realization vehicle and the track on the vehicle.Constitute the track wireless communication system by the first track radio communication device and the second track radio communication device.
The first track radio communication device comprises leaky cable 23 and track wireless communication machine 210.As Fig. 2, Fig. 3 and shown in Figure 30, one end of leaky cable 23 is connected to track wireless communication machine 210 antenna opening with low loss cable 231, leaky cable 23 is equivalent to a very long spaced antenna, form (signal) field intensity zone of a track wireless communication machine 210 emissions around leaky cable 23, cooresponding vehicle-borne track wireless communicator 410 can receive the signal of track wireless communication machine 210 emissions; Because radio wave propagation is a beidirectional, the signal that Rail Detection wireless communicator 410 sends is received by track wireless communication machine 210 by leaky cable 23.Adopt the characteristics of the track Wireless Telecom Equipment of leaky cable 23 to be: its communication range is several meters scopes around leaky cable only, and just the scope of radio communication can be controlled with setting up leaky cable.
Track wireless communication machine 210, track computing machine 201 and other circuit are placed in the apparatus for sealing rack 32, and rack is installed near the inlet of track.Went here and there below orbital plane 21 with low-loss connecting cable 231, connected the antennal interface of track wireless communication machine 210 and an end of leaky cable 23.The track of the other direction equipment such as attachment rail wireless communication machine 210, track computing machine 201 too that enters the mouth also is same connection.The two ends that are leaky cable 23 have connected up, descending track wireless communication machine 210 respectively, and transmitting two paths (up, descending) track radio communications transmits and the received signal of two-way track radio communication in the leaky cable 23.The uplink path wireless communication system uses different group of frequencies respectively with the downing track wireless communication system.
As shown in figure 31, all there is the wireless-communication-capable area that is made of a track wireless communication machine 210 bonded assembly leaky cables 23 at every section track, crossing, track wireless communication machine 210 and the vehicle in this zone 1 are formed the wireless communication networks around the track, and Figure 31 is that many track computing machines 201 pass through a plurality of track wireless communication networks that track wireless communication machine 210 and leaky cable 23 and vehicle 1 are formed.The main control microcomputer 401 of vehicle is realized data communication by track wireless communication networks and track computing machine 201, shown in Figure 31, vehicle A and track computing machine b carry out RFDC, and the micro controller system e at the merging crossing of vehicle N and station K+1 carries out RFDC.
The track radio communication adopts two unified class frequencys (up, descending each use a group), modulation system, data structure, transfer rate, error correcting system etc.Preferably select the half-duplex operation mode (frequency is ratified by Wireless Management Committee) of 450MHz frequency range for use, the fixed wireless communication device 210 of track is duplex communication equipment, its transmitting frequency is the frequency of high-end 460MHz frequency band, the mobile communication equipment 410 of vehicle is an alien frequencies simplex radio communication equipment, and the transmitting frequency of vehicle is the frequency of the 450MHz frequency band of low side.Its modulation system can be used frequency modulation (FM), phase modulation or other modulation system.Employing has the asynchronous serial communication mode of parity check bit.Speed commonly used is 2400 bauds, 4800 bauds, 9600 bauds etc.
(4) registration of vehicle operating, sort and check
When vehicle 1 sails track section into when (comprising the crossing), need once register, sort and check.Its process is illustrated in conjunction with Figure 38:
When vehicle 1 entered new orbital region, 1. the track signal receiving device 52 of vehicle 1 also received the signal of the track signal sending set 30 of track, just produced a pulse and sent main control microcomputer 401; 2. the information of vehicles receptor 29 of track receives the signal of the information of vehicles transmitter 54 of vehicle, also produces a pulse and send track computing machine 201, and track computing machine 201 has just write down the quantity that enters vehicle; 3. after the main control microcomputer 401 of vehicle is received impulse singla, confirm that vehicle enters track section, send the registration of the operation of vehicle, cross-check information (vehicle stationary numbering, operation point of destination, the Way out at crossing) forwardly to track computing machine 201 by vehicle wireless communication device 410 and track wireless communication machine 210; 4. track computing machine 201 sends the instruction of checking, sorting of replying (orbital number of vehicle stationary numbering, this section, vehicle are at the sequence number m of this section, at the permission running velocity of this section) by track wireless communication machine 210 and vehicle wireless communication device 410 to main control microcomputer 401; 5. vehicle instructs at this point and checks, and adjusts the running state of vehicle; 6. track computing machine 201 is registered vehicle, and vehicle operating information (numbering at the sequence number m of vehicle, orbital number, crossing, back, by the direction behind the crossing) is sent to the micro controller system at next crossing.Wherein the sequence number of vehicle recycles with 1 byte---256 numbers, promptly begins to arrive 00H (0) again to 0FFH (255) from 00H (0) ...
(5) divide the fork in the road:
Fig. 4 shows unidirectional minute fork in the road track structure, information of vehicles receptor 29 and track signal sending set 30 have been installed in the entrance, the Vehicular steering control apparatus of being controlled by micro controller system 202 24 has been installed in the turnoff, pressure-sensitive device 246 is installed on the orbital plane 21 at the rear of Vehicular steering control apparatus 24, installed in two exits of fork vehicle location take turns 25 some right, the right interval of its first pair of locating wheel is slightly wide, and reduce gradually at locating wheel right interval in back.
◇ is for example: the thickness of track control desk 51 can be 4mm, and first pair of tyre tread can be 30cm; Installing second pair from first pair of 0.5m place, its tyre tread is 20cm; The 3rd of 0.5m the pair of tyre tread is 10cm in the back; The 4th of back 0.5m the pair of tyre tread is 5cm again; Last is to being 2cm.
Information of vehicles receptor 29 and track signal sending set 30 are 20m-30m from the distance of Vehicular steering control apparatus 24.
Vehicle steering device 24 is mounted in the belt conveyor 244 of a pair of opposite rotation direction on the track.When left side belt conveyor 244 transmission forward, right side belt conveyor 244 transmission backward, vehicle 1 just turns round to the right under Vehicular steering control apparatus 24 cooperates and drives towards the turnout.Shown in Figure 16, belt conveyor 244 is driven by imput shaft 241, and driven axle 242 supports, and imput shaft 241 connects slowspeed machine 243 or has the motor of change-speed box, a pressure-sensitive device 246 is equipped with at place, ground in belt conveyor 244 outlets, and pressure-sensitive device 246 can be selected the various standardized products of prior art for use; Motor 243 is by micro controller system 202 controls, and the output signal of pressure-sensitive device 246 send micro controller system 202, and when the trailing wheel of vehicle was pressed in pressure-sensitive device 246, micro controller system 202 was received the high level signal of pressure-sensitive device 246 outputs, illustrates that this vehicle has passed through vehicle steering device.
Shown in Figure 37,1. the micro controller system 202 of branch fork in the road is just received the operation information of the vehicle that track computing machine 201 transmits before vehicle arrives the crossing; 2. after vehicle entered branch fork in the road 4, the same with craspedodrome track 2, vehicle 1 detected the signal that track signal sending set 30 sends; 3. the micro controller system 202 of branch fork in the road 4 also detects the signal of information of vehicles projector 54, and micro controller system 202 is just counted; 4. the main control microcomputer 401 of vehicle 1 sends operation registration, the cross-check information (Way out at the sequence number of transmission vehicle, operation point of destination, crossing) of vehicle to the micro controller system 202 of minute fork in the road 4 by the track wireless communication system; 5. micro controller system 202 is received to send after vehicle 1 is by the operation information of track radio communication transmission and is replied instruction (sequence number of vehicle, the numbering at this crossing).Vehicle 1 is registered at a minute fork in the road micro controller system 202, and vehicle 1 has also been checked running route.
Figure 37 also represents the process of virtual train 8 by branch fork in the road 4: 1. before vehicle 1 arrives branch fork in the road 4, the sequence number that branch fork in the road micro controller system 202 has received 201 transmissions of track computing machine is the operation information of m and m+1 vehicle, has write down the operation information that turns round of m vehicle craspedodrome operation information and m+1 vehicle.Be the m car be keep straight on by and the m+1 car need turn round, 6. when the trailing wheel of m car was pressed in pressure- sensitive device 246,7. micro controller system 202 was received the high level signal of pressure-sensitive device 246 outputs, illustrate that the m vehicle has passed through vehicle steering device 24; 8. divide fork in the road micro controller system 202 to start Vehicular steering control apparatus 24 runnings; 9. when the m+1 vehicle arrives, just control the m+1 vehicle and turn round and drive towards the turnout.Otherwise when the trailing wheel of the vehicle that turns round in front was pressed in pressure-sensitive device 246, micro controller system 202 was received the high level signal of pressure-sensitive device 246 outputs, and micro controller system 202 control vehicle steering controlling devices 24 in crossing quit work.If the front and back vehicle is gone to same direction,, do not change the mode of operation of Vehicular steering control apparatus 24 though micro controller system is also received the high level signal of pressure-sensitive device 246 outputs.
Micro controller system 202 judges that the service direction of vehicle is the vehicle operating information of sending here according to track computing machine 201 (vehicle sequence number, point of destination, Way out); When vehicle 1 enters branch fork in the road 4, the counting of micro controller system 202; The vehicle operating information (Way out at vehicle sequence number, point of destination, crossing) that vehicle 1 sends.So each car arrives before Vehicular steering control apparatus 24, micro controller system 202 is just pressed the whether running of the Way out control vehicle steering controlling device 24 of vehicle 1.Virtual train 8 is that requirement is the strictest by minute fork in the road 4.Following casehistory virtual train 8 is when dividing fork in the road 4, the service condition of Vehicular steering control apparatus 24:
◇ is for example: shown in Figure 40, the belt conveyor 244 of Vehicular steering control apparatus 24 is to be about 1 meter, to be wider than 40 centimeters, and the highest travel line speed is 1 meter per second; Virtual train 8 is with the speed operation of 40 kilometers/hour (about 11 meter per seconds), and the passage period of each wheel 502 on belt conveyor 244 is 0.09 second; The left and right traveled distance deviation of taking turns of vehicle is 0.09 meter=0.18 meter of 2X; When the vehicle commander is 4 meters, the wheelspan between the front and rear wheel is 2 meters, by behind the Vehicular steering control apparatus 24, just produces 5 ° deflection at vehicle.
The startup acceleration/accel of Vehicular steering control apparatus 24 is chosen as 10 meter per seconds
2, when the trailing wheel of the license number m of front truck during by belt conveyor 244 (being pressed on the pressure-sensitive device), motor 243 starts, and only needs just reach in 0.1 second steady speed (this is that general motor can both be accomplished); Then the front-wheel of the license number m+1 of car arrives belt conveyor 244, needs 0.1 second time, and belt conveyor 244 has arrived stable speed; Equally, the standing time of belt conveyor also can meet the demands.
