WO2004068438A1 - Mini-vehicle track traffic system - Google Patents

Mini-vehicle track traffic system Download PDF

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Publication number
WO2004068438A1
WO2004068438A1 PCT/CN2004/000087 CN2004000087W WO2004068438A1 WO 2004068438 A1 WO2004068438 A1 WO 2004068438A1 CN 2004000087 W CN2004000087 W CN 2004000087W WO 2004068438 A1 WO2004068438 A1 WO 2004068438A1
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WIPO (PCT)
Prior art keywords
vehicle
track
station
computer
platform
Prior art date
Application number
PCT/CN2004/000087
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French (fr)
Chinese (zh)
Inventor
Yong Shen
Original Assignee
Yong Shen
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Publication date
Priority to CN03102259.6 priority Critical
Priority to CN03102259A priority patent/CN1429726A/en
Application filed by Yong Shen filed Critical Yong Shen
Publication of WO2004068438A1 publication Critical patent/WO2004068438A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B61RAILWAYS
    • B61BRAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B13/00Other railway systems

Abstract

The invention discloses a vehicle track traffic system and a vehicle track traffic control method. The system includes unpiloted vehicles, close tracks and stations. The vehicles are controlled by computers and run in the close tracks. The close tracks include straight tracks, branch crossings and combination crossings. The stations are set along the close tracks. The system can replace undergrounds and city railway and can build the whole city track traffic road web.

Description

小型车辆的轨道交通系统 技术领域  TECHNICAL FIELD
本发明涉及城市轨道交通, 具体地说, 是以组织无人驾驶的小型 车辆在封闭轨道路内运输的轨道交通系统。  The present invention relates to urban rail transit, and in particular, to a rail transit system that organizes small vehicles that are unmanned for transportation in closed rail roads.
背景技术  Background technique
地铁和轻轨是城市轨道交通系统, 它是城市的公共交通运输的主 干线, 具有客流量大的特点, 它促进了城市的经济发展和改善了人民 的生活和工作。 地铁和轻轨主要由调度控制中心、 车站、 列车、 封闭 轨道和信号系统等组成; 运输组织方式是按调度控制中心的运行计划 组织列车运行, 列车按闭塞(区间闭塞、 自动闭塞或移动闭塞) 的信 号行驶, 以确保列车的安全、 有序地运行。  The subway and light rail are urban rail transit systems. They are the main lines of urban public transportation. They have the characteristics of large passenger flows. They promote the economic development of the city and improve people's lives and work. Subway and light rail are mainly composed of dispatch control center, station, train, closed track and signal system, etc .; the transportation organization mode is to organize the train operation according to the operation plan of the dispatch control center, and the train is blocked (interval block, automatic block or mobile block). Signals to ensure the safe and orderly operation of the train.
但是, 地铁和轻轨系统庞大、 技术复杂, 投资大, 工期长; 运营 费用高, 客运低峰时间运输效率低; 运输服务单一(仅是客运), 不能 实现综合运输; 不便于组成城市轨道交通运输网, 车辆不能跨线路运 行, 乘客必须进行换乘才能跨线路出行; 不能实现全市轨道运输路网 内的个性化的站至站直达服务等缺点。  However, the subway and light rail systems are large, complicated in technology, large in investment, and long in construction period; high operating costs, low passenger transport efficiency during low peak hours; single transport service (only passenger transport), and cannot achieve comprehensive transport; not convenient for urban rail transport Network, vehicles cannot run across lines, passengers must transfer to travel across lines; shortcomings such as personalized station-to-station direct service within the city's rail transport road network cannot be realized.
发明内容  Summary of the Invention
本发明综合了地铁和轻轨的封闭轨道特点, 出租车的点到点运输 的模式; 采用了信息技术、 计算机和单片机应用技术、 自动控制技术、 无线数据通信应用技术, 装备和改造了传统的轨道交通系统。 提出了 一套智能化轨道交通系统: 采用与地铁和轻轨完全不同的智能化的小 型车辆, 封闭轨道和具有调度功能的车站等设施, 实现智能化的运输 系统。  The invention integrates the characteristics of closed tracks of subways and light rails, and the mode of point-to-point transportation of taxis; adopts information technology, computer and single-chip computer application technology, automatic control technology, wireless data communication application technology, and equips and remodels traditional tracks traffic system. An intelligent rail transit system is proposed: it adopts intelligent small vehicles that are completely different from subways and light rails, closed rails and stations with dispatching functions, etc. to realize an intelligent transport system.
该系统的车站组织按乘客需要的发车和到达车辆的乘客下车等项 调度工作, 运行过程是由智能车辆自行编制运行计划、 自动控制运行 速度、 以单个车辆或自行动态编组成的虚拟列车在封闭轨道上行驶, 中间不停地直达目的站。 轨道和车站配置了配套装置, 以配合控制车 辆的运行, 简化了车辆的控制要求, 降低了智能车辆的 施难度。 由 计算机信息网络和通信系统将车辆、 轨道、 车站等基本单元组合成积 木化的智能轨道交通运榆系统。  The system's stations organize dispatch tasks according to the passenger's needs for departure and arrival of passengers. The operation process is that the intelligent vehicle compiles the operation plan by itself, automatically controls the operation speed, and consists of a single vehicle or a dynamic train composed by itself. Driving on a closed track, nonstop to the destination station. The track and station are equipped with supporting devices to control the operation of the vehicle, simplifying the control requirements of the vehicle and reducing the difficulty of implementing intelligent vehicles. The computer information network and communication system combine the basic units such as vehicles, rails, and stations into a building-based intelligent rail transportation system.
本发明是采用成熟的技术或产品, 通过系统设计对技术和产品重 新组合, 通过计算机(单片机) 实现设备的智能化, 由计算机信息网 络将各个部分有机地成为智能系统。 The invention adopts mature technology or product, and emphasizes technology and product through system design. The new combination realizes the intelligence of the equipment through a computer (Single Chip Microcomputer), and the computer information network organically turns each part into an intelligent system.
本发明的目的是提供由计算机组织小型的无人驾驶的车辆在封闭 道路上进行运输的轨道交通系统。 它既有地铁和轻轨的大运输量的特 点, 又有出租车的灵活性运输方式; 与地铁和轻轨相比, 它的投资少, 运输效率高, 能建立全市性轨道交通路网等优点。  An object of the present invention is to provide a rail transit system in which a small, self-driving vehicle is organized by a computer to transport on a closed road. It not only has the characteristics of large transportation volume of subway and light rail, but also the flexible transportation mode of taxi. Compared with subway and light rail, it has less investment, high transportation efficiency, and can establish the city's rail transit network.
为达到所述目的, 本发明采用由计算机控制的小型运输车辆、 封 闭轨道上设置了配套的控制装置、 具有轨道网和计算机调度中心的车 站; 并采用了按需发车的运输组织方式。  In order to achieve the object, the present invention adopts a small transport vehicle controlled by a computer, a matching control device provided on a closed track, a station having a track network and a computer dispatch center; and an on-demand transportation organization method.
根据本发明的第一方面, 提供了一种小型车辆的轨道交通系统, 所述车辆的轨道交通系统包括: 无人驾驶的智能小型电动车辆 1 ; 具有 调度功能的供乘客上车或下车的车站 3; 在车站之间的区间封闭轨道, 所述区间封闭轨道有直行轨道 2、 分岔路口 4和合并路口 5, 智能车辆 在发车车站和目的车站之间的封闭轨道内自行编组成为虚拟列车行 驶。  According to a first aspect of the present invention, a rail transit system for a small vehicle is provided. The rail transit system for the vehicle includes: a driverless intelligent small electric vehicle 1; a passenger with a dispatch function for getting on or off the vehicle Station 3; a closed track in the section between the stations, the section closed track has a straight track 2, a bifurcation intersection 4, and a merge intersection 5, and the intelligent vehicle self-assembles into a virtual train in the closed track between the departure station and the destination station travel.
