CN214267801U

CN214267801U - Virtual rail train

Info

Publication number: CN214267801U
Application number: CN202120111959.8U
Authority: CN
Inventors: 冷涵; 任利惠; 季元进
Original assignee: Tongji University
Current assignee: Tongji University
Priority date: 2021-01-15
Filing date: 2021-01-15
Publication date: 2021-09-24
Anticipated expiration: 2031-01-15

Abstract

The utility model relates to a virtual rail train, which comprises an end train body module ECM, a middle train body module ICM and a workshop connection module GCM; the end body modules ECM are connected to the intermediate body modules ICM via a shop connection module GCM. Compared with the prior art, the utility model has the advantages of the framework is simple, easily control.

Description

Virtual rail train

Technical Field

The utility model belongs to the technical field of virtual rail train technique and specifically relates to a virtual rail train is related to.

Background

The virtual rail transit system is a road transit system adopting an urban rail transit operation management mode. The so-called "virtual track" is different from the physical track used in the traditional railway transportation system, but is a new type "digital track" formed by adding a series of ground sensing devices or beacons on the traditional urban road. The virtual rail train adopts a non-contact type guiding technology and a rubber wheel running part, utilizes an environment perception technology to identify and perceive virtual rail information and a train running environment, utilizes an information fusion technology to realize high-precision positioning of a vehicle, and realizes self-guidance of the train through a tracking control technology. Therefore, the virtual rail train has the advantages of large carrying capacity and high running stability of the traditional tramcar, strong adaptability of the bus and the BRT and low road construction cost.

The characteristic that the marshalling of the virtual rail train is longer compared with the traditional road public transport vehicle is considered, and the core problem of the virtual rail train is that each vehicle body module of the vehicle effectively follows the road. Therefore, the multi-wheel steering control technology is one of the key technologies in the tracking control process of the virtual rail train. At present, certain research has been made on path following control of virtual rail trains with various architectures, for example, a three-section marshalling virtual rail train active tracking control method is disclosed in chinese patent CN110244731A, and specifically includes: (1) the virtual rail train main controller reads the virtual rail information through the head train and the tail train cameras and judges whether the train is separated from the track; (2) calculating the steering angles of the axles of the head car and the tail car required for the tracking operation of the car according to the offset of the car relative to the track; (3) determining the turning radius and the instant speed center of the head vehicle and the tail vehicle according to the vehicle size parameters and the turning angles of the shafts of the head vehicle and the tail vehicle, and calculating to obtain the instant speed center of the middle vehicle; (4) calculating the steering angle of each axle wheel of the intermediate vehicle according to the vehicle size parameters, the turning radius of the head vehicle and the tail vehicle and the speed instant center of the intermediate vehicle; (5) the virtual rail train tracking controller controls each steering motor according to the target steering angle of each axle wheel, although the tracking operation of the vehicle is realized, when the tracking control is carried out by using the vehicle structure, the data acquisition is slow due to the complex structure, the response is slow, and the tracking precision is low.

Disclosure of Invention

The utility model aims at providing a virtual rail train that simple structure, easily control just for overcoming the defect that above-mentioned prior art exists.

The purpose of the utility model can be realized through the following technical scheme:

a virtual rail train comprising an end body module ECM, an intermediate body module ICM and a shop connection module GCM; the end body module ECM is connected to the mid body module ICM via a shop connection module GCM.

Preferably, the virtual rail train is provided with a power suspension module PSM; the end body module ECM is mounted on the power suspension module PSM.

Preferably, the virtual rail train is arranged on a non-power suspension module NPSM; the workshop connection module GCM is mounted on the non-power suspension module NPSM.

More preferably, the plant connection module GCM is a portal plant connection module.

More preferably, the portal shop module is mounted on the non-powered suspension module NPSM by means of a secondary suspension.

Preferably, the number of the end body modules ECM is two, and the end body modules ECM are respectively disposed at both ends of the virtual rail train.

More preferably, the number of the intermediate vehicle body modules ICM is several; the plurality of intermediate body modules ICM are arranged in sequence between the two end body modules ECM; the plurality of intermediate car body modules ICM are connected through a workshop connection module GCM.

More preferably, the virtual rail train is provided with a hinge structure; the workshop connection module GCM is connected with the end vehicle body module ECM and the workshop connection module GCM is connected with the middle vehicle body module ICM through hinged structures.

More preferably, the virtual rail train is provided with a locking mechanism for restricting the degree of freedom of movement between the workshop connection module GCM and the vehicle body module in front of the movement direction of the workshop connection module GCM; the locking mechanisms are respectively arranged between the workshop connection module GCM and the end vehicle body module ECM and between the workshop connection module GCM and the middle vehicle body module ICM.

Preferably, a cab is arranged in the end body module ECM.

Compared with the prior art, the utility model discloses following beneficial effect has:

firstly, the framework is simple: the utility model provides a virtual rail train adopts the modularization marshalling form, is convenient for realize different forms's marshalling antithetical couplet as required and hangs, has simplified virtual rail train's structure, realizes tracking control and vehicle framework's high matching nature.