When vehicle 1 passed through to divide fork in the road 4, deviation may appear in the position, causes the Vehicular impact guardrail.Installed in the fork exit vehicle location take turns 25 some right, as shown in Figure 4, when vehicle 1 to overtake the time, the track control desk 51 of vehicle enters first pair of locating wheel 25, by second pair, the 3rd equity, vehicle is positioned in track centre, avoids the Vehicular impact guardrail gradually.
Figure 13 is the structural representation of vehicle location wheel 25, two rubber wheels 250 are separately fixed on two axles 251 by bearing 252, axle 251 is fixing with support 253 welding, distance between the diaxon is greater than the thickness of the track control desk 51 of vehicle, first pair tyre tread maximum, each right tyre tread reduces gradually later on.
(6) merge the crossing:
Unidirectional merging shown in Figure 5 crossing 5 track structures, entrance at two tracks, information of vehicles receptor 29 and track signal sending set 30 have been installed respectively, and a pair of locating wheel 25 and speed controller 26, ground in speed controller 26 back, pressure-sensitive device 246 has been installed in the position that wheel can pressed, and the exit installation is some to locating wheel 25 merging.Information of vehicles receptor 29 and track signal sending set 30 are 20m-30m from the general distance of speed controller 26.
The structure of speed controller 26 as shown in figure 12, speed controller 26 is by a pair of revolving wheel 260 of axle on 261 that be fixed on, its axle 261 is fixed on the support 263 by bearing 262; The thickness of the track control desk 51 under the gap between two revolving wheels 260 and the vehicle chassis equates, can closely cooperate; Wherein an axle is connected the motor of being controlled by micro controller system 203 265 by change speed gear box 264.
The speed controller 26 that merges two routes of micro controller system 203 controls at crossing 5 is to adopt ping-pong, and the vehicle of the route of promptly letting pass is just prevented the vehicle pass-through of another route.The management control law of micro controller system 203: generally be to arrive first to get ahead; When the vehicle of two routes arrives simultaneously, main road preferential (artificial definition); The virtual train 8 of main road by the time, treat that virtual train 8 is passed through after, clearance bypass vehicle.
Figure 36 be vehicle by merging the detailed process at crossing:
Before vehicle arrived the merging crossing, the micro controller system 203 that merges crossing 5 had been received the vehicle operating information that two routes send; 1. when the vehicle m of track A arrived the inlet that merges crossing 5, the track signal receiving device 52 of vehicle m detected the signal that track signal sending set 30 sends; 2. the information of vehicles receptor 29 of track detects the signal that the information of vehicles projector of vehicle sends; 3. the main control microcomputer 401 of vehicle m is by track wireless communication system and communicating by letter that the micro controller system 203 that merges crossing 5 is registered, checked; 4. the vehicle m+1 of track B arrives the crossing, and vehicle m+1 detects signal; 5. the micro controller system 203 that merges the crossing also detects the information that enters the crossing of vehicle m+1; 6. vehicle m+1 also registers, checks.
The micro controller system 203 that merges crossing 5 writes down the vehicle sequence number of every route in chronological order; Micro controller system 203 is ranked by vehicle the time of advent, lets pass in proper order according to the vehicle arrival of two routes.7. micro controller system 203 sends at full speed by instruction the clearance vehicle by the track wireless communication system; 8. equally forbidden vehicle is sent deceleration instruction; 9. micro controller system 203 is controlled the vehicle that speed controllers 26 are let pass and arrived first.By that analogy, the micro controller system at crossing is being switched when letting pass at every turn, micro controller system all will to vehicle send respectively by and the instruction of slowing down.
The micro controller system 203 that merges crossing 5 is judged the method for virtual train: when vehicle 1 passes through to merge the inlet at crossing 5, information of vehicles receptor 29 on the track receives the signal that the information of vehicles projector 54 of vehicle sends, information of vehicles receptor 29 produces a pulse and send micro controller system 203, when virtual train 8 is passed through, just produce a uniform train of impulses in interval, about 0.36 second of the pulse spacing (speed of a motor vehicle is 40 kilometers/hour).Micro controller system 203 was judged when the pulse spacings were less than 0.45 second (speed of a motor vehicle is 32 kilometers/hour a virtual train, or the speed of a motor vehicle is 40 kilometers/hour 1 meter the vehicle of being spaced apart), just thought that virtual train passes through.
The operating speed of speed controller is by the rotating speed decision of motor 265, and micro controller system 203 is by the speed of driving circuit control motor.
The Distributed Control System control that the operating speed of speed controller 26 is made up of track computing machine 201.Can adopt the Distributed Control System of prior art.The master-salve distributed system that constitutes about Distributed Control System principle and the 48th page of IBM-PC that uses in documents 2 and documents 6 (1) and micro controller system is described in detail.
(3) vehicle:
Fig. 6 illustrates the equipment installation situation of vehicle chassis for the birds-eye view of vehicle 1, Fig. 7 for lateral plan, Fig. 8 of vehicle 1.
Vehicle can be the intelligentized miniature battery-driven car or the automatic driving vehicle of isolated operation, comprises the security of car body, vehicle operating, the guide-localization part of vehicle operating, the sign part of vehicle operating, the wireless communication section of vehicle operating, the management control part and the power supply of vehicle operating.
(1) car body
For example, car body can select for use suitable vista car or storage battery transport trolley to convert for carrying 10 people left and right sides small-sized electric passenger vehicles.Car body comprises drive motor, brake equipment and speed-regulating control circuit, adopts different brake equipment and speed-regulating control circuit for different drive motor, can adopt existing drive motor, brake equipment and speed-regulating control circuit to constitute car body.Car door 503 is an automatically-controlled door, when having ready conditions, can adopt wheel hub motor, direct drive wheel 502, and motor, braking, automatically-controlled door are by driving micro controller system 404 controls.
(2) security of vehicle operating
The security of vehicle operating comprises electrotape 49 and buffer device for collision 43.As Fig. 6 and shown in Figure 8.Electrotape 49 has been installed in front bumper 41 or front portion, compartment at vehicle, and electrotape 49 can adopt velocity radar (sonar) at present commonly used, and measuring distance is less than 30 meters, be used to measure and front truck between distance.At the front bumper 41 installation shock shock absorbers 43 of vehicle, buffer device for collision 43 has played buffer action when vehicle collision, and the output collision alarm is to information acquisition micro controller system 402, send main control microcomputer 401 again, again by the speed of main control microcomputer 401 control vehicles, as shown in Figure 25.
The buffer unit of buffer device for collision 43 can adopt spring or hydraulic stem.Figure 21 shows the buffer device for collision 43 that adopts spring structure: welding guide rod 431 on front bumper 41, guide rod 431 outsides cover upper spring 430, there is a rib-loop and inclined-plane is arranged the end of guide rod 431, pass the fixed orifice 501 of vehicle chassis 50 after, fixing by nut 432; Micro-switch 439 has been installed on vehicle chassis 50, match with guide rod 431 in the installation site, the button of micro-switch 439 is aimed on the inclined-plane of guide rod 431, when front bumper is not mobile, the inclined-plane is contact button (being in normally off) not, and when front bumper moves, the inclined-plane contact button, contact disconnects.
Figure 22 shows the buffer device for collision 43 that adopts hydraulic stem, and at the inboard welding support 436 of front bumper, hydraulic stem 434 1 ends are fixed on the support by nut 432, and is after the other end passes the fixed orifice 501 of vehicle chassis 50, fixing by nut 432; Micro-switch 439 is fixed on the vehicle chassis 50, fixes a lath 435 that has an inclined-plane at support 436, and the button of micro-switch 439 is aimed on the inclined-plane.When front bumper was not mobile, the inclined-plane is contact button not, and when front bumper moved, the inclined-plane pressed the button.(switch with normally off is an example)
Micro-switch 439 connects an input end (being called the collision alarm mouth) and the ground of micro controller system 402, and this mouthful is low level at ordinary times; When micro-switch was pressed, contact end was opened, and the collision alarm mouth presents high level.Whether micro controller system 402 is read this mouthful, collide with high and low electrical level judging, information is sent main control microcomputer 401 again.
The elasticity modulus of the spring of buffer device for collision 43 (or hydraulic stem) is less, and when promoting bumper/spoiler with manpower, vehicle can not move, and is length of spring compressed; When no external force, just restore to the original state; When vehicle take-offs, front bumper does not have and significantly trembles.
When the back car is chased the fwd vehicle and when colliding, the front bumper 41 of back car moves backward, buffer device for collision 43 compressions, and the contact of micro-switch 439 disconnects, the collision alarm mouth of micro controller system 402 is a high level, controls motor-drive circuits to reduce the speed of a motor vehicle by main control microcomputer 401 again; When vehicle derailing collided, front bumper 41 recovered, and the contact of micro-switch 439 is connected, and the collision alarm mouth is a low level, and main control microcomputer 401 controls improve the speed of a motor vehicle; Main control microcomputer is ceaselessly adjusted the speed of a motor vehicle, reaches synchronous with the running velocity of front truck.
(3) the guide-localization part of vehicle operating
The guide-localization of vehicle operating partly comprises locating wheel 44 and track control desk 51.
Locating wheel 44 has been fixed at the front bumper 41 of vehicle 1, the two ends of rear bumper 42 respectively, and track control desk 51 has been installed in the centre below chassis 50, shown in Fig. 6-8.4 locating wheel 44 restriction vehicles travel in orbit.Figure 14, Figure 15 show the structure of vehicle location wheel 44.Locating wheel cover 440 is fixed on the wheel shaft 442 of location by bearing 441, the end that the assembly of locating wheel 44 is fixed on bumper/spoiler by the pad 444 of adjusting height and nut 443.The locating wheel 44 of vehicle 1 rubs for a long time with the guardrail 22 of track 2, and for reducing the localized wear of guardrail 2, there is outstanding rib-loop on the surface of locating wheel cover 440; Can select the locating wheel cover 440 of surface smoothing in addition for use, but its setting height(from bottom) is a ccasual.
◇ is for example: vehicle 1 width is 1.8 meters, and locating wheel 44 diameters are 0.2 meter, exceeds 0.1 meter of vehicle 1 side, and the distance between the guardrail 22 is slightly larger than 2 meters.
(4) the sign part of vehicle operating
The sign of vehicle operating partly comprises track signal receiving device 52, information of vehicles projector 54, anti-dazzle device 56, photoelectricity correlation device 55.
The installation site that is installed in the information of vehicles projector 54 of device for marking of the vehicle operating on the vehicle and track signal receiving device 52 is corresponding with the information of vehicles receptor 29 of the thin orbital motion device for marking of describing of installing in orbit in front and track signal sending set 30.When vehicle passed through, the information of vehicles receptor 29 of track received or detects the information that vehicle information transmitting apparatus 54 sends, to determine passing through of vehicle.Equally, when vehicle entered one section new-track, the information that track signal receiving device 52 receptions of vehicle or the track signal sending set 30 of detection track send was to determine that vehicle has entered one section new-track.