所述系统包括还包括车辆与轨道、 车站之间进行信息交换、 传送 指令的无线通信系统。 所述无线通信系统包括: 区域无线通信系统, 区域无线通信系统是车辆与车站局域网的移动数据通信, 通信覆盖范 围是车站的站区, 区域无线通信系统包括安装在车辆 1 的车辆无线通 信设备 411与设置在车站 3的车站无线通信设备 710, 通过该区域无线 通信系统, 车辆接受车站的调度计算机对车辆发送调度指令或对车辆 进行无线引导; 车辆向车站的调度计算机发送运行信息、 申请和应答 的指令; 轨道无线通信系统, 实现车辆与轨道计算机之间的通信, 轨 道无线通信系统包括: 在车辆上安装的车辆 1的车辆无线通信器 410, 在轨道 2 上安装的轨道无线通信机 210和在车辆运行方向的轨道左侧 安装的供无线通信的泄漏电缆 23, 无线通信器 410的天线 53安装在车 辆 1 的底盘 50下面并安装在车辆的左侧, 它接收泄漏电缆 23辐射的 射频信号, 并向轨道无线通信机 210发射信号; 微无线通信系统, 包 括设置在车辆上的后保险杠 42 上的车辆运行信息发射器 46 和在车辆 的前保险杠 41或车厢前部安装的前车信息接收器 45, 前面车辆的车辆 运行信息发射器 46 向后面车辆的前车信息接收器 45 发送信息, 后面 车辆的前车信息接收器 45接收信息, 实现前车对后车的近距离无线通 信。 The system includes a wireless communication system that also exchanges information and transmits instructions between vehicles and rails and stations. The wireless communication system includes: an area wireless communication system, where the area wireless communication system is mobile data communication between a vehicle and a station local area network, the communication coverage area is a station area of the station, and the area wireless communication system includes a vehicle wireless communication device 411 installed in the vehicle 1 With the station wireless communication device 710 installed at station 3, through the regional wireless communication system, the vehicle accepts the station's dispatching computer to send dispatch instructions to the vehicle or wirelessly guides the vehicle; the vehicle sends operating information, applications, and responses to the station's dispatching computer. Orbit wireless communication system, which realizes the communication between the vehicle and the orbit computer. The orbit wireless communication system includes: the vehicle wireless communicator 410 of the vehicle 1 installed on the vehicle, the orbit wireless communication device 210 installed on the orbit 2 and A leaky cable 23 for wireless communication is installed on the left side of the track in the vehicle running direction, and an antenna 53 of the wireless communicator 410 is installed under the chassis 50 of the vehicle 1 and is installed on the left side of the vehicle. It receives radio frequency signals radiated by the leaky cable 23 And Orbital Wireless Communicator 210 Radio signal; a micro wireless communication system, including a vehicle operation information transmitter 46 provided on the rear bumper 42 of the vehicle, and a front vehicle information receiver 45 installed on the front bumper 41 of the vehicle or the front of the compartment; The vehicle running information transmitter 46 sends information to the preceding vehicle information receiver 45 of the following vehicle, and the preceding vehicle information receiver 45 of the following vehicle receives the information, so as to realize the close-range wireless communication between the preceding vehicle and the following vehicle. Letter.
所述车辆包括车体、 车辆运行标志部分、 车辆运行的安全部分、 车辆运行的导向定位部分和车辆运行的管理控制部分。  The vehicle includes a vehicle body, a vehicle operation flag portion, a vehicle operation safety portion, a vehicle positioning and positioning portion, and a vehicle operation management and control portion.
所述车辆运行标志部分包括: 安装在车辆上的车辆信息发射器 54 和轨道信号接收装置 52; 在轨道上安装的车辆信息接收器 29和轨道信 号发送装置 30, 当车辆进入一段新轨道时, 轨道的车辆信息接收器 29 接收或检测车辆信息发射器 54发出的信息; 车辆的轨道信号接收装置 52接收或检测轨道的轨道信号发送装置 30发出的信息, 以确定车辆的 通过和车辆进入了一段新轨道。  The vehicle running mark part includes: a vehicle information transmitter 54 and a track signal receiving device 52 installed on the vehicle; a vehicle information receiver 29 and a track signal transmitting device 30 installed on the track; when the vehicle enters a new track, The track vehicle information receiver 29 receives or detects the information sent by the vehicle information transmitter 54; the track signal receiving device 52 of the vehicle receives or detects the information sent by the track signal transmitting device 30 of the track to determine the passage of the vehicle and the vehicle has entered a segment New tracks.
所述车辆运行的安全部分包括电子测距装置 49 和碰撞緩冲装置 43, 在车辆的前保险杠 41或车厢前部安装了电子测距装置 49, 用于测 量与前车之间的距离; 在车辆的前保险杠 41安装碰撞緩冲装置 43, 碰 撞緩沖装置 43在车辆碰撞时, 起到了緩冲作用, 并输出碰撞信号到信 息采集单片机 402, 再送主控微机 401, 再由主控微机 401控制车辆的 速度。 所述电子测距装置 49 可以采用目前常用的测速雷达, 测量距离 小于 30米, 碰撞緩冲装置 43 可以采用弹簧结构或液压杆结构的碰撞 緩冲装置, 碰撞緩冲装置 43的弹簧或液压杆的弹性系数较小, 以人力 推动保险杠时, 车辆不会移动, 而只是弹簧压缩; 在无外力时就恢复 原状; 在车辆开动时, 前保险杠不应有明显的颤抖, 当后车追逐前面 的车辆而相碰撞时, 后车的前保险杠 41 向后移动, 碰撞緩冲装置 43 输出信号给主控微机, 再由主控微机 401 控制电机驱动电路以降低车 速; 当车辆脱离碰撞时, 前保险杠 41 恢复, 碰撞緩冲装置 43 输出信 号给主控微机, 主控微机 401 控制电机驱动电路以提高车速; 主控微 机不停地调整车速, 达到与前车的运行速度同步。 弹簧结构的碰撞緩 沖装置 43包括: 在车辆前保险杠 41上焊接的导杆 431, 在导杆 431外 面套上的弹簧 430, 固定孔 501, 螺母 432和安装在车辆底盘 50上的 微动开关 439, 导杆 431穿过车辆底盘 50的固定孔 501后, 由螺母 432 固定, 微动开关的安装位置与导杆 431 相配合, 导杆 431 的端部有罗 紋和一个斜面,导杆 431的斜面对准微动开关 439的按钮, 当前保险 41 不移动时, 斜面不接触按钮, 微动开关 ( 439 )处于常闭状态, 而在前 保险杠 41移动时, 斜面接触按钮, 接点断开。 所述液压杆结构的碰撞 緩冲装置 43 包括: 在前保险杠内侧焊接的支架 436, 液压杆 434, 螺 母 432, 微动开关 439和带有一个斜面的板条 435 , 液压杆 434—端由 螺母 432 固定在支架上, 另一端穿过车辆底盘 50的固定孔 501后, 由 螺母 432 固定, 微动开关 439 固定在车辆底盘 50上, 在支架 436 固定 一条带有一个斜面的板条 435, 斜面对准微动开关 439的按钮, 当前保 险杠不移动时, 斜面不接触按钮, 而在前保险杠移动时, 斜面按下按 钮。 The safety part of the running of the vehicle includes an electronic distance measuring device 49 and a collision buffering device 43. An electronic distance measuring device 49 is installed on the front bumper 41 of the vehicle or the front of the compartment to measure the distance from the front vehicle; A collision buffer device 43 is installed on the front bumper 41 of the vehicle. The collision buffer device 43 plays a buffering role when the vehicle collides, and outputs a collision signal to the information collection single-chip microcomputer 402, and then sends it to the main control microcomputer 401, and then the main control microcomputer 401 controls the speed of the vehicle. The electronic distance measuring device 49 may use a current speed measurement radar, and the measurement distance is less than 30 meters. The collision buffer device 43 may use a spring structure or a hydraulic rod structure, and the spring or hydraulic rod of the collision buffer device 43 may be used. The coefficient of elasticity is relatively small. When the bumper is pushed by human power, the vehicle will not move, but only the spring compresses; it will return to its original state when there is no external force; when the vehicle is moving, the front bumper should not have obvious trembling. When a vehicle in front collides, the front bumper 41 of the rear vehicle moves backward, the collision buffer device 43 outputs a signal to the main control microcomputer, and the main control microcomputer 401 controls the motor drive circuit to reduce the vehicle speed; when the vehicle is out of the collision The front bumper 41 is restored, the collision buffer device 43 outputs a signal to the main control microcomputer, and the main control microcomputer 401 controls the motor drive circuit to increase the vehicle speed; the main control microcomputer continuously adjusts the vehicle speed to achieve synchronization with the running speed of the front vehicle. The bumper device 43 with a spring structure includes: a guide rod 431 welded to the front bumper 41 of the vehicle, a spring 430 sleeved on the outside of the guide rod 431, a fixing hole 501, a nut 432, and a micro switch mounted on the vehicle chassis 50 439. After the guide rod 431 passes through the fixing hole 501 of the vehicle chassis 50, it is fixed by the nut 432. The installation position of the micro-switch is matched with the guide rod 431. The end of the guide rod 431 has ribs and an inclined surface. The guide rod 431 The bevel is aligned with the button of the micro switch 439. When the front fuse 41 does not move, the bevel does not touch the button, the micro switch (439) is normally closed, and when the front bumper 41 moves, the bevel contacts the button, and the contact is disconnected. . The impact buffer device 43 of the hydraulic rod structure includes: a bracket 436 welded on the inside of the front bumper, a hydraulic rod 434, a screw Female 432, micro switch 439 and slat 435 with a bevel, hydraulic rod 434-one end is fixed on the bracket by a nut 432, and the other end is fixed by a nut 432 after passing through the fixing hole 501 of the vehicle chassis 50, and is micro-moved The switch 439 is fixed on the vehicle chassis 50, and a bracket 436 with a slanted surface is fixed on the bracket 436. The slanted surface is aligned with the button of the micro switch 439. When the front bumper is not moved, the slanted surface does not touch the button, and on the front bumper When moving, press the bevel button.