Secondly, easy control: the utility model provides a virtual rail train each walks capable portion motion decoupling zero, walks capable portion through each after the decoupling zero and controls and then realize the holistic control of train, and control method is simple, easily realizes.

Drawings

FIG. 1 is a schematic view of a virtual rail train according to the present invention;

fig. 2 is a simplified structural diagram of a virtual rail train according to the present invention.

The reference numbers in the figures indicate:

1. the system comprises end vehicle body modules ECM, 2, middle vehicle body modules ICM, 3, workshop connection modules GCM, 4, power suspension modules PSM, 5, non-power suspension modules NPSM, 6, a hinge structure, 7 and a locking mechanism.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall fall within the protection scope of the present invention.

A virtual rail train is structurally shown in fig. 1 and 2 and comprises an end train body module ECM1, an intermediate train body module ICM2, a workshop connection module GCM3, a dynamic suspension module PSM4, a non-dynamic suspension module NPSM5, a hinge structure 6 and a locking mechanism 7, wherein the end train body module ECM1 is connected with the intermediate train body module ICM2 through a workshop connection module GCM3, the end train body module ECM1 is installed on the dynamic suspension module PSM4, the workshop connection module GCM3 is installed on the non-dynamic suspension module NPSM5, the workshop connection module GCM 6327 is installed on the non-dynamic suspension module NPSM5 through a secondary suspension, the workshop connection module GCM3 and the end train body ECM1 as well as the workshop connection module GCM3 and the intermediate train body module NPSM 2 are connected through the hinge structure 6, the locking mechanism 7 is used for restraining the freedom of movement between the workshop connection module GCM3 and the train body module in front of the movement direction of the workshop connection module GCM 465 and the intermediate train body module ICM 58573 24, and the workshop connection module ICM 573 24 ICM 2.

The shop connection module GCM3 in this embodiment is a portal shop connection module.

The number of the end train body modules ECM1 is two, the end train body modules ECM1 are respectively arranged at two ends of the virtual rail train, the number of the middle train body modules ICM2 is a plurality, the middle train body modules ICM2 are sequentially arranged between the two end train body modules ECM1, and the middle train body modules ICM2 are connected through a workshop connection module GCM 3.

A cab is provided within the end body module ECM 1.

Wheel speed sensors are arranged at the wheels of the end vehicle body module ECM1 and the middle vehicle body module ICM2, wheel rotation angle sensors are arranged on the power suspension module PSM4 and the non-power suspension module NPSM5, a hinge structure 6 is provided with a hinge angle sensor, and the door type virtual rail train is provided with a positioning module used for positioning the vehicle.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope of the present invention, and these modifications or replacements should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A virtual rail train, characterized in that it comprises an end body module ECM (1), an intermediate body module ICM (2) and a train connection module GCM (3); the end vehicle body module ECM (1) is connected with the middle vehicle body module ICM (2) through a workshop connection module GCM (3).

2. The virtual rail train according to claim 1, characterized in that it is provided with a powered suspension module PSM (4); the end body module ECM (1) is mounted on a power suspension module PSM (4).

3. The virtual rail train according to claim 1, wherein the virtual rail train is provided with a non-powered suspension module NPSM (5); the workshop connection module GCM (3) is arranged on the non-power suspension module NPSM (5).

4. A virtual rail train according to claim 3, characterized in that the shop connection module GCM (3) is a portal shop connection module.

5. A virtual rail train according to claim 4, wherein the gate shop modules are mounted on the non-powered suspension modules NPSM (5) by means of secondary suspension.

6. The virtual rail train according to claim 1, wherein the number of the end body modules ECM (1) is two, and the two end body modules ECM are respectively disposed at both ends of the virtual rail train.

7. A virtual railway train according to claim 2, characterized in that the number of said intermediate body modules ICM (2) is several; the plurality of middle vehicle body modules ICM (2) are sequentially arranged between the two end vehicle body modules ECM (1); the plurality of intermediate vehicle body modules ICM (2) are connected through a workshop connection module GCM (3).

8. A virtual rail train according to claim 7, characterized in that it is provided with an articulated structure (6); the workshop connection module GCM (3) is connected with the end vehicle body module ECM (1) and the workshop connection module GCM (3) is connected with the middle vehicle body module ICM (2) through hinged structures (6).

9. The virtual rail train according to claim 8, characterized in that the virtual rail train is provided with a locking mechanism (7) for restricting the freedom of movement between the vehicle connection module GCM (3) and the vehicle body module in front of the vehicle connection module GCM in the direction of movement; the locking mechanisms (7) are respectively arranged between the workshop connection module GCM (3) and the end vehicle body module ECM (1) and between the workshop connection module GCM (3) and the middle vehicle body module ICM (2).

10. The virtual rail train according to claim 1, wherein a driver cab is provided in the end body module ECM (1).