As shown in Figure 8, it is corresponding with the signals of vehicles receptor 29 and the orbit information sending set 30 of track 2 respectively the installation site of track signal receiving device 52 and information of vehicles projector 54 track signal receiving devices 52 and information of vehicles projector 54 to be installed on the chassis 50 of vehicle 1.As previously mentioned, track signal receiving device 52 and information of vehicles projector 54 can adopt the variety of way of prior art, as long as can detect the passing through with to determine that vehicle has entered new orbital region passable of vehicle.In addition, also can install on the vehicle 1 with track 2 on photoelectricity correlation device 27, anti-dazzle device 28 corresponding anti-dazzle devices 56, photoelectricity correlation device 55, be used to detect passing through of vehicle equally.
(5) wireless communication section of vehicle operating
Three separate subsystems of the wireless communication section of vehicle operating: the little wireless communication system between regional wireless communication system, track wireless communication system and the front and back vehicle.For avoiding the interference of three systems, should select different frequency of operations or frequency range; For avoiding the interference between the up-downgoing, should adopt two class frequencys, the in-vehicle wireless communications device frequency of operation that can automatically switch.These wireless communication systems all are conventional wireless communication systems, are the concrete application of mature technology.
The zone wireless communication system
The zone wireless communication system is the mobile data communication of vehicle and station local area network, and communication coverage is the station district at station.The zone wireless communication system comprises the Wireless Telecom Equipment of Wireless Telecom Equipment and station on the car.By this zone wireless communication system, vehicle is accepted dispatching vehicle is sent dispatch command or vehicle is carried out wireless guiding; Vehicle sends operation information, applies for and replys instruction to dispatching.
As shown in figure 28, the antenna 57 of Wireless Telecom Equipment 411 on the car has been installed at vehicle 1 top, the regional Wireless Telecom Equipment 710 at it and station is formed the regional wireless communication system in the scope of station.For example, the regional Wireless Telecom Equipment 710 at station can adopt duplexing transceiver 710, and Wireless Telecom Equipment 411 can adopt different single-frequency simplex transceiver, and Wireless Telecom Equipment 411,710 has antenna respectively.Frequency is distributed by local radio administration (cuncil), can select the duplex frequency of 800MHz or 450MHz frequency range, and f1 is that high-end frequency, f1 ' are the low side frequency.
Little wireless communication system
Vehicle operating information comprises sequence number, point of destination, the running velocity of vehicle.After the front truck recipient 45 of back vehicle is subjected to signal, need to judge sequence number that when sequence number was consistent, the information of reception was effective.Vehicle was just launched by 0.5 second when can not receive the information that preceding vehicle sends at interval; After receiving the information that preceding vehicle sends, just launch information immediately rearwards.
Be installed in the second track radio communication device on the vehicle
The foregoing installation first track radio communication device in orbit and the second track radio communication device on being installed in vehicle are realized communicating by letter between vehicle and the track.The track wireless communication system of total system comprises the first track radio communication device and the second track radio communication device.
As shown in Figure 30, the antenna 53 of wireless communicator 410 is installed below the chassis 50 of vehicle 1, the wireless communicator 410 of vehicle 1 is formed the track wireless communication system with leaky cable 23, track wireless communication machine 210, antenna 53 is installed in the left side of vehicle, it receives the radiofrequency signal of leaky cable 23 radiation, also transmits to track wireless communication machine 210.Because the antenna 53 of wireless communicator 410 is installed in the vehicle bottom, reduced the intensity of interfering signal, improved the signal to noise ratio of signal.Frequency is distributed by local radio administration (cuncil), can select the duplex frequency of 450MHz frequency range, and f2 is that high-end frequency, f2 ' are the low side frequency.
As shown in Figure 31, the micro controller system at each track, crossing integrate with wireless communication machine 210, leaky cable 23 etc. build up the track wireless communication networks of each track section.Which section vehicle enters, and just carries out radio communication with this micro controller system in the track wireless communication networks of this section.
(6) the management control part of vehicle operating
The management control part of vehicle operating comprises main control microcomputer 401, infrared detector 58, electronic display board 59 and a plurality of micro controller system 402-409 etc.
Be provided with main control microcomputer 401 in the inside of vehicle 1, infrared detector 58 has been installed on car door top, and whether be used for inspection vehicle has the passenger getting on and off outward, with control automatic switch car door 503; Electronic display board 59 also is installed on the vehicle, is used to show the point of destination of vehicle operating.
Figure 25 is the main control microcomputer 401 of vehicle 1 and the computer system of the collecting and distributing control that each micro controller system is formed.Gather micro controller system 402 and gather the on-off signal of buffer device for collision 43, track signal receiving device 52, photoelectricity correlation device 55, infrared detector 58; Measure micro controller system 403 and gather the data that electronic distance-measuring equipment 49 is measured.Drive micro controller system 404 by driving circuit control power motor 65, the operating speed of control motor, the speed of a motor vehicle of realization control vehicle; Drive micro controller system 404 and go back the automatically-controlled door 503 of control vehicle and the brake equipment of control vehicle; Show that micro controller system 405 is used to control the demonstration of electronic direction board, shows the name of station of point of destination; Little communication microcontroller 406 is handled the information of front truck recipient 45 receptions and the operation information of control vehicle operation information projector 46 emission vehicles.Track micro controller system 407 control wireless communicators 410 are communicated by letter with track wireless communication machine 210.Micro controller system 408 control wireless communication machines 411 in zone are communicated by letter with the Wireless Telecom Equipment 710 at station.The information that main control microcomputer 401 is gathered 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 control vehicle is pressed the operational plan operation of main control microcomputer 401.Information of vehicles projector 54 is just work of vehicle launch.
Micro controller system can adopt the general-duty micro controller system herein, for example MCS-51 series.
Because the station in the system, track, crossing, parking area etc. do not need accurate position, described electronic chart just to put down in writing the interrelation between each station, track, crossing, the parking area, and be simple more than the electronic chart of geography information.
◇ is for example: with straight line and the cross one another system of circular track is example, and set up data bank: straight line circuit 1 has 13 stations, and its name of station is A1-A15; Closed circuit 2 has 18 stations, and its name of station is B1-B18.The station of its point of crossing (or claiming the transfer stop) has 2, is A4 and B2, A10 and two stations of B10.For 1 line 14 two-way tracks that connect the station are arranged, 18 two-way tracks that connect the station are arranged for 2 lines.
The definition down direction is to number from little extremely big direction, otherwise is up direction.(following can the definition voluntarily)
Address with two each stations of byte representation, track, parking area: as, the D7 of first (height) byte, D6 digit separator address character, its 00 be the crossing, 01 for the station, 10 for track, 11 for parking area etc.; Its D5 is stand-by; D4-D0 is a line number, and 32 circuits can be arranged; The D7 of second (low) byte represents up-downgoing, ' 0 ' expression be up, ' 1 ' expression be descending; D6, D5 distinguish the station sign, and ' 00 ' represents it is that general station, ' 01 ' does not have definition, ' 10 ' expression terminal station, ' 11 ' expression intersection station (or claiming transfer stop); D4-D0 has 32 addresses.Track, crossing, parking area etc. can similarly be numbered.
At first determine code
The descending platform code at the station of circuit 1 is A1 (41, C1), A2 (41,82), A3 (41,83), A4 (41, E4), A5 (41,85), A6 (41,86), A7 (41,87), A8 (41,88), A9 (41,89), A10 (41, EA), A11 (41,8B), A12 (41,8C), A13 (41,8D), A14 (41,8E), A15 (41, CF);
The up platform code at the station of circuit 1 is A1 (41,41), A2 (41,02), A3 (41,03), A4 (41,64), A5 (41,05), A6 (41,06), A7 (41,07), A8 (41,08), A9 (41,09), A10 (41,6A), A11 (41,0B), A12 (41,0C), A13 (41,0D), A14 (41,0E), A15 (41,4F);
The descending platform code at the station of circuit 2 is B1 (42, C1), B2 (42, E2), B3 (42,83), B4 (42,84), B5 (42,85), B6 (42,86), B7 (42,87), B8 (42,88), B9 (42,89), B10 (42, EA), B11 (42,8B), B12 (42,8C), B13 (42,8D), B14 (42,8E), B15 (42,8F), B16 (42,90), B17 (42,91), B18 (42, D2);
The up platform code at the station of circuit 2 is B1 (42,41), B2 (42,62), B3 (42,03), B4 (42,04), B5 (42,05), B6 (42,06), B7 (42,07), B8 (42,08), B9 (42,09), B10 (42,6A), B11 (42,0B), B12 (42,0C), B13 (42,0D), B14 (42,0E), B15 (42,0F), B16 (42,10), B17 (42,11), B18 (42,52).
Can list the code table of interval orbit equally:
The code of the downlink interval track of circuit 1 is a1 (81, C1), a2 (81,82), a3 (81, E3), a4 (81, E4), a5 (81,85), a6 (81,86), a7 (81,87), a8 (81,88), a9 (81, E9), a10 (81, EA), a11 (81,8B), a12 (81,8C), a13 (81,8D), a14 (81, CE);
The code of the uplink interval track of circuit 1 is a1 (81,41), a2 (81,02), a3 (81,63), a4 (81,64), a5 (81,05), a6 (81,06), a7 (81,07), a8 (81,08), a9 (81,69), a10 (81,6A), a11 (81,0B), a12 (81,0C), a13 (81,0D), a14 (81,4E);
The code of the downlink interval track of circuit 2 is b1 (82, C1), b2 (82, C2), b3 (82,83), b4 (82,84), b5 (82,85), b6 (82,86), b7 (82,87), b8 (82,88), b9 (82, C9), b10 (82, CA), b11 (82,8B), b12 (82,8C), b13 (82,8D), b14 (82,8E), b15 (82,8F), b16 (82,90), b17 (82,91), b18 (82, D2);
The code of the downlink interval track of circuit 2 is b1 (82,61), b2 (82,62), b3 (82,03), b4 (82,04), b5 (82,05), b6 (82,06), b7 (82,07), b8 (82,08), b9 (82,69), b10 (82,6A), b11 (82,0B), b12 (82,0C), b13 (82,0D), b14 (82,0E), b15 (82,0F), b16 (82,10), b17 (82,11), b18 (82,52).
Set up data bank:
The content of the data bank of said system is three tables: one is the configuration table, and one is the circuit relation table, and another is the name of station code table.