车辆运行导向定位部分包括定位轮 44和轨道控制板 51, 在车辆 1 的前保险杠 41、 后保险杠 42的两端分别固定了定位轮 44, 在底盘 50 下面的中间安装了轨道控制板 51, 定位轮套 440通过轴承 441 固定在 定位轮轴 442上, 定位轮 44的组件由调整高度的垫片 444和螺母 443 固定在保险杠的端部, 定位轮套 440的表面有突出的罗纹或定位轮 440 的表面是平滑的。  The vehicle running guide positioning portion includes positioning wheels 44 and a track control plate 51. The positioning wheels 44 are respectively fixed at both ends of the front bumper 41 and the rear bumper 42 of the vehicle 1, and a track control plate 51 is installed in the middle below the chassis 50 The positioning wheel sleeve 440 is fixed on the positioning wheel shaft 442 through a bearing 441. The components of the positioning wheel 44 are fixed to the end of the bumper by a height-adjusting washer 444 and a nut 443. The surface of the positioning wheel sleeve 440 has protruding ribs or positioning. The surface of the wheel 440 is smooth.
所述车辆运行管理部分包括主控微机 401、 红外检测器 58、 电子 显示牌 59、 采集单片机 402、 测量单片机 403、 驱动单片机 404、 显示 单片机 405、 微通信单片机 406、 轨道单片机 407、 区域单片机 408。 主控微机 401设置在车辆 1的内部, 并存储了系统的各车站、 停车场、 各段轨道、 各路口分布的电子地图, 车门上部安装了红外检测器 58, 用于检测车外是否有乘客在上、 下车, 以控制自动开关车门 503; 安装 在车辆上的电子显示牌 59用于显示车辆运行的目的站。采集单片机 402 采集碰撞緩沖装置 43、 轨道信号接收装置 52、 光电对射器 55、 红外检 测器 58 的开关信号; 测量单片机 403采集电子测距设备 49测量的数 据。 驱动单片机 404通过驱动电路控制动力电机 65和控制制动装置, 控制电机的运转速度, 实现控制车辆的车速; 显示单片机 405 用于控 制电子显示牌 59的显示内容; 微通信单片机 406处理前车信息接收器 45接收的信息, 控制车辆运行信息发射器 46发射车辆的运行信息; 轨 道单片机 407控制无线通信器 410与轨道无线通信机 210的通信; 区 域单片机 408控制无线通信机 411与车站的无线通信设备 710的通信; 主控微机 401 采集各单片机的信息, 向单片机发送工作指令; 各单片 机各负其责, 控制车辆按主控微机 401的运行计划运行。  The vehicle operation management part includes a main control microcomputer 401, an infrared detector 58, an electronic display card 59, a collection single chip 402, a measurement single chip 403, a driving single chip 404, a display single chip 405, a micro communication single chip 406, a track single chip 407, and a regional single chip 408. . The main control microcomputer 401 is installed inside the vehicle 1, and stores electronic maps of the stations, parking lots, sections of tracks, and intersections in the system. An infrared detector 58 is installed on the upper part of the door to detect whether there are passengers outside the vehicle. On and off the vehicle to control the automatic opening and closing of the door 503; the electronic display board 59 installed on the vehicle is used to display the destination station of the vehicle operation. The acquisition single-chip microcomputer 402 collects the switching signals of the collision buffer device 43, the track signal receiving device 52, the optoelectronic transmitter 55, and the infrared detector 58; the measurement single-chip microcomputer 403 collects the data measured by the electronic ranging device 49. The driving single chip microcomputer 404 controls the power motor 65 and the control braking device through the driving circuit to control the running speed of the motor to control the speed of the vehicle; the display single chip microcomputer 405 is used to control the display content of the electronic display card 59; the micro communication single chip microcomputer 406 processes the information of the front car The information received by the receiver 45 controls the vehicle operation information transmitter 46 to transmit vehicle operation information; the track single-chip microcomputer 407 controls the communication between the wireless communicator 410 and the track wireless communicator 210; the area single-chip microcomputer 408 controls the wireless communication between the wireless communication machine 411 and the station The communication of the device 710; the main control microcomputer 401 collects the information of each single-chip microcomputer, and sends work instructions to the single-chip microcomputer; each single-chip microcomputer has its own responsibility to control the vehicle to operate according to the operation plan of the main control microcomputer 401.
车辆轨道交通系统所使用的电源是蓄电池, 或者是以地面供电系 统供电为主、 蓄电池作为备用。  The battery used in the vehicle rail transit system is a battery, or the ground power system is the main power supply, and the battery is used as a backup.
轨道 在每条单向轨道的两侧安装了护栏 22、 轨道面 21、 支架 31, 在轨 道的外侧设置设备密封机拒 32, 在设备密封机拒 32内放置轨道计算机 201和轨道无线通信机 210。 Track Guard rails 22, track surfaces 21, and brackets 31 are installed on both sides of each unidirectional track. A device sealer 32 is provided on the outside of the track, and a track computer 201 and a track radio 210 are placed in the device seal 32.