The configuration table is made up of following subtabulation: 1. the descending table of circuit 1: A1 (41, C1), a1 (81, C1), A2 (41,82), a2 (81,82), A3 (41,83), a3 (81, E3), A4 (41, E4), a4 (81, E4), A5 (41,85), a5 (81,85), A6 (41,86), a6 (81,86), A7 (41,87), a7 (81,87), A8 (41,88), a8 (81,88), A9 (41,89), a9 (81, E9), A10 (41, EA), a10 (81, EA), A11 (41,8B), a11 (81,8B), A12 (41,8C), a12 (81,8C), A13 (41,8D), a13 (81,8D), A14 (41,8E), a14 (81, CE), A15 (41, CF);
2. the up table of circuit 1: A1 (41,41), a1 (81,41), A2 (41,02), a2 (81,02), A3 (41,03), a3 (81,63), A4 (41,64), a4 (81,64), A5 (41,05), a5 (81,05), A6 (41,06), a6 (81,06), A7 (41,07), a7 (81,07), A8 (41,08), a8 (81,08), A9 (41,09), a9 (81,69), A10 (41,6A), a10 (81,6A), A11 (41,0B), a11 (81,0B), A12 (41,0C), a12 (81,0C), A13 (41,0D), a13 (81,0D), A14 (41,0E), a14 (81,4E) A15 (41,4F);
3. the descending table of circuit 2: B1 (42, C1), b1 (82, C1), B2 (42, E2), b2 (82, C2), B3 (42,83), b3 (82,83), B4 (42,84), b4 (82,84), B5 (42,85), b5 (82,85), B6 (42,86), b6 (82,86), B7 (42,87), b7 (82,87), B8 (42,88), b8 (82,88), B9 (42,89), b9 (82, C9), B10 (42, EA), b10 (82, CA), B11 (42,8B), b11 (82,8B), B12 (42,8C), b12 (82,8C), B13 (42,8D), b13 (82,8D), B14 (42,8E), b14 (82,8E), B15 (42,8F), b15 (82,8F), B16 (42,90), b16 (82,90), B17 (42,91), b17 (82,91), B18 (42, D2), b18 (82, D2);
4. the up table of circuit 2: B1 (42,41), b1 (82,61), B2 (42,62), b2 (82,62), B3 (42,03), b3 (82,03), B4 (42,04), b4 (82,04), B5 (42,05), b5 (82,05), B6 (42,06), b6 (82,06), B7 (42,07), b7 (82,07), B8 (42,08), b8 (82,08), B9 (42,09), b9 (82,69), B10 (42,6A), b10 (82,6A), B11 (42,0B), b11 (82,0B), B12 (42,0C), b12 (82,0C), B13 (42,0D), b13 (82,0D), B14 (42,0E), b14 (82,0E), B15 (42,0F), b15 (82,0F), B16 (42,10), b16 (82,10), B17 (42,11), b17 (82,11), B18 (42,52), b18 (82,52).
The circuit relation table list intersect the circuit relation at station 1. intersect station 1:A4/B2 (41, X4,42, Y2), 2. intersect station 2:A10/B10 (41, XA, 42, YA).
(7) power supply
Power supply can be selected on demand, and a kind of is by storage battery power supply, and another kind is as standby based on ground power supply system power supply, storage battery.These two kinds of power supply modes all have application, and for example, electronlmobil is exactly a storage battery power supply, and has just adopted back a kind of power supply mode by the trackless trolley car on Chang'an street.
(8) operation of vehicle
Be example with top data bank also, behind definite tours start here and point of destination, the main control microcomputer of vehicle is worked out operational plan voluntarily.
◇ is for example: vehicle is left for the B17 station from the A14 station.
At first by the place circuit of determining tours start here and point of destination, A14 stands in 1 line, and B17 stands in 2 lines;
Retrieve the station that intersects of 1 line and 2 lines: A4/B2 and A10/B10 (looking into the line number of code);
Vehicle selection schemer: select nearest intersection station in the ordinary course of things earlier, the A10/B10 station;
Determine circulation line: station A14, A13, A12, A11, A10/B10, B11, B12, B13, B14, B15, B16, B17 that vehicle will pass through; Vehicle is to travel in uplink in A14 to A10 section, is to travel at down-line in B10 to B17 section; Then circulation line is A14 (41,0E), a13 (81,0D), A13 (41,0D), a12 (81,0C), A12 (41,0C), a11 (81,0B), A11 (41,0B), a10 (81,6A), A10 (41,6A); Vehicle forwards the down-line of 2 lines to from the uplink of 1 line at A10/B10 station, A10 (41,6A), B10 (42, EA), b10 (82, CA), B11 (42,8B), b11 (82,8B), B12 (42,8C), b12 (82,8C), B13 (42,8D), b13 (82,8D), B14 (42,8E), b14 (82,8E), B15 (42,8F), b15 (82,8F), B16 (42,90), b16 (82,90), B17 (42,91).(because all there are branch fork in the road and He Lu crossing in each station, in operational plan will in table) with the crossing code column at each station.
When vehicle 1 runs to track section, all to register, check and sort; Also all to register, check at each crossing.Its process of registering, check and sorting is narrated in (4) of (two) track one joint.
When vehicle 1 passed through to divide fork in the road 4, vehicle 1 continued to keep straight on, and under the vehicle steering device 24 at crossing cooperated, vehicle was pressed the operational plan operation.Its concrete process is narrated in (5) of (two) track one joint.
When vehicle 1 passed through to merge crossing 5, vehicle 1 passed through to merge crossing 5 with the speed of micro controller system 203 appointments under the arrangement of the micro controller system 203 at crossing.Its concrete process is narrated in (6) of (two) track one joint.
When vehicle 1 needed by station 3, its process was by being narrated in one joint of (four) station.
Vehicle 1 can move on craspedodrome track 2 separately; Be to improve conveying efficiency (making full use of the road of Exclusive Right of Way), vehicle is organized into groups voluntarily and is become virtual train 8 and move on craspedodrome track 2.
The marshalling process of virtual train 8:
Virtual train of the present invention is meant the train of some cars of no captive joint and traction with the synchronous speed operation.
Vehicle is by craspedodrome track 2 time, and track computing machine 201 sorts to each car by the track wireless communication system, and gives sequence number.Vehicle in motion, its electronic distance-measuring equipment 49 constantly measure and front truck between distance, take off data is sent and is measured micro controller system 403, when distance reached 20 meters left and right sides, micro controller system 403 sent main control microcomputer 401 with observed reading; Front truck recipient 45 receives the information of vehicle operating information generator 46 transmissions of preceding vehicle on the other hand, the distance between main control microcomputer 401 bases and the preceding vehicle and the running velocity of front truck, by speed operation greater than preceding vehicle, distance between the velocity contrast of two cars and two cars is linear, and velocity contrast was zero when distance was zero.
Because when distance is zero, actual velocity contrast is not necessarily zero, when back car is chased front truck, can produce collision, buffer device for collision 43 is compressed, and the contact of its micro-switch 439 disconnects, and the collision information of gathering micro controller system 402 collections send main control microcomputer 401, main control microcomputer 401 starts the vehicle braked device by driving micro controller system 404, to adjust the speed of a motor vehicle.
When front and back vehicle 1 is formed virtual train 8 operations with synchronous speed, the vehicle of the different directions by minute fork in the road 5 time in the virtual train separately travels under vehicle steering device 24 cooperates.
(4) station part is seen in the interior AT STATION operation of vehicle 1.
(4) station:
The station is divided into 3 grades: little passenger flow volume station, medium passenger flow volume station, bus's flow station.
(1) rail layout at station:
The rail layout at little passenger flow volume shown in Figure 9 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 720 for getting on the bus and getting off by vehicle.Platform 74 is located at the outside of platform track, and the platform of She Zhiing is called side platform like this, and through track is arranged in the outside.Certainly, in the middle of also platform can being located at, the platform of She Zhiing is called island platform like this.Two kinds of rail layouts respectively have merits and faults.The through track of side platform is in straight line with the craspedodrome track in interval, and the straight-through vehicle that travels does not rock, and the station enlarging also is convenient to the platform management easily; And the platform degree of utilization height of island platform, the width of platform is narrower, and electromechanical appliance (escalator, air-conditioning, illumination etc.) is also less.
The rail layout at medium passenger flow volume shown in Figure 10 station increases a current track 73 between through track 71 and platform track 720, do not have isolation guard rail between platform track 72 and the current track 73.On these two tracks, aforesaid signals of vehicles receptor 29, orbit information sending set 30 have been installed, Vehicular steering control apparatus 24, as scheme shown in Figure 19.Vehicle sails to Vehicular steering control apparatus 24 places (the detecting test of vehicle orbit information sending set 30 transmission signals of appointment by dispatch command, count), by Vehicular steering control apparatus 24 vehicle is turned to platform track 720 from current track 73, or vehicle is moved to current track 73 from platform track 720.
The rail layout at bus's flow shown in Figure 11 station is down direction from right to left, and by being up direction ,-1 in the Reference numeral represented down direction from left-hand, and-2 is up direction.The station track divides two-layer up and down, and the upper strata is through track 71-1,71-2 and get off platform track 72-1,72-2, and lower floor is current track 73-1,73-2 and loading refuges track 80-1,80-2.Interval craspedodrome track 2 connects the craspedodrome track respectively and shunt track 75-1,75-2 at the 1st branch fork in the road 4-1,4-2 entering the station; Platform track 72-1,72-2 that the craspedodrome track meets through track 71-1,71-2 and Gong gets off by the 2nd branch fork in the road 4-3,4-4 respectively, platform track 72-1, the 72-2 that gets off is connected with turn back track 77-1,77-2; Turn back track 77-1,77-2 is the track that arrives lower floor from the upper strata, is connected with parking track or parking area 79-2,79-1 in lower floor; Parking track or parking area 79-2,79-1 join with reciprocal current track 73-2,73-1 respectively; Current track 73-2,73-1 join with loading refuges track 80-2,80-1 respectively; Loading refuges track 80-2,80-1 are parallel with current track 73-2,73-1, do not have isolation guard rail between loading refuges track 80-2,80-1 and current track 73-2,73-1, lateral direction of car conveyer 78 have been installed, as shown in figure 20; Current track 73-2,73-1 are connected to departure track 76-2,76-1 respectively, and departure track 76-2,76-1 are the tracks that arrives the upper strata from lower floor; Departure track 76-2,76-1 are merging the craspedodrome track 2 that crossing 5-2,5-1 merge to the interval with through track 71-2,71-1 respectively.For ease of calling empty wagons from the station, rear, empty wagons sails the parking track 79-1 of lower floor, 79-2 and current track 73-1,73-2 respectively into from shunt track 75-1,75-2.
(2) setting on the track of station:
The setting of the entrance of each section track, crossing and parking area AT STATION, identical with track, the crossing in interval.As previously mentioned.Mounting vehicle alongside transfer device 78 is used for the alongside transfer vehicle, as shown in figure 20 in the middle of current track and platform track.
Figure 17 shows lateral direction of car conveyer 78.It is by platform track computer controlled motor 783 initiatively, driven by motor driving roller 781 initiatively, thus driving belt conveyor 784, belt conveyor is supported by auxiliary wheel 782.Motor on demand can cw and left-hand revolution.Be similar to the inhibiting device at the two ends of gantry crane,, limited the miles of relative movement of belt conveyor having fixed limiting stopper 785 on the belt conveyor, on platform and current track, having fixed two positioning plates 786 that move to left and move to right; At positioning plate 786 limit switch has been installed, at ordinary times switch connection.When the lateral direction of car conveyer carried car and moves to the position of platform track, positioning plate contacted with limiting stopper, has limited belt conveyor and has moved; Simultaneously, limit switch disconnects, and monolithic processor controlled motor shuts down.When the lateral direction of car conveyer carried car and moves to the position of current track, another piece positioning plate contacted with limiting stopper, had also limited belt conveyor and had moved and control motor and shut down.
(3) the computer scheduling center at station
Be provided with the computer scheduling center AT STATION.As shown in figure 23, the computer scheduling center at station is a cover LAN, and it comprises ticketing system 709, subway concourse computing machine 702, platform computing machine 703 and dispatching 701 compositions.Computing machine in the local area network is networked by concentrator 704, and inserts enterprise's Metropolitan Area Network (MAN) by concentrator 704 by dedicated communication line.Local area network also is provided with vehicle distributing position data bank 708 and Customer information data bank 707.Local area network, Metropolitan Area Network (MAN), data bank can adopt the mature technology of active computer network to realize.Ticketing system 709 comprises artificial ticketing computing machine 704 and automatic ticketing computing machine 705.
As shown in figure 27: subway concourse computing machine 702 and the micro controller system 705 of the guiding electronic direction board 85 of platform, respectively by bus mouthful ticket checking gate 86 control single chip computers 706 are formed Distributed Control System.Subway concourse computing machine 702 send micro controller system 705 with the displaying contents of electronic direction board 85, drives electronic direction board 85 by micro controller system 705.The point of destination information that subway concourse computing machine (702) will be ridden mouthful is sent the control single chip computer 706 of ticket checking gate (86), when ticket checking is correct, and ticket checking gate 86 clearance passengers, and the patronage that will the pass through Room computing machine 702 that sees off.
Shown in Figure 24, platform computing machine 703 is formed Distributed Control System with each micro controller system, and described micro controller system has the track micro controller system 902 of each track of management, the micro controller system 202 of management branch fork in the road, the micro controller system 203 that management merges the crossing, the mobile micro controller system 901 of control vehicle alongside transfer control.Track micro controller system 902 collection vehicle recipients 29 receive the transmitting of information of vehicles projector 54 of vehicle 1, and register, sort by 210 pairs of vehicles of track wireless communication machine, track micro controller system 902 is with the operation information of the vehicle platform computing machine 703 that sees off; The location information that mobile micro controller system 901 collection vehicle enter the information of lateral direction of car mobile device and the horizontal mobile device platform computing machine 703 that sees off, platform computing machine 703 send mobile micro controller system 901 with the dispatch command of dispatching 701; The information that branch fork in the road micro controller system 202 the arrives vehicle platform computing machine 703 that sees off; To the set out information of vehicle of platform computing machine 703 is sent the micro controller system 203 that merges the crossing;
Dispatching 701 is according to the passenger's of ticketing system 709 trip information, the passenger of subway concourse computing machine 702 is by the information of the mouth of riding, the information that in the station, distributes of vehicle, the scheduling empty wagons to point of destination that assigned address, designated vehicle are gone to, by electronic display board guiding passenger to appointment by bus mouthful by bus, an arrangement vehicle parking of arriving at a station arrives assigned address, the instruction of dispatching a car to vehicle; The dispatch command of the subway concourse computing machine 702 at station and platform computing machine 703 operation dispatching computing machines 701, and with the information of implementation status, collection, report dispatching 701; Dispatching 701 is assigned various dispatch commands and vehicle 1 by regional wireless communication system to vehicle 1 and is sent operation informations, application is dispatched a car and receive the instruction of replying of dispatch command to dispatching 701;
Shown in Figure 33, the artificial ticketing computing machine 706 of ticketing system 709, automatic ticketing computing machine 705 are gathered passenger's riding information when ticketing, the same with railway, highway, the passenger need specify the point of destination, and Customer information is revised Customer information data bank 707 in real time.The information that each ticket checking micro controller system 706 passes through the passenger Room computing machine 702 that sees off, subway concourse computing machine 702 is revised Customer information data bank 707 in real time.
All register when Nei vehicle enters every section track AT STATION, the micro controller system 902 of each section track is revised the vehicle position data storehouse with the location information of the vehicle platform computing machine 703 that sees off in real time by platform computing machine 703.When the merging crossing 5 of vehicle by departures, merge information that crossing micro controller system 203 the passes through vehicle platform computing machine 703 that sees off, same platform computing machine 703 will delete the car number that sets off in the vehicle position data storehouse.
(4) Wireless Telecom Equipment at station
Wireless Telecom Equipment by Wireless Telecom Equipment and station on the car noted earlier constitutes regional wireless communication system.The zone wireless communication system is the mobile data communication of vehicle and station local area network, and communication coverage is the station district at station.As shown in figure 28, dispatching 701 connects the Wireless Telecom Equipment 710 at station, the regional wireless communication system that it and Wireless Telecom Equipment 411 are formed in the scope of station.The regional Wireless Telecom Equipment 710 at station can adopt for example duplexing transceiver 710, and Wireless Telecom Equipment 710 has antenna respectively.
(5) method of tissue vehicle operating
With station shown in Figure 11 is example.Tail with numbering sews-and X represents service direction, and X is that odd number is a down direction, and X is that even numbers is a up direction.
(1) call empty wagons:
Suppose: when the empty wagons quantity of descending loading refuges track 80-1 is not enough, need call empty wagons.
The vehicle position data storehouse 708 of the descending scheduling computing machine 701-1 inquiry station local area network at station, different situations adopt different scheduling schemes.
A. call the empty wagons of descending parking track: at descending parking track (parking area) when 79-1 has empty wagons, descending scheduling computing machine 701-1 directly notifies the empty wagons of parking track to drive to current track 73-1 by regional wireless communication system, by lateral direction of car conveyer 78 empty wagons is moved on to loading refuges track 80-1.
B. call the empty wagons of up stop track: when descending parking track 79-1 does not have empty wagons, and up stop track (parking area) is when 79-2 has empty wagons, descending scheduling computing machine 701-1 calls empty wagons to up dispatching 701-2 application, uplink scheduling computing machine 701-2 sends dispatch command by regional wireless communication system to the empty wagons of parking track 79-2, by transfer empty wagons by current track 73-2 foremost, empty wagons is moved on to loading refuges track 80-2 by lateral direction of car conveyer 78, leave for descending parking track (parking area) 79-1 again, later on identical with A.Two dispatching is revised the vehicle position data storehouse respectively.
C. call the empty wagons of the up platform track of getting off: when the up platform track 72-2 that gets off has empty wagons, after empty wagons is accepted the dispatch command of up dispatching 701-2, just reach the up track 77-2 that turns back from the platform track 72-2 that gets off, sail descending parking track (parking area) 79-1 into, later on identical with top A.Two dispatching is revised vehicle distributing position data bank respectively.
D. need to call empty wagons from other stations: shown in figure 32,1. dispatching 701 is retrieved the vehicle dynamic data bank 803 of enterprise's Metropolitan Area Network (MAN)s; 2. by the nearly back rearward station transmission empty wagons scheduling application that is rich in empty wagons of principle far away earlier; 3. the dispatching 701 at the other side station is assigned dispatch command by regional wireless communication system---leave for the station of application by the ID address designated vehicle of vehicle; Notify platform computing machine 703 to be dispatched a car on the other hand; 4. dispatching is with the dispatching at scheduling result notice application station; 5. a dispatching of being shunt is revised the vehicle position data storehouse at station; 6. a dispatching of being shunt is revised vehicle dynamic data bank 803.Vehicle is by the through empty wagons station of calling, interval.7. vehicle enters the descending track 75-1 that shunts by the branch fork in the road 4-3 that enters the station, and enters descending parking track (parking area) 79-1, and is 8. later on identical with top A; 9. call the dispatching of vehicle and revise the vehicle dynamic data bank; 10. call the dispatching of vehicle and revise the vehicle position data storehouse.During each crossing of vehicle process, each crossing is by the vehicle operating information Control vehicle heading of receiving.
After dispatching scheduling empty wagons is dispatched a car, all to send the information such as car number of being shunt to the dispatching that empty wagons is called in application; Vehicle the time also will register piecemeal, check, sorts in operation, need cooperate service direction of control vehicle or the like through the crossing.
(2) dispatch a car:
Dispatching 701 is organized two steps of having dispatched a car: organize passenger loading and organize vehicle to dispatch a car.
A. organize passenger loading: as shown in figure 33,1. ticketing computing machine 706 sends to passenger's riding information data bank 707 with Customer information, 2. passenger's dispatching inquiry passenger riding information data bank 707 of direction of riding; 3. dispatching is to vehicle position data library inquiry empty wagon position; 4. behind the point of destination that the empty wagons of dispatching appointment loading refuges track leaves for, send dispatch command to the subway concourse computing machine: leave for the empty wagon position of point of destination, by bus with the guiding passenger; 5. the electronic direction board of subway concourse computer controlled platform, the empty wagon position of point of destination is left in indication, and the passenger steps on car after by ticket-validating machine ticket checking by bus mouthful; 6. the subway concourse computing machine information of riding according to the passenger of ticket-validating machine is revised the Customer information data bank; 7. dispatching sends the instruction of closing the door to the platform computing machine to vehicle; 8. after vehicle was dispatched a car, the platform computing machine was revised the vehicle position data storehouse.
B. vehicle is dispatched a car: shown in Figure 34, after 1. ticket-validating machine determined that the passenger of vehicle is full, subway concourse computing machine 702 notice dispatching vehicles can be dispatched a car; 2. dispatching is sold dispatch command to the platform computing machine, and designated vehicle is dispatched a car; 3. the platform computing machine is closed the door by track wireless communication system notice vehicle; Perhaps, when the infrared detector of vehicle detects on the platform no passenger, also will close the door automatically; 4. platform computing machine designated vehicle alongside transfer device 78 moving vehicles are to current track 73-1; 5. after lateral direction of car conveyer 78 moves into place vehicle, send the information that vehicle moves into place to the platform computing machine immediately; 6. the platform computing machine sends the information that vehicle moves into place to dispatching, and application is dispatched a car; 7. dispatching sends departure instructions by regional wireless communication system to vehicle according to the vehicle operating information of each track; 8. the vehicle merging crossing of exit of dispatching a car, and register; 9. merge crossing clearance departures vehicle.10. merge the crossing micro controller system and revise the vehicle position data storehouse by the platform computing machine.