单向分岔路口 4 的分岔处安装了由单片机 202 控制的车辆转向控 制装置 24, 车辆转向装置 24是安装在轨道上的一对相反运转方向的传 送带 244,传送带 244由主动轴 241驱动,被动轴 242支撑,主动轴 241 连接低速电机 243或带有变速器的电机, 在车辆转向控制装置 24后方 的轨道面 21上安装压敏器件 246, 并且压敏器件 246位于传送带 244 出口的地面处, 压敏器件 246的输出信号送单片机 202, 在车的后轮压 在压敏器件 246时, 单片机 202收到压敏器件 246输出的表示该车辆 已经通过车辆转向装置的信号, 控制电机 243转动, 当左侧传送带 244 向前传动、右侧传送带 244向后传动,车辆 1就在车辆转向控制装置 24 配合下驶向岔道。 在分岔出口处安装了多对车辆定位轮 25, 第一对车 辆定位轮的轴间距离最大, 以后各对的轴间距离逐渐减小, 当车辆 1 通过分岔路口 4时, 车辆的轨道控制板 51进入第一对定位轮 25 , 逐渐 通过第二对、 第三对, ……, 车辆被定位在轨道中央, 避免车辆撞击 护栏。所述车辆定位轮 25包括:两个橡胶轮 250、轴承 252、两根轴 251、 支架 253、 两个橡胶轮 250通过轴承 252分别固定在两 f艮轴 251上, 轴 251与支架 253焊接固定, 两轴 251之间的最小距离大于车辆的轨道控 制板 51的厚度。  The one-way bifurcation intersection 4 is equipped with a vehicle steering control device 24 controlled by a single-chip microcomputer 202. The vehicle steering device 24 is a pair of conveyor belts 244 installed in opposite directions on a track. The conveyor belt 244 is driven by a driving shaft 241. The passive shaft 242 is supported, and the active shaft 241 is connected to a low-speed motor 243 or a motor with a transmission. A pressure-sensitive device 246 is installed on the track surface 21 behind the vehicle steering control device 24, and the pressure-sensitive device 246 is located on the ground at the exit of the conveyor belt 244. The output signal of the pressure-sensitive device 246 is sent to the single-chip microcomputer 202. When the rear wheel of the car is pressed on the pressure-sensitive device 246, the single-chip microcomputer 202 receives a signal indicating that the vehicle has passed the vehicle steering device and controls the motor 243 to rotate. When the left conveyor 244 is driven forward and the right conveyor 244 is driven backward, the vehicle 1 drives to the fork with the cooperation of the vehicle steering control device 24. A plurality of pairs of vehicle positioning wheels 25 are installed at the branch exit. The first pair of vehicle positioning wheels has the largest distance between the axes. Later, the distance between the axes of each pair gradually decreases. When vehicle 1 passes the branch road 4, the track of the vehicle The control board 51 enters the first pair of positioning wheels 25, and gradually passes the second pair, the third pair, ..., and the vehicle is positioned in the center of the track to prevent the vehicle from hitting the guardrail. The vehicle positioning wheel 25 includes: two rubber wheels 250, bearings 252, two shafts 251, a bracket 253, and two rubber wheels 250 respectively fixed on two shafts 251 through bearings 252. The shaft 251 and the bracket 253 are welded and fixed The minimum distance between the two shafts 251 is greater than the thickness of the track control plate 51 of the vehicle.
此夕卜,在单向合并路口 5的两条轨道的入口处安装了一对定位轮 25 和车速控制装置 26, 在车速控制装置 26后面的地面, 车轮可以压着的 位置安装了压敏器件 246, 在合并路口的出口处安装若干对定位轮 25。 车速控制装置 26 包括轴 261、 一对固定在轴 261上的旋转轮 260、 轴 承 262和支架 263、 变速箱 264和由合并路口 5的单片机 203控制的电 机 265, 轴 261通过轴承 262固定在支架 263上; 两个旋转轮 260之间 的间隙与车辆底盘下的轨道控制板 51 的厚度相等, 并且是紧配合; 其 中一根轴通过变速箱 264连接在由单片机 203控制的电机 265上。  At the same time, a pair of positioning wheels 25 and a vehicle speed control device 26 were installed at the entrance of the two tracks of the one-way merge intersection 5, and pressure sensitive devices were installed on the ground behind the vehicle speed control device 26 where the wheels could be pressed. 246. Install several pairs of positioning wheels 25 at the exit of the merged intersection. The vehicle speed control device 26 includes a shaft 261, a pair of rotating wheels 260 fixed on the shaft 261, a bearing 262 and a bracket 263, a gearbox 264, and a motor 265 controlled by the single-chip microcomputer 203 of the junction 5. The shaft 261 is fixed to the bracket through the bearing 262 263; the gap between the two rotating wheels 260 is equal to the thickness of the track control board 51 under the vehicle chassis and is a tight fit; one of the shafts is connected to the motor 265 controlled by the single-chip microcomputer 203 through the gearbox 264.
合并路口 5的单片机 203控制两条进路的车速控制装置 26是采用 乒乓方式, 即放行一条进路的车辆, 就制止另一条进路的车辆通行, 单片机 203 的管理控制规则: 一般是先到先走; 两个进路的车辆同时 到达时, 主路优先; 在主路的虚拟列车 8 通过时, 待虚拟列车 8 通过 后, 放行辅路车辆。 The single-chip microcomputer 203 at the intersection 5 controls the two speed control devices 26. The ping-pong method is adopted. That is, the vehicles of one path are released, and the vehicles of the other path are stopped. The management and control rules of the single-chip 203 are: Go first; when the two vehicles arrive at the same time, the main road has priority; when the virtual train 8 of the main road passes, wait for the virtual train 8 to pass After that, release auxiliary vehicles.
车站分为 3 个等级: 小客流量车站, 中等客流量车站, 大客流量 车站; 不同等级的车站配置不同的轨道网。  The stations are divided into 3 levels: small-passenger stations, medium-passenger stations, and high-passenger stations; stations of different levels are configured with different track networks.
在小客流量车站, 在进站处有分岔路口 4, 在出站处有合并路口 5, 车站中间每方向有两条相互隔离的轨道, 一条正线为提供通过车辆的 直通轨道 71, 另一条侧线为上车和下车的站台轨道 720, 站台 74设在 站台轨道 720的外侧或者直通轨道 71安排在外侧而将站台设于中间。  At a small passenger station, there is a bifurcation junction 4 at the entry station, and a merge junction 5 at the exit station. There are two isolated tracks in each direction in the middle of the station. One main line is to provide a straight track 71 for passing vehicles. One side line is the platform track 720 for getting on and off the train. The platform 74 is provided on the outside of the platform track 720 or the through track 71 is arranged on the outside to set the platform in the middle.
在中等以上客流量的车站, 在进站处有分岔路口 4 , 在出站处有合 并路口 5, 车站中间每方向有三条相互隔离的轨道, 第一条正线为提供 通过车辆的直通轨道 71, 第二条为上车和下车的站台轨道 720, 在直 通轨道 71与站台轨道 720之间增加第三条通行轨道 73, 站台 74设在 站台轨道 720的外侧, 站台轨道 720和通行轨道 73之间没有隔离护栏。 在站台轨道 702和通行轨道 73上安装了车辆转向控制装置 24, 车辆按 调度指令驶到指定的车辆转向控制装置 24处, 由车辆转向控制装置 24 将车辆从通行轨道 73转向站台轨道 720, 或将车辆从站台轨道 720移 至通行轨道 73。  At a station with a medium passenger volume or above, there is a bifurcation junction 4 at the entry station, and a merge junction 5 at the exit station. There are three isolated tracks in each direction in the middle of the station. The first main line is a straight track for passing vehicles. 71. The second is the platform track 720 for getting on and off the train. A third passing track 73 is added between the through track 71 and the platform track 720. The platform 74 is located outside the platform track 720. The platform track 720 and the passing track There are no barriers between 73. A vehicle steering control device 24 is installed on the platform track 702 and the passing track 73, and the vehicle drives to the designated vehicle steering control device 24 according to the dispatch instruction, and the vehicle steering control device 24 steers the vehicle from the passing track 73 to the platform track 720, or The vehicle is moved from the platform track 720 to the passing track 73.
在大客流量车站,车站轨道分上下两层,上层为直通轨道 71-1、 71-2 和下车站台轨道 72-1、 72-2 , 下层为通行轨道 73-1、 73-2和上车站台 轨道 80-1、 80-2,区间直行轨道 2 在进站的第 1个分岔路口 4-1、 4-2 分别连接直行轨道和调车轨道 75-1、 75-2; 直行轨道分别通过第 2 个 分岔路口 4-3、 4- 4接直通轨道 71-1、 71-2和供下车的站台轨道 72-1、 72-2 , 下车的站台轨道 72-1、 72-2 与折返轨道 77-1、 77-2 连接; 折 返轨道 77-1、 77-2是从上层到达下层的轨道, 在下层与停车轨道或停 车场 79-2、 79-1 连接; 停车轨道或停车场 79-2、 79-1 分别与反方向 的通行轨道 73-2、 73-1 相接; 通行轨道 73-2、 73-1 分别与上车站台 轨道 80-2、 80-1相接;上车站台轨道 80-2、 80-1与通行轨道 73-2、 73-1 平行, 在上车站台轨道 80-2、 80-1 和通行轨道 73-2、 73-1 之间没有 隔离护栏, 安装了车辆横向传送装置 78, 通行轨道 73-2、 73-1分别接 至发车轨道 76-2、 76-1 , 发车轨道 76-2、 76-1是从下层到达上层的轨 道; 发车轨道 76-2、 76-1分别和直通轨道 71-2、 71-1在合并路口 5-2、 5-1合并到区间的直行轨道,空车从调车轨道 75-1、 75-2分别驶入下层 停车轨道 79-1、 79-2和通行轨道 73-1、 73-2。 在通行轨道和站台轨道中间安装车辆横向传送装置 78, 用于横向 传送车辆,所述车辆横向传送装置 78包括主动电机 783,主动滚轮 781 , 传送带 784, 辅助滚轮 782, 在传送带上固定的限位块 785、 左移和右 移限位板 786和限位开关。 At the high-traffic station, the station track is divided into two layers, the upper layer is the through track 71-1, 71-2 and the lower platform track 72-1, 72-2, and the lower layer is the passing track 73-1, 73-2 and upper Platform track 80-1, 80-2, section straight track 2 At the first branch of the pit stop, 4-1, 4-2 respectively connect the straight track and shunting track 75-1, 75-2; straight track Pass through the second branch roads 4-3, 4-4 to the through rails 71-1, 71-2 and the platform rails 72-1, 72-2 for getting off, and the platform rails 72-1, 72 for getting off -2 is connected to turn-back rails 77-1, 77-2; turn-back rails 77-1, 77-2 are tracks from the upper level to the lower level, and are connected to parking rails or parking lots 79-2, 79-1 at the lower level; parking rails Or the parking lots 79-2, 79-1 are connected with the traffic rails 73-2, 73-1 in the opposite direction respectively; the traffic rails 73-2, 73-1 are respectively connected with the upper platform rails 80-2, 80-1 Connect; the upper platform rails 80-2, 80-1 are parallel to the passing rails 73-2, 73-1, there is no between the upper platform rails 80-2, 80-1 and the passing rails 73-2, 73-1 Isolation barrier with vehicle transverse conveyor 78, access track 7 3-2, 73-1 are connected to the starting rails 76-2 and 76-1, respectively. The starting rails 76-2 and 76-1 are the tracks from the lower level to the upper level; the starting rails 76-2 and 76-1 are respectively the through rails. 71-2 and 71-1 are merged into the straight track at the intersections 5-2 and 5-1, and empty cars drive from the shunting tracks 75-1 and 75-2 to the lower parking tracks 79-1 and 79-2, respectively. And passing rails 73-1, 73-2. A vehicle horizontal conveying device 78 is installed between the passing track and the platform track for horizontally conveying the vehicle. The vehicle horizontal conveying device 78 includes an active motor 783, an active roller 781, a conveyor belt 784, an auxiliary roller 782, and a limit position fixed on the conveyor belt. Block 785, left and right limit board 786 and limit switch.
由站台轨道计算机控制主动电机 783, 主动电机带动主动滚轮 781, 从而驱动传送带 784, 传送带由辅助滚轮 782支撑, 电机按需要可以顺 时针和逆时针旋转, 在传送带上固定了限位块 785、 在站台和通行轨道 上固定了左移和右移两个限位板 786, 限制了传送带的移动距离; 在限 位板 786 安装了限位开关, 平时开关接通, 当车辆横向传送装置载车 移动到站台轨道的位置时, 限位板与限位块接触, 限制了传送带移动, 同时, 限位开关断开, 单片机控制的电机停止运转, 当车辆横向传送 装置载车移动到通行轨道的位置时, 另一块限位板与限位块接触, 也 限制了传送带移动和控制电机停止运转。  The platform track computer controls the active motor 783. The active motor drives the active roller 781 to drive the conveyor belt 784. The conveyor belt is supported by the auxiliary roller 782. The motor can rotate clockwise and counterclockwise as required. The limit block 785 is fixed on the conveyor belt. Two limit plates 786, left and right, are fixed on the platform and the passing track, which limit the moving distance of the conveyor belt. A limit switch is installed on the limit plate 786. The switch is normally turned on. When the position of the platform track is reached, the limit plate is in contact with the limit block, which limits the movement of the conveyor belt. At the same time, the limit switch is turned off, and the motor controlled by the single-chip microcomputer stops running. When the vehicle is transported by the vehicle to the position of the passing track The contact of another limit plate with the limit block also restricts the movement of the conveyor and stops the motor from running.
在车站设置有计算机调度中心, 车站的计算机调度中心包括一套 计算机局域网, 计算机局域网包括票务系统 709、 站厅计算机 702、 站 台计算机 703和调度计算机 701, 计算机局域网内的计算机通过集线器 704进行联网, 并由集线器 704通过专用通信线路接入企业城域网, 计 算机局域网还设置了车辆分布位置数据库 708和乘客信息数据库 707, 票务系统 709包括人工售票计算机 704和自动售票计算机 705, 站厅计算机 702与站台的引导电子指示牌 85 的单片机 705、 各乘 车口的验票闸机 86控制单片机 706组成集散控制系统。站厅计算机 702 将电子显示牌 85的显示内容送单片机 705, 由单片机 705驱动电子指 示牌 85。 站厅计算机( 702 )将乘车口的目的站信息送验票闹机(86 ) 的控制单片机 706, 当验票正确时, 验票闸机 86放行乘客, 并将通过 的乘客人数送站厅计算机 702。  A computer dispatch center is set at the station. The computer dispatch center at the station includes a set of computer local area networks. The computer local area network includes a ticketing system 709, a hall computer 702, a platform computer 703, and a dispatch computer 701. Computers in the computer local area network are connected via a hub 704. The hub 704 is connected to the corporate metropolitan area network through a dedicated communication line. The computer local area network also has a vehicle distribution database 708 and a passenger information database 707. The ticketing system 709 includes a manual ticket computer 704 and an automatic ticket computer 705. The station computer 702 and The single-chip microcomputer 705, which guides the electronic sign 85 at the platform, and the single-chip microcomputer 706, which controls the ticket gates 86 at each entrance, form a distributed control system. The station computer 702 sends the display contents of the electronic display board 85 to the single-chip microcomputer 705, and the single-chip microcomputer 705 drives the electronic sign board 85. The station computer (702) sends the information of the destination station at the departure gate to the control single chip 706 of the ticket checking machine (86). When the ticket check is correct, the ticket checking gate 86 releases the passengers and sends the number of passing passengers to the station hall. Computer 702.
站台计算机 703 与各单片机组成集散控制系统, 所述单片机有管 理各轨道的轨道单片机 902、 管理分岔路口的单片机 202、 管理合并路 口的单片机 203、 控制车辆橫向传送控制的移动单片机 901。 轨道单片 机 902采集车辆信息接收器 29接收到车辆 1 的车辆信息发射器 54的 发射信号, 并通过轨道无线通信机 210 对车辆进行登记、 排序, 轨道 单片机 902将车辆的运行信息送站台计算机 703; 移动单片机 901采集 车辆进入车辆横向移动装置的信息和横向移动装置的位置信息送站台 计算机 703, 站台计算机 703将调度计算机 701的调度指令送移动单片 机 901 ; 分岔路口单片机 202将车辆到达的信息送站台计算机 703; 站 台计算机 703将出发车辆的信息送合并路口的单片机 203; The platform computer 703 and each single-chip microcomputer constitute a distributed control system. The single-chip microcomputer includes a track single-chip microcomputer 902 that manages each track, a single-chip microcomputer 202 that manages bifurcation intersections, a single-chip microcomputer 203 that manages merged intersections, and a mobile single-chip microcomputer 901 that controls lateral transmission control of the vehicle. The track single chip microcomputer 902 collects the vehicle information receiver 29 and receives the transmission signals of the vehicle information transmitter 54 of the vehicle 1, and registers and sorts the vehicles through the track wireless communication machine 210. The track single chip microcomputer 902 sends the vehicle operation information to the platform computer 703; The mobile single chip microcomputer 901 collects the information of the vehicle entering the vehicle lateral movement device and the position information of the lateral movement device to the platform Computer 703, platform computer 703 sends dispatching instructions from dispatching computer 701 to mobile single-chip microcomputer 901; bifurcation intersection single-chip microcomputer 202 sends vehicle arrival information to platform computer 703; platform computer 703 sends departure vehicle information to single-chip microcomputer 203 at the intersection;
调度计算机 701 根据票务系统 709 的乘客的出行信息, 站厅计算 机 702 的乘客通过乘车口的信息, 车辆的在站内分布的信息, 调度空 车到指定位置、 指定车辆去往的目的站、 通过电子指示牌引导乘客到 指定的乘车口乘车、 安排到站的车辆停靠到指定位置, 向车辆发送发 车的指令;车站的站厅计算机 702和站台计算机 703执行调度计算机 701 的调度指令, 并将执行情况、 采集的信息、 报告调度计算机 701 ; 调度 计算机 701 通过区域无线通信系统向车辆 1 下达各种调度指令, 和车 辆 1 向调度计算机 701发送运行信息、 申请发车和接收到调度指令的 应答指令。  The dispatching computer 701 dispatches empty cars to the designated location, the destination station to which the designated vehicle goes, according to the travel information of the passengers in the ticketing system 709, the information of the passengers at the station computer 702, and the information of the vehicle's distribution within the station. An electronic sign guides passengers to a designated departure point for boarding, arranges for a vehicle to stop at a designated location, and sends a departure instruction to the vehicle; the hall computer 702 and the platform computer 703 of the station execute the dispatch instruction of the dispatch computer 701, and The execution situation, collected information, and report to dispatch computer 701; dispatch computer 701 issues various dispatch instructions to vehicle 1 through the regional wireless communication system, and vehicle 1 sends operating information to dispatch computer 701, requests for departure, and receives responses to dispatch instructions instruction.
根据本发明的第二方面, 提供了一种车辆的轨道交通系统的控制 方法, 所述车辆的轨道交通系统包括: 无人驾驶的车辆 1 ; 区间封闭轨 道, 其中区间封闭轨道有直行轨道 2、 分岔路口 4和合并路口 5, 车辆 在封闭轨道行驶; 车站 3, 在区间封闭轨道之间设置有供乘客上车或下 车的车站。 所述控制方法包括车辆轨道交通系统的运输组织方法, 所 述运输组织方法包括下列步骤:  According to a second aspect of the present invention, a method for controlling a rail transit system of a vehicle is provided. The vehicle's rail transit system includes: an unmanned vehicle 1; an interval closed track, wherein the interval closed track has a straight track 2, For the intersection 4 and the merge intersection 5, the vehicle runs on a closed track; for the station 3, a station for passengers to get on or off the train is provided between the closed tracks of the section. The control method includes a transportation organization method of a vehicle rail transportation system, and the transportation organization method includes the following steps:
调车: 出发车站的调度计算机按需要随机调度车辆, 指定空车到 乘客上车的站台轨道, 车辆在轨道的车辆转向装置或车辆横向传送装 置的配合下, 控制车辆停在指定位置;  Shunting: The dispatching computer at the departure station randomly dispatches vehicles as required, designates empty cars to the platform tracks where passengers board, and the vehicles are controlled to stop at the designated locations in cooperation with the vehicle's steering device or the vehicle's lateral transmission device;
确定目的站和选择车辆行驶的路线: 确定车辆行驶的目的站后, 乘客上车, 自动驾驶的车辆的主控微机自行确定行驶路线的计划, 直 驶目的站;  Determining the destination station and selecting the route of the vehicle: After the destination station of the vehicle is determined, passengers board the vehicle, and the main control microcomputer of the auto-driving vehicle determines the plan of the route by itself, and drive directly to the destination station;
发车: 调度计算机发送发车指令, 车辆通过通行轨道进入发车轨 道; 在出站的合并路口, 车辆在轨道的车速控制装置配合下, 驶入区 间的直行轨道;  Departure: The dispatching computer sends a departure instruction, and the vehicle enters the departure track through the passing track; at the merged exit of the station, the vehicle enters the direct track in the area with the speed control device of the track;
行驶: 车辆在区间的直行轨道上行驶, 并向轨道计算机进行登记、 核对和排序, 车辆的主控微机将实际行驶路线与行驶路线计划进行比 对, 确定继续行驶的方向; 轨道计算机将前进方向通知前方的路口单 片机, 车辆在分岔路口需要拐弯时, 轨道计算机通过单片机启动车辆 转向控制装置, 控制车辆拐弯; 车辆运行: 车辆从发车站行驶到目的站台; 车辆自动组成虚拟列 车在轨道内运行; Traveling: The vehicle travels on the straight track in the section, and registers, checks and sorts with the track computer. The main control microcomputer of the vehicle compares the actual driving route with the planned driving route to determine the direction to continue; the track computer will move forward Notify the single-chip microcomputer at the intersection, when the vehicle needs to turn at the bifurcation, the track computer starts the vehicle steering control device through the single-chip microcomputer to control the vehicle's turning; Vehicle operation: The vehicle travels from the departure station to the destination platform; the vehicle automatically forms a virtual train to run on the track;
车辆到站: 车辆在到达目的站的分岔路口时, 车辆在车辆转向控 制装置的配合下, 控制车辆驶到通行轨道, 按目的站调度计算机的调 度指令, 车辆停到下车站台轨道的指定位置; 在乘客下完车后, 按调 度计算机的调度指令车辆停在停车轨道或停车场, 或者按调度计算机 的调度指令车辆停在乘客上车的站台轨道。  Vehicle Arrival: When the vehicle arrives at the bifurcation of the destination station, the vehicle is controlled by the vehicle's steering control device to drive the vehicle to the passing track, according to the dispatch instruction of the destination station dispatch computer, and the vehicle stops at the designated platform track. Position; after the passengers get off the vehicle, the vehicle is parked on the parking track or the parking lot according to the dispatch instruction of the dispatch computer, or the vehicle is parked on the platform track where the passengers get on the dispatch according to the dispatch instruction of the dispatch computer.
所述调车的步骤如下:  The steps of the shunting are as follows:
当上车站台轨道的空车数量不够时, 车站调度计算机查询车站局 域网的车辆位置数据库 708, 当查询到本车站的停车轨道或下车站台轨 道的有空车时, 调度计算机 701-1 通过区域无线通信系统直接通知停 车轨道或下车站台轨道的空车行驶到通行轨道 73-1, 由车辆横向传送 装置 78将空车移到上车站台轨道 80-1 ;  When the number of empty cars on the platform track is not enough, the station dispatch computer queries the vehicle location database 708 of the local area network of the station. When the parking track of the station or the free trains on the platform track are found, the dispatch computer 701-1 passes the area. The wireless communication system directly informs the empty track of the parking track or the lower platform track to travel to the passing track 73-1, and the empty vehicle is moved to the upper platform track 80-1 by the vehicle lateral transmission device 78;
若本车站的停车轨道或下车站台轨道上都无空车时, 调度计算机 If there are no empty cars on the parking track or the lower platform track of the station, the dispatching computer
701 检索企业城域网的车辆动态数据库 803, 根据检索结果, 按先近 后远的原则向后方的富有空车的车站发送空车调度申请; 对方车站的 调度计算机 7 01 一方面通过区域无线通信系统下达调度指令, 按车辆 的身份地址指定车辆开往申请的车站, 另一方面通知站台计算机 703 予以发车; 调度计算机将调度结果通知申请车站的调度计算机; 被调 车辆的调度计算机修改车站的车辆位置数据库; 被调车辆的调度计算 机修改车辆动态数据库 803, 被调车辆通过区间直达调用空车车站, 被 调 车辆通过进站的分岔路口 4-3进入停车轨道或停车场 79-1, 然后进 入上车站台轨道。 701 Search the vehicle dynamics database 803 of the enterprise metropolitan area network. According to the search result, send the empty vehicle scheduling application to the rear station with rich empty vehicles based on the principle of near-to-far-distance. The dispatching computer of the opposite station 7 01 The system issues a dispatch instruction to specify the vehicle to the requested station according to the vehicle's identity address, and on the other hand, informs the platform computer 703 to start the bus; the dispatch computer notifies the dispatch result of the dispatch station to the apply station; the dispatch computer of the transferred vehicle modifies the vehicle at the station Location database; The dispatching computer of the transferred vehicle modifies the vehicle dynamic database 803, the transferred vehicle calls the empty bus station directly through the interval, and the transferred vehicle enters the parking track or parking lot 79-1 through the fork-in intersection 4-3, and then Enter the upper platform track.