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 straight-through vehicle to pass through simultaneously, let pass earlier and lead directly to vehicle, the speed controller of through track 71-1 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) operation: the registration of vehicle, chase, move and arrive at a station.
Shown in Figure 35: the 1. dispatching of tours start here dispatch command that vehicle is dispatched a car, vehicle departures; 2. the dispatching of tours start here is to the dispatching of the point of destination notice of dispatching a car; 3. the dispatching of tours start here is revised vehicle dynamic data bank 803; 4. vehicle enters interval orbit, and vehicle 1 is registered, checked and sort to track computing machine 201;
On the craspedodrome track, vehicle is chased front truck, and when electronic distance-measuring equipment was measured vehicle distances 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.Vehicle is formed virtual train automatically and is travelled.
Realize that virtual train is to have adopted vehicle to chase technology, it relates to the electronic distance-measuring equipment installed on the vehicle, information of vehicles receptor, information of vehicles projector, buffer device for collision, near equipment such as crash sensors.Concrete steps are:
The range finding: the electronic distance-measuring equipment 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;
chases: when distance during less than threshold values, the information of vehicles receptor of back car can receive the vehicle operating information of front truck, and main control microcomputer is controlled this car and chased with the speed greater than front truck according to the speed of front truck.The velocity contrast and the distance between the vehicle of two cars are linear, and the difference that spacing approaches the speed of zero vehicle also approaches zero;
virtual train operation: when vehicle distances approaches zero and during collision, the buffer device for collision of vehicle plays buffer action, micro-switch provides collision information to main control microcomputer, and 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.
Vehicle need through behind the branch fork in the road of entering the station, carry out registration and check the work of grade when the station, and the Single-chip Controlling Vehicular steering control apparatus of branch fork in the road shuts down, and vehicle continues craspedodrome on through track.Then vehicle enters through track, and registers, checks and sort; The computing machine of through track is sent to the operation information of vehicle the micro controller system at the merging crossing of departures; Vehicle is pressed the speed operation of through track computing machine appointment or is reformulated the virtual train operation.Vehicle passes through the merging crossing of departures again and enters the craspedodrome track.
Still Figure 35 is when 5. vehicle arrives the branch fork in the road 4-1 of point of destination, work such as carried out registration and check; 6. the Single-chip Controlling Vehicular steering control apparatus of branch fork in the road 4-1 shuts down; Vehicle is kept straight on to dividing fork in the road 4-3, and by minute fork in the road 4-3 with Vehicular turn enter the turnout, platform track 72-1 gets off; Vehicle ' is to platform track 72-1 (when there was parked vehicles in the place ahead, vehicle rested in the back of front truck with regard to automatic compensation speed) foremost; 7. after stopping, vehicle opens the door to the descending scheduling computing machine application at station by regional wireless communication system; When 8. the descending scheduling computing machine determined that vehicle need not move forward, notice vehicle and platform computing machine, vehicle can open the door and descend the visitor; Vehicle opens the door automatically and broadcasts prompt passengers and get off.When the sensor determination of vehicle interior did not have the passenger, vehicle was closed the door automatically.9. the descending scheduling computing machine is revised the vehicle position data storehouse; 10. the descending scheduling computing machine is revised the vehicle dynamic data bank of enterprise's Metropolitan Area Network (MAN).
(4) empty wagons arrangement:
Empty wagons closes behind the door, and empty wagons is arranged to descending dispatching application.
If empty wagons is stopped to parking area 79-2: the descending scheduling computing machine will be dispatched buses to the information notice uplink scheduling computing machine of parking area 79-2; Descending scheduling computer instruction empty wagons is to the track that stops (parking area) 79-2, and vehicle just travels by the track 77-1 that turns back track (parking area) 79-2 that leaves for to stop.Behind the vehicle parking, register to the computing machine of parking track (parking area) 79-2 by the track wireless communication system.The descending scheduling computing machine is revised vehicle distributing position data bank.
If empty wagons stops to parking area 79-1: the descending scheduling computing machine will be dispatched buses to the information notice uplink scheduling computing machine of parking area 79-1; Descending scheduling computer instruction empty wagons is to the track that stops (parking area) 79-1, and vehicle just travels by the track 77-1 that turns back track (parking area) 79-2 that leaves for to stop; Track 73-2 again leaves for to pass through, vehicle is delivered to the outlet 824 (Figure 18) of loading refuges track 80-2 by the vehicle conveyer, vehicle starts to up dispatching application, and uplink scheduling computer command vehicle launch travels to parking track (parking area) 79-1.The descending scheduling computing machine is revised vehicle distributing position data bank.
If empty wagons stops to loading refuges track 80-1: the first step is that vehicle is stopped to parking area 79-1 (process as previously mentioned); Second step was to transfer to loading refuges track 80-1 at the empty wagons of parking area 79-1.Second step was by the track computing machine transmission dispatch command of descending scheduling computing machine by parking area 79-1, the track computing machine of parking area 79-1 transmits dispatch command by the track wireless communication system to vehicle, and empty wagons leaves for loading refuges track 80-1 by dispatch command.The descending scheduling computing machine is revised vehicle distributing position data bank.
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In sum, the big advantage of the volume of the flow of passengers of existing main lines transportation of the present invention has again the personalized service characteristics; It not only reduces Construction investment, and reduce running cost; It can carry out passenger traffic, also can carry out shipping; It can not only build into the whole city The track traffic road network of property, and can connect easily industrial siding; Its track takes up an area few, and bending radius is little, and vehicle is short, repaiies It is convenient to set up the body cross link, also builds track traffic in commercial center easily. That is to say: it can substitute subway and light fully Rail, and can also realize subway and the irrealizable function of light rail.
Claims (27)
1, a kind of Rail Transit System of dilly is characterized in that, described Rail Transit System comprises:
Unpiloted intelligent small-sized electric vehicle (1);
The station (3) that supplies passenger loading or get off with scheduling feature;
Interval closed orbit AT STATION, described interval closed orbit have craspedodrome track (2), branch fork in the road (4) and merge crossing (5);
Intelligent vehicle in the closed orbit of dispatching a car between station and the purpose station voluntarily marshalling become virtual train and travel.
2, the system as claimed in claim 1 is characterized in that, described system comprises: comprise the wireless communication system that carries out information exchange, move instruction between vehicle and track, the station;
Described wireless communication system comprises:
The zone wireless communication system, the zone wireless communication system is the mobile data communication of vehicle and station local area network, communication coverage is the station district at station, the zone wireless communication system comprises vehicle wireless communication equipment (411) that is installed in vehicle (1) and the station Wireless Telecom Equipment (710) that is arranged on station (3), by this zone wireless communication system, the dispatching that vehicle is accepted the station sends dispatch command to vehicle; Vehicle is to the dispatching transmission operation information at station, the instruction of applying for and replying;
The track wireless communication system, realize communicating by letter between vehicle and the track computing machine, the track wireless communication system comprises: the vehicle wireless communication device (410) of the vehicle of installing on vehicle (1), go up the leaky cable (23) of track wireless communication machine of installing (210) and the confession radio communication of installing in the track left side of vehicle operating direction at track (2), the antenna (53) of wireless communicator (410) is installed in below the chassis (50) of vehicle (1) and is installed in the left side of vehicle, it receives the radiofrequency signal of leaky cable (23) radiation, and transmits to track wireless communication machine (210);
Little wireless communication system, comprise vehicle operating information transmitter (46) on the rear bumper (42) that is arranged on the vehicle and the front truck recipient of installing in the front bumper (41) or the front portion, compartment of vehicle (45), the vehicle operating information transmitter (46) of preceding vehicle is front truck recipient (45) the transmission information of vehicle rearwards, front truck recipient (45) the reception information of back vehicle realizes the wireless near field communication of front truck to the back car.
3, the system as claimed in claim 1 is characterized in that, described vehicle comprises vehicle operating sign part, and the vehicle operating sign partly comprises: be installed in information of vehicles projector (54) and track signal receiving device (52) on the vehicle; Information of vehicles receptor (29) of An Zhuaning and track signal sending set (30) in orbit, when vehicle enters one section new-track, the information of vehicles receptor (29) of track receives or detects the information that vehicle information transmitter (54) sends, the track signal receiving device (52) of vehicle receives or detects the information that the track signal sending set (30) of track sends, with determine vehicle pass through entered one section new-track with vehicle.
4, the system as claimed in claim 1, it is characterized in that, described vehicle comprises the security of vehicle operating, the security of vehicle operating comprises electrotape (49) and buffer device for collision (43), electrotape (49) has been installed in front bumper (41) or front portion, compartment at vehicle, be used to measure and front truck between distance; Front bumper (41) installation shock shock absorber (43) at vehicle, buffer device for collision (43) has played buffer action when vehicle collision, and the output collision alarm is to information acquisition micro controller system (402), send main control microcomputer (401) again, again by the speed of main control microcomputer (401) control vehicle.
5, require described system as claim 4 aforesaid right, it is characterized in that described electrotape (49) can adopt velocity radar commonly used at present, measuring distance is less than 30 meters, buffer device for collision (43) can adopt the buffer device for collision of spring structure or hydraulic stem structure, the spring of buffer device for collision (43) or the elasticity modulus of hydraulic stem are less, when promoting bumper/spoiler with manpower, vehicle can not move, and is length of spring compressed; When no external force, just restore to the original state; When vehicle take-offs, front bumper does not have and significantly trembles, when the back car is chased the fwd vehicle and when colliding, the front bumper of back car (41) is mobile backward, buffer device for collision (43) outputs signal to main control microcomputer, controls motor-drive circuit to reduce the speed of a motor vehicle by main control microcomputer (401) again; When vehicle derailing collided, front bumper (41) recovered, and buffer device for collision (43) outputs signal to main control microcomputer, and main control microcomputer (401) control motor-drive circuit is to improve the speed of a motor vehicle; Main control microcomputer is ceaselessly adjusted the speed of a motor vehicle, reaches synchronous with the running velocity of front truck.
6, the system above-mentioned as claim 5, it is characterized in that, the buffer device for collision of spring structure (43) comprising: the guide rod (431) of going up welding in vehicle front bumper (41), the spring (430) that puts in guide rod (431) outside, fixed orifice (501), nut (432) and be installed in micro-switch (439) on the vehicle chassis (50), after guide rod (431) passes the fixed orifice (501) of vehicle chassis (50), fixing by nut (432), match with guide rod (431) in the installation site of micro-switch, there are rib-loop and an inclined-plane in the end of guide rod (431), and the button of micro-switch (439) is aimed on the inclined-plane of guide rod (431), when current insurance (41) is not mobile, the inclined-plane is contact button not, and micro-switch (439) is in normally off, and when front bumper 41 moves, the inclined-plane contact button, contact disconnects.
7, system as claimed in claim 5, the buffer device for collision of described hydraulic stem structure (43) comprising: at the support (436) of the inboard welding of front bumper, hydraulic stem (434), nut (432), micro-switch (439) and have the lath (435) on an inclined-plane, hydraulic stem (434) one ends are fixed on the support by nut (432), after the other end passes the fixed orifice (501) of vehicle chassis (50), fixing by nut (432), micro-switch (439) is fixed on the vehicle chassis (50), fix a lath (435) that has an inclined-plane at support (436), the button of micro-switch (439) is aimed on the inclined-plane, and when front bumper was not mobile, the inclined-plane is contact button not, and when front bumper moved, the inclined-plane pressed the button.
8, the system as claimed in claim 1, it is characterized in that, described vehicle comprises vehicle operating guide-localization part, the vehicle operating guide-localization partly comprises locating wheel (44) and track control desk (51), front bumper (41) in vehicle (1), locating wheel (44) has been fixed at the two ends of rear bumper (42) respectively, track control desk (51) has been installed in centre below chassis (50), locating wheel cover (440) is fixed on the location wheel shaft (442) by bearing (441), it is level and smooth that there is the surface of outstanding rib-loop or locating wheel cover 440 end that the assembly of locating wheel (44) is fixed on bumper/spoiler by the pad (444) of adjusting height and nut (443), the surface of locating wheel cover 440.
9, the system as claimed in claim 1, it is characterized in that, described vehicle comprises the vehicle operating administrative section, and described vehicle operating administrative section comprises main control microcomputer (401), infrared detector (58), electronic display board (59), gathers micro controller system (402), measures micro controller system (403), drives micro controller system (404), shows micro controller system (405), little communication microcontroller (406), track micro controller system (407), regional micro controller system (408);
Main control microcomputer (401) is arranged on the inside of vehicle (1), and each station, parking area, each section track of system, the electronic chart that each crossing distributes have been stored, infrared detector 58 has been installed on car door top, whether be used for inspection vehicle has the passenger getting on and off outward, be installed in the point of destination that electronic display board (59) on the vehicle is used to show vehicle operating with control automatic switch car door (503)
Gather micro controller system (402) and gather the on-off signal of buffer device for collision (43), track signal receiving device (52), photoelectricity correlation device (55), infrared detector (58); Measure micro controller system (403) and gather the data that electronic distance-measuring equipment (49) is measured; Drive micro controller system (404) by driving circuit control power motor (65) and control brake device, the operating speed of control motor, the speed of a motor vehicle of realization control vehicle; Show that micro controller system (405) is used to control the displaying contents of electronic display board (59); Little communication microcontroller (406) is handled the information that front truck recipient (45) receives, the operation information of control vehicle operation information projector (46) emission vehicle; Track micro controller system (407) control wireless communicator (410) is communicated by letter with track wireless communication machine (210); Zone micro controller system (408) control wireless communication machine (411) is communicated by letter with Wireless Telecom Equipment (710) at station; The information that main control microcomputer (401) is gathered 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 control vehicle is pressed the operational plan operation of main control microcomputer (401).
10, the system as claimed in claim 1, it is characterized in that, described track has been installed guardrail (22), orbital plane (21), support (31) in the both sides of every unidirectional track, at the arranged outside equipment sealing cabinet (32) of track, in equipment sealing cabinet (32), place track computing machine (201) and track wireless communication machine (210).
11, the system as claimed in claim 1, it is characterized in that, described unidirectional minute the fork in the road (4) the turnoff Vehicular steering control apparatus (24) by micro controller system (202) control has been installed, vehicle steering device (24) is mounted in the belt conveyor (244) of a pair of opposite rotation direction on the track, belt conveyor (244) is driven by imput shaft (241), driven axle (242) supports, imput shaft (241) connects slowspeed machine (243) or has the motor of change-speed box, orbital plane (21) at Vehicular steering control apparatus (24) rear goes up installation pressure-sensitive device (246) and pressure-sensitive device (246) is positioned at the place, ground that belt conveyor (244) exports, the output signal of pressure-sensitive device (246) send micro controller system (202), when the trailing wheel of car is pressed in pressure-sensitive device (246), this vehicle of expression that micro controller system (202) is received pressure-sensitive device (246) output is the signal by vehicle steering device, control motor (243) rotates, when left side belt conveyor (244) transmission forward, right side belt conveyor (244) transmission backward, vehicle (1) are just driven towards the turnout under Vehicular steering control apparatus (24) cooperates.
12, system as claimed in claim 11, it is characterized in that, installed in the fork exit many to vehicle location wheel (25), the axle base maximum of first pair of vehicle location wheel, each right axle base reduces gradually later on, when vehicle (1) passes through to divide fork in the road (4), the track control desk (51) of vehicle enters first pair of locating wheel (25), gradually by second pair, the 3rd pair ... vehicle is positioned in track centre, avoids the Vehicular impact guardrail;
Described vehicle location wheel (25) comprising: two rubber wheels (250), bearing (252), two axles (251), support (253), two rubber wheels (250) are separately fixed on two axles (251) by bearing (252), axle (251) is fixing with support (253) welding, and the minor increment between the diaxon (251) is greater than the thickness of the track control desk (51) of vehicle.
13, the system as claimed in claim 1, it is characterized in that, a pair of locating wheel (25) and speed controller (26) have been installed in entrance at two tracks at unidirectional merging crossing (5), ground in speed controller (26) back, pressure-sensitive device (246) has been installed in the position that wheel can pressed, and installs some to locating wheel (25) in the exit that merges the crossing;
Speed controller (26) comprises axle (261), a pair of revolving wheel (260), bearing (262) and support (263), change speed gear box (264) on the axle (261) and the motor of being controlled by the micro controller system (203) that merges crossing (5) (265) of being fixed on, and axle (261) is fixed on the support (263) by bearing (262); The thickness of the track control desk (51) under the gap between two revolving wheels (260) and the vehicle chassis equates, and is flush fit; Wherein an axle is connected on the motor of being controlled by micro controller system (203) (265) by change speed gear box (264).
14, system as claimed in claim 13, it is characterized in that, the speed controller (26) of two routes of micro controller system (203) control at described merging crossing (5) is to adopt ping-pong, promptly the let pass vehicle of a route, just prevent the vehicle pass-through of another route, the management control law of micro controller system (203): generally be to arrive first to get ahead; When the vehicle of two routes arrived simultaneously, main road was preferential; The virtual train (8) of main road by the time, treat that virtual train (8) is passed through after, clearance bypass vehicle.
15, the system as claimed in claim 1 is characterized in that described station is divided into 3 grades: little passenger flow volume station, medium passenger flow volume station, bus's flow station, the different rail network of station configuration of different brackets.
16, system as claimed in claim 15, it is characterized in that at described little passenger flow volume station, branch fork in the road (4) is arranged at the place of entering the station, in departures place merging crossing (5) is arranged, every direction has two tracks of isolating mutually in the middle of the station, article one, main track is for providing the through track by vehicle (71), and another side line is the platform track (720) of getting on the bus and getting off, and the outside or through track (71) that platform (74) is located at platform track (720) are arranged in the outside and platform are located at middle.
17, system as claimed in claim 15, it is characterized in that at described medium passenger flow volume station, branch fork in the road (4) is arranged at the place of entering the station, in departures place merging crossing (5) is arranged, every direction has three tracks of isolating mutually in the middle of the station, article one, main track is for providing the through track by vehicle (71), second is the platform track (720) of getting on the bus and getting off, between through track (71) and platform track (720), increase the 3rd current track (73), platform (74) is located at the outside of platform track (720), does not have isolation guard rail between platform track (720) and the current track (73).On platform track (720) and current track (73), Vehicular steering control apparatus (24) has been installed, vehicle is located by the Vehicular steering control apparatus (24) that dispatch command sails to appointment, by Vehicular steering control apparatus (24) vehicle is turned to platform track (720) from current track (73), or vehicle is moved to current track (73) from platform track (720).
18, system as claimed in claim 15, it is characterized in that at described bus's flow station, the station track divides two-layer up and down, the upper strata is through track (71-1), (71-2) and get off platform track (72-1), (72-2), lower floor connects the craspedodrome track respectively and shunt track (75-1), (75-2) for current track (73-1), (73-2) and loading refuges track (80-1), (80-2), interval craspedodrome track (2) at the 1st the branch fork in the road (4-1), (4-2) that enter the station; Platform track (72-1), (72-2) that the craspedodrome track meets through track (71-1), (71-2) and Gong gets off by the 2nd branch fork in the road (4-3), (4-4) respectively, the platform track (72-1) of getting off, (72-2) are connected with the track of turning back (77-1), (77-2); Turn back track (77-1), (77-2) is the track that arrives lower floor from the upper strata, is connected at lower floor and parking track or parking area (79-2), (79-1); Parking track or parking area (79-2), (79-1) join with reciprocal current track (73-2), (73-1) respectively; Current track (73-2), (73-1) join with loading refuges track (80-2), (80-1) respectively; Loading refuges track (80-2), (80-1) and current track (73-2), (73-1) are parallel, between loading refuges track (80-2), (80-1) and current track (73-2), (73-1), there is not isolation guard rail, lateral direction of car conveyer (78) has been installed, current track (73-2), (73-1) are connected to departure track (76-2), (76-1) respectively, and departure track (76-2), (76-1) are the tracks that arrives the upper strata from lower floor; Departure track (76-2), (76-1) respectively and through track (71-2), (71-1) merge crossing (5-2), (5-1) merges to interval craspedodrome track, empty wagons sails lower floor's parking track (79-1), (79-2) and current track (73-1), (73-2) respectively into from the track of shunting (75-1), (75-2).
19, system as claimed in claim 18, it is characterized in that described at current track and the middle mounting vehicle alongside transfer device (78) of platform track, be used for the alongside transfer vehicle, described lateral direction of car conveyer (78) comprises initiatively motor (783), driving roller (781), belt conveyor (784), auxiliary wheel (782), on belt conveyor fixing limiting stopper (785), positioning plate (786) and limit switch move to left and move to right
By platform track computer controlled active motor (783), active driven by motor driving roller (781), thereby drive belt conveyor (784), belt conveyor is supported by auxiliary wheel (782), motor on demand can cw and left-hand revolution, having fixed limiting stopper (785) on the belt conveyor, on platform and current track, having fixed two positioning plates (786) that move to left and move to right, limited the miles of relative movement of belt conveyor; At positioning plate (786) limit switch has been installed, switch connection at ordinary times, when the lateral direction of car conveyer carried car and moves to the position of platform track, positioning plate contacted with limiting stopper, has limited belt conveyor and has moved, simultaneously, limit switch disconnects, and monolithic processor controlled motor shuts down, when the lateral direction of car conveyer carries car and moves to the position of current track, another piece positioning plate contacts with limiting stopper, has also limited belt conveyor and has moved and control motor and shut down.