所述确定目的站和选择车辆行驶的路线的步骤如下:  The steps for determining a destination station and selecting a route for a vehicle are as follows:
确定目的站: 乘客在购票时确定达到的目的站, 售票计算机将乘 客信息传送给乘客信息数据库, 调度计算机向站台计算机、 站厅计算 机发送调度指令: 停在某位置的某号车辆开往的目的站, 调度计算机 通过区域无线通信系统向车辆发送目的站的指令, 车辆的电子显示牌 显示目的站名; 站厅计算机控制的乘客引导电子指示牌, 显示开往目 的站的车辆位置; 站台护栏的乘车口显示目的站名;  Determining the destination station: The passenger determines the destination station reached when the ticket is purchased. The ticket sales computer transmits the passenger information to the passenger information database, and the dispatching computer sends the dispatching instructions to the platform computer and station hall computer. Destination station. The dispatching computer sends the destination station's instruction to the vehicle through the regional wireless communication system. The electronic display of the vehicle displays the name of the destination station. Passengers controlled by the station computer guide the electronic indication plate to show the position of the vehicle heading for the destination station. The name of the destination station is displayed at the bus stop;
乘客上车: 乘客持车票通过乘车口验票上车, 当去往目的站的乘 客全部上车或车辆满员后, 乘客停止通行, 站厅计算机向调度计算机 发送可以关门和发车信息, 调度计算机向车辆下达指令关门和发车, 验票设备将上车乘客人数通知站厅计算机, 站厅计算机将上车人数修 改乘客信息数据库; Passenger boarding: Passengers board the ticket and pass the check-in gate to board the bus. When all the passengers going to the destination boarding board or the vehicle is full, the passengers stop traffic and the station computer sends to the dispatching computer. Sending the information of closing and departure, the dispatching computer issues instructions to the vehicle to close and departure, and the ticket checking device notifies the number of passengers on board the station computer, and the station computer will modify the number of passengers on the passenger information database;
车辆的红外检测器检测到站台上无乘客时, 在接到关门和发车指 令后, 车门自动关闭; 车辆向站台计算机发送发车申请;  When the vehicle's infrared detector detects that there are no passengers on the platform, the door will automatically close after receiving the door closing and departure instructions; the vehicle sends a departure application to the platform computer;
选择行驶路线: 车辆的主控微机根据出发站和目的站的信息, 根 据存储的全系统的电子地图, 自动选择行驶路线, 确定行驶路线计划、 通过的轨道、 分岔路口、 合并路口、 车站的代码和顺序。  Selecting the driving route: The main control microcomputer of the vehicle automatically selects the driving route based on the information of the departure station and the destination station, and according to the stored electronic map of the entire system, determines the driving route plan, the passing track, the bifurcation intersection, the merged intersection, and the station. Code and order.
所述发车的步骤如下:  The starting steps are as follows:
发车指令: 接到站台计算机发送的发车申请后, 调度计算机向站 台计算机发送发车指令, 站台计算机通过轨道无线通信系统向准备发 车的车辆发送发车指令; 启动车辆转向控制装置, 车辆拐弯驶向通行 轨道, 或由车辆横向传送装置将车辆传送到通行轨道; 站台计算机将 发车信息发送给出站的合并路口单片机;  Departure instruction: After receiving the departure application sent by the platform computer, the dispatching computer sends the departure instruction to the platform computer, and the platform computer sends the departure instruction to the vehicle ready to start via the track wireless communication system; the vehicle steering control device is started, and the vehicle turns to the passing track Or, the vehicle is transported to the passing track by the vehicle's lateral transmission device; the platform computer sends the departure information to the integrated intersection microcontroller of the station;
车速控制: 在站台计算机将发车信息发送给出站的合并路口单片 机之后; 当直通轨道有车辆通过时, 合并路口的单片机控制发车方面 的车速控制装置, 限制出发车辆的速度;  Vehicle speed control: After the platform computer sends the departure information to the station's merged intersection MCU; when a vehicle passes through the through track, the microcontroller at the merged intersection controls the speed control device at the departure point to limit the speed of the starting vehicle;
出站: 合并路口的单片机选择直通轨道的行车空隙, 放行出站车 辆; 放行时, 调整车速控制装置提高出站车辆的车速。  Departure: The single-chip microcomputer at the merged intersection selects the driving gap of the through-track, and releases the departed vehicles. When releasing, adjust the speed control device to increase the speed of the outbound vehicles.
所述车辆运行的步骤如下:  The steps of running the vehicle are as follows:
发送登记指令: 车辆进入直行轨道时, 车辆的轨道信号接收装置 检测到轨道信号发射装置发出的信号后, 车辆的无线通信机发送车辆 号码和目的站的信息, 轨道计算机接收到车辆运行信息后进行登记; 核对运行区段和排序: 轨道的车辆信息接收器检测到车辆信息和 接收到车辆登记信息后, 轨道计算机向车辆发送区段代码、 车辆在区 段运行的序号和车辆运行速度; 车辆接收到轨道计算机的信息和指令 后, 与运行线路进行核对; 轨道计算机向车辆运行前方的分岔路口单 片机发送车辆的运行信息: 车辆号码、 序号、 目的站。  Send registration instruction: When the vehicle enters the straight track, after the vehicle's track signal receiving device detects the signal from the track signal transmitting device, the vehicle's wireless communication device sends the vehicle number and the information of the destination station, and the track computer performs the operation after receiving the vehicle operation information. Registration; Checking the running section and sorting: After the vehicle information receiver of the track detects the vehicle information and receives the vehicle registration information, the track computer sends the section code, the serial number of the vehicle running in the section, and the vehicle running speed; the vehicle receives After the information and instructions from the track computer are checked, they are checked with the running line. The track computer sends the running information of the vehicle to the single-chip microcomputer at the branch road ahead of the vehicle: vehicle number, serial number, and destination station.
所述车辆可以采用虚拟列车方式行驶, 所述虚拟列车方式行驶的 步骤如下:  The vehicle may be driven in a virtual train mode, and the steps of the virtual train mode are as follows:
测距: 车辆的前部安装的电子测距设备在运行时不断测量与前车 的距离, 车辆的主控微机根据距离控制车辆速度; 当距离大于阀值时, 车辆按轨道计算机的指定的速度运行; Ranging: The electronic distance measuring device installed on the front of the vehicle continuously measures the distance from the front vehicle during operation. The main control microcomputer of the vehicle controls the vehicle speed according to the distance; when the distance is greater than the threshold, The vehicle runs at the speed specified by the track computer;
追逐: 当距离小于阀值时, 后车的前车信息接收器能接收到前车 的车辆运行信息, 主控微机根据前车的速度, 控制本车以大于前车的 速度进行追逐。 两车的速度差与车辆之间的距离成线性关系, 车距接 近于零则车辆的速度之差也接近于零;  Chase: When the distance is less than the threshold, the leading vehicle information receiver of the following vehicle can receive the running information of the preceding vehicle, and the main control microcomputer controls the own vehicle to chase at a speed greater than the preceding vehicle according to the speed of the preceding vehicle. The speed difference between the two vehicles has a linear relationship with the distance between the vehicles. If the distance between the vehicles is close to zero, the difference in the speed of the vehicles is also close to zero.
虚拟列车运行: 当车辆距离接近于零而碰撞时, 车辆的碰撞緩冲 装置起到緩冲作用, 传感器向主控微机提供碰撞信息, 主控微机降低 车辆速度, 直到脱离碰撞; 后车不断调整速度, 直到两车的速度同步 进入虚拟列车运行方式为止。  Virtual train operation: When the vehicle distance is close to zero and the collision occurs, the vehicle's collision buffering device plays a buffering role. The sensor provides the collision information to the main control microcomputer. The main control microcomputer reduces the speed of the vehicle until it is out of the collision. The rear vehicle is continuously adjusted. Speed until the speed of the two cars enters the virtual train operation mode simultaneously.
所述车辆到站的步骤如下:  The steps for the vehicle to arrive at the station are as follows:
驶入下车站台轨道: 车辆经过进站的分岔路口时, 由车辆转向控 制装置的控制, 车辆驶入下车的站台轨道;  Drive into the platform track: When the vehicle passes through the fork in the station, it is controlled by the vehicle steering control device, and the vehicle enters the platform track;
停靠下车站台: 车辆进入站台轨道后, 行驶到站台的最前端; 当 前方有停靠车辆时, 车辆就自动调整速度, 停靠在前车的后面, 车辆 停稳后, 自动开启车门;  Stopping at the platform: After the vehicle enters the platform track, it will drive to the forefront of the platform. When there is a vehicle parked in front of the platform, the vehicle will automatically adjust the speed and park at the back of the front vehicle. After the vehicle has stabilized, it will automatically open the door;
停到停车轨道: 车辆待乘客下车完毕后, 车辆自动关闭车门, 跟 随前方车辆行驶到停车轨道, 进入停车轨道后停在轨道上;  Stopping to the parking track: After the passengers have finished getting off the vehicle, the vehicle automatically closes the door, follows the vehicle in front to the parking track, and stops on the track after entering the parking track;
停车登记: 车辆在进入停车轨道时, 车辆向停车轨道的单片机进 行登记。  Parking registration: When the vehicle enters the parking track, the vehicle registers with the microcontroller of the parking track.
小型车辆轨道交通系统的运输组织与传统的轨道交通的运输组织 有所不同: 传统的运输组织是由调度控制中心按计划实施的, 而本系 统是由各车站的计算机调度中心按需要实施的。  The transportation organization of the small vehicle rail transportation system is different from that of the traditional rail transportation: the traditional transportation organization is implemented by the dispatch control center as planned, while the system is implemented by the computer dispatch center of each station as needed.
小型车辆的轨道交通系统的运输组织方法, 是出发车站的调度计 算机按需要随机发送车辆; 自动驾驶的车辆自行编制运行计划、 选择 路线直驶目的站; 无人驾驶的小型车辆在封闭轨道上以追逐方式组成 虚拟列车运行。  The transportation organization method of the small vehicle's rail transit system is that the dispatching computer at the departure station randomly sends the vehicle as needed; the autonomous vehicle prepares its own operation plan and chooses the route to the destination station; the unmanned small vehicle is on a closed track to The chase mode constitutes a virtual train operation.
本发明的另一个优点是,在相同的运输量时, 比其它轨道交通相 比, 能大幅度降低建设投资, 减少运营成本、 提高了安全性能和便于 轨道交通的联网。  Another advantage of the present invention is that compared with other rail transits, it can greatly reduce construction investment, reduce operating costs, improve safety performance, and facilitate rail network connectivity when compared to other rail transits.
此外,本发明还具有如下优点:  In addition, the present invention also has the following advantages:
降低建设投资:  Reduce construction investment:
本发明使用的小型车辆, 与地铁和轻轨的车辆相比, 大幅度减轻 了单位长度轨道上的负荷, 从而可以简化轨道结构; 车辆的截面小, 减少隧道直径, 降低隧道工程量; 车辆的发车站直达目的站的运行, 取消了换乘车站; 车站的站台长度按客流量设计, 大幅度缩短中、 小 客流量车站的站台长度, 降低了车站的建设规模; 用信息中心取代了 调度控制中心, 用信息系统取代了信号系统; 减少了车辆段的车库面 积, 减少了检修车间的规模等因素, 大幅度降低了建设规模和工程投 资。 还有以电子系统为主的车辆取代了以机械为主的车辆, 采用地面 配合控制的措施降低了车辆的智能要求, 充分降低车辆的投资。 Compared with the subway and light rail vehicles, the small vehicles used in the present invention are greatly reduced. The load on the unit length track can be simplified, which can simplify the track structure; the vehicle's cross section is small, reducing the tunnel diameter, and reducing the amount of tunnel work; the vehicle's departure station runs directly to the destination station, canceling the transfer station; the platform's platform length is based on passenger flow Design, greatly reducing the platform length of small and medium passenger traffic stations, reducing the construction scale of the station; replacing the dispatching control center with an information center, and replacing the signal system with an information system; reducing the garage area of the vehicle depot, and reducing Factors such as the size of the overhaul workshop have significantly reduced the construction scale and project investment. In addition, vehicles based on electronic systems have replaced vehicles based on machinery. The use of ground-based control measures has reduced the vehicle's intelligence requirements and fully reduced vehicle investment.
减少运营成本: 车站的规模减小, 相应的机电设备的减少, 降低 能耗和维护费用; 按需发车代替了按计划发车, 在高峰以外时间, 降 低了运行费用; 降低建设费用, 减少货款利息和折旧费用等等。  Reduce operating costs: Reduced station size, corresponding reduction of electromechanical equipment, reduced energy consumption and maintenance costs; On-demand departures instead of scheduled departures, reducing operating costs outside peak hours; reducing construction costs and reducing interest on purchases And depreciation expenses, etc.
提高了安全性能: 系统采用追逐技术, 闭塞距离为零, 避免了追 尾; 采用合并路口的乒乓控制方式, 防止了车辆之间的侧撞; 采用顺 向连接的折返线, 取消了调头折返线, 避免道岔造成的事故。 国际上 已有几十条地铁线路采用自动驾驶, 实践证明自动驾驶的安全性能优 越于人工驾驶。 由于采用了蓄电池作为 (备用) 动力电源, 在事故停 电时, 车辆能继续行驶脱离事故现场等等。  Improved safety performance: The system uses chase technology with zero blocking distance to avoid rear-end collisions; Ping-pong control at merged intersections prevents side collisions between vehicles; use of forward-connected return lines to eliminate U-turn lines Avoid accidents caused by turnouts. Dozens of subway lines in the world have adopted autonomous driving. Practice has proven that the safety performance of autonomous driving is superior to manual driving. Because the battery is used as the (backup) power source, the vehicle can continue to drive away from the scene of the accident and so on during a power outage.
便于轨道交通的联网: 本系统采用地面交通方式, 相当于单车道 快速路联网成为无换乘的轨道交通系统; 系统不仅适用与干线交通和 环线交通, 还适用于集散交通, 真正能建成城市的轨道交通网路。  Facilitate the connection of rail transit: This system uses ground transportation, which is equivalent to a single-lane expressway connected to a non-transfer rail transportation system; the system is not only suitable for trunk and ring traffic, but also for distribution and distribution traffic. Rail transit network.
本系统是成熟技术的组合: 采用常规的计算机控制, 普通的计算 机和单片机; 车辆的控制也比现有的电动汽车简单, 只是控制前进的 速度; 采用简单的无线通信传输低速数据, 通信距离近, 要求低。 本 发明是将复杂的技术分解为若干个简单技术, 将难以处理的闭环控制 分解为开环问题进行处理。 本发明涉及面宽, 需要多学科、 多专业的 普通技术人员协作开发。  This system is a combination of mature technologies: using conventional computer control, ordinary computers and single-chip computers; vehicle control is also simpler than existing electric cars, only controlling the speed of forward; simple wireless communication is used to transmit low-speed data, and the communication distance is close The requirements are low. The present invention decomposes a complex technology into several simple technologies, and decomposes a difficult closed-loop control into an open-loop problem for processing. The present invention relates to a wide area and requires the collaborative development of general technical personnel of multiple disciplines and specialties.
因此,本系统是一种投资少、 运输量大、 效率高、 服务好、 污染少、 占地少、 易开发的城市轨道交通系统。 有关的技术资料:  Therefore, the system is an urban rail transit system with less investment, large transportation volume, high efficiency, good service, less pollution, less land occupation and easy development. Related technical information:
1. 城市轨道交通 毛保华等编著 北京: 科学出版社 2001 1. Urban Rail Transit Mao Baohua et al. Beijing: Science Press 2001
2. 集散控制系统原理及应用 何衍庆、俞金寿编著 北京:化学工业出版社 2002. 10 直流调速系统 史国生主编 北京: 化学工业出版社 2002. 1 车电子技术 吴基安编著 北京: 人民邮电出版社 1999. 11 代电动汽车技术 /陈清泉、孙逢春、祝嘉光编著 /北京:北京理工大学出版社 2002. 11 片机应用文集 ( 1 ) ( 2 ) 何立民主编 北京航空航天大学出版社 片机应用技术选编 1一 8 何立民主编 北京航空航天大学出版社 市轨道交通 蔡君时编著 上海: 同济大学出版社 2000. 3 附图说明 2. Principles and Applications of Distributed