20, the system as claimed in claim 1, it is characterized in that being provided with AT STATION the computer scheduling center, the computer scheduling center at station comprises a cover LAN, LAN comprises ticketing system (709), subway concourse computing machine (702), platform computing machine (703) and dispatching (701), computing machine in the LAN is networked by concentrator (704), and inserting enterprise's Metropolitan Area Network (MAN) by dedicated communication line by concentrator (704), LAN also is provided with vehicle distributing position data bank (708) and Customer information data bank (707);
Ticketing system (709) comprises artificial ticketing computing machine (704) and automatic ticketing computing machine (705);
The micro controller system (705) of the guiding electronic direction board (85) of subway concourse computing machine (702) and platform, respectively by bus mouthful ticket checking gate (86) control single chip computer (706) is formed Distributed Control System.Subway concourse computing machine (702) send micro controller system (705) with the displaying contents of electronic display board (85), drives electronic direction board (85) by micro controller system (705); The point of destination information that subway concourse computing machine (702) will be ridden mouthful is sent the control single chip computer (706) of ticket checking gate (86), when ticket checking is correct, and ticket checking gate (86) clearance passenger, and the patronage that will the pass through Room computing machine 702 that sees off;
Platform computing machine (703) is formed Distributed Control System with each micro controller system, and described micro controller system has the track micro controller system (902) of each track of management, the micro controller system (202) of management branch fork in the road, the micro controller system (203) that management merges the crossing, the mobile micro controller system (901) of control vehicle alongside transfer control; Track micro controller system (902) collection vehicle recipient (29) receives the transmitting of information of vehicles projector (54) of vehicle (1), and by track wireless communication machine (210) vehicle is registered, sorted, track micro controller system (902) is with the operation information of the vehicle platform computing machine (703) that sees off; The location information that mobile micro controller system (901) collection vehicle enters the information of lateral direction of car mobile device and the horizontal mobile device platform computing machine (703) that sees off, platform computing machine (703) send mobile micro controller system (901) with the dispatch command of dispatching (701); The information that branch fork in the road micro controller system (202) the arrives vehicle platform computing machine (703) that sees off; To the set out information of vehicle of platform computing machine (703) is sent the micro controller system (203) that merges the crossing;
Dispatching (701) is according to the passenger's of ticketing system (709) trip information, the passenger of subway concourse computing machine (702) is by the information of the mouth of riding, the information that in the station, distributes of vehicle, the scheduling empty wagons to point of destination that assigned address, designated vehicle are gone to, by electronic direction board guiding passenger to appointment by bus mouthful by bus, an arrangement vehicle parking of arriving at a station arrives assigned address, the instruction of dispatching a car to vehicle; The subway concourse computing machine (702) at station and the dispatch command of platform computing machine (703) operation dispatching computing machine (701), and with the information of implementation status, collection, report dispatching (701); Dispatching (701) is assigned various dispatch commands by regional wireless communication system to vehicle (1), and vehicle (1) sends operation information, application is dispatched a car and receives the instruction of replying of dispatch command to dispatching (701);
21, a kind of control method of stock rail traffic system, the Rail Transit System of described vehicle comprises: unpiloted vehicle (1); Interval closed orbit, wherein interval closed orbit have craspedodrome track (2), branch fork in the road (4) and merge crossing (5), and vehicle travels at closed orbit; Station (3) is provided with the station that supplies passenger loading or get off between interval closed orbit; Described control method comprises the transportation method for organizing of stock rail traffic system, and described transportation method for organizing comprises the following steps:
Shunt: the dispatching that goes out tours start here is the random schedule vehicle on demand, specifies the platform track of empty wagons to passenger loading, and vehicle is under the cooperation of the vehicle steering device of track or lateral direction of car conveyer, and control vehicle is parked in assigned address;
Determine the route of point of destination and selection vehicle ': after determining the point of destination of vehicle ', passenger loading, the main control microcomputer of the vehicle of automatic steering are determined the plan of running route, straight point of destination voluntarily;
Dispatch a car: dispatching sends departure instructions, and vehicle enters departure track by current track; At the merging crossing of departures, vehicle sails interval craspedodrome track under the speed controller of track cooperates;
Travel: vehicle is up the sailing of craspedodrome track in interval, and registers, checks and sort 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 notified the crossing micro controller system in the place ahead with working direction, 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;
Vehicle operating; Vehicle drives to the purpose platform from tours start here; Vehicle is formed virtual train automatically and is moved in orbit;
Vehicle arrives at a station: vehicle is when arriving the branch fork in the road of point of destination, and vehicle is under the cooperation of Vehicular steering control apparatus, and control vehicle sails to current track, and by the dispatch command of point of destination dispatching, vehicle stops to the assigned address of the platform track of getting off; Under the passenger behind the intact car, be parked in parking track or parking area by the dispatch command vehicle of dispatching, perhaps be parked in the platform track of passenger loading by the dispatch command vehicle of dispatching.
22, the transportation method for organizing of the Rail Transit System of dilly as claimed in claim 21, described step of shunting is as follows:
When the empty wagons quantity of loading refuges track is not enough, the vehicle position data storehouse (708) of making station control computer inquery station local area network, when the parking track that inquires this station or the platform track of getting off empty wagons is arranged the time, dispatching (701-1) directly notifies the parking track by regional wireless communication system or the empty wagons of the platform track of getting off drives to current track (73-1), by lateral direction of car conveyer (78) empty wagons is moved on to loading refuges track (80-1);
If when all not having empty wagons on the parking track at this station or the platform track of getting off, the vehicle dynamic data bank (803) of dispatching (701) retrieval enterprise Metropolitan Area Network (MAN), according to result for retrieval, by the nearly back rearward station transmission empty wagons scheduling application that is rich in empty wagons of principle far away earlier; The dispatching at the other side station (701) is assigned dispatch command by regional wireless communication system on the one hand, leaves for the station of application by the ID address designated vehicle of vehicle, notifies platform computing machine (703) to be dispatched a car on the other hand; Dispatching is with the dispatching at scheduling result notice application station; A dispatching of being shunt is revised the vehicle position data storehouse at station; A dispatching of being shunt is revised vehicle dynamic data bank (803), shunt by the through empty wagons station of calling, interval, being shunt enters parking track or parking area (79-1) by the branch fork in the road (4-3) of entering the station, and enters the loading refuges track then.
23, the transportation method for organizing of the Rail Transit System of the described dilly of claim 21, the step of the route of described definite point of destination and selection vehicle ' is as follows:
Determine the point of destination: the passenger determines the point of destination that reaches when booking, the ticketing computing machine sends Customer information to the Customer information data bank, dispatching sends dispatch command to platform computing machine, subway concourse computing machine: be parked in the point of destination that certain number vehicle of certain position leaves for, dispatching is by the instruction of regional wireless communication system to vehicle transmission point of destination, and the electronic display board of vehicle shows the purpose name of station; The computer-controlled passenger of subway concourse guides electronic direction board, shows to leave for the vehicle location of point of destination; Mouthful demonstration purpose name of station by bus of platform guardrail;
Passenger loading: the passenger holds ticket and gets on the bus by mouthful ticket checking of riding, when the passenger who goes to the point of destination all get on the bus or vehicle full after, the passenger is closed to traffic, the subway concourse computing machine sends to dispatching and can close the door and dispatch a car information, dispatching is assigned instruction to vehicle and is closed the door and dispatch a car, the ticket checking equipment patronage notice subway concourse computing machine of will getting on the bus, the subway concourse computing machine number of will getting on the bus is revised the Customer information data bank;
When the infrared detector of vehicle detects on the platform no passenger, receive close the door and departure instructions after, the car door SELF CL; Vehicle is to the application of dispatching a car of platform computing machine;
Select running route: the main control microcomputer of vehicle is according to the information of set out station and point of destination, system-wide electronic chart according to storage, automatically select running route, determine running route plan, the track that passes through, branch fork in the road, the code that merges crossing, station and order.
24, the transportation method for organizing of stock rail traffic system as claimed in claim 21 is characterized in that described step of dispatching a car is as follows:
Departure instructions: after receiving the application of dispatching a car of platform computing machine transmission, dispatching sends departure instructions to the platform computing machine, and the vehicle that the platform computing machine is dispatched a car to preparation by the track wireless communication system sends departure instructions; Start Vehicular steering control apparatus, vehicle turns round and drives towards current track, or by the lateral direction of car conveyer vehicle is sent to current track; The platform computing machine will the information of dispatching a car sends to the merging crossing micro controller system of departures;
Speed of a motor vehicle control: after 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, the Single-chip Controlling that merges the crossing speed controller of aspect of dispatching a car, the set out speed of vehicle of restriction;
Departures: the micro controller system that merges the crossing 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.
25, the transportation method for organizing of stock rail traffic system as claimed in claim 21 is characterized in that the step of described vehicle operating is as follows:
Send registering instruction: when vehicle enters the craspedodrome track, after the track signal receiving device of vehicle detects the signal that the track signal feedway sends, the wireless communication machine of vehicle sends the information of vehicle number and point of destination, and the track computing machine is registered after receiving vehicle operating information;
Check running section and ordering: after the information of vehicles receptor of track detects information 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: vehicle number, sequence number, point of destination.
26, the transportation method for organizing of the described stock rail traffic system of claim 21 is characterized in that described vehicle can adopt the virtual train mode to travel, and the step that described virtual train mode is travelled is as follows:
Range finding: the electronic distance-measuring equipment 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;
Chase: when distance during less than threshold values, the front truck recipient of back car can receive the vehicle operating information of front truck, and main control microcomputer is controlled this car and chased with the speed greater than front truck according to the speed of front truck.The velocity contrast and the distance between the vehicle of two cars are linear, and the difference that spacing approaches the speed of zero vehicle also approaches zero;
Virtual train operation: when vehicle distances approaches zero and during collision, the buffer device for collision of vehicle plays buffer action, sensor provides collision information to main control microcomputer, and 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 enters the virtual train operation scheme.
27, the transportation method for organizing of the described stock rail traffic system of claim 21, the step that described vehicle arrives at a station is as follows:
Sail the platform track of getting off into: when vehicle passed through the branch fork in the road of entering the station, by the control of Vehicular steering control apparatus, vehicle sailed the platform track of getting off into;
The stop 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;
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 parking track, is parked on the track after entering the parking track;
Stop and register: vehicle is when entering the parking track, and vehicle is registered to the micro controller system of parking track.
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| CNB2004100010673A CN1309605C (en) | 2003-01-30 | 2004-01-30 | Rail transportation system of small vehicle |
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| CN03102259A CN1429726A (en) | 2003-01-30 | 2003-01-30 | Railway communication system of small sized vehicle |
| CN03102259.6 | 2003-01-30 | ||
| CNB2004100010673A CN1309605C (en) | 2003-01-30 | 2004-01-30 | Rail transportation system of small vehicle |
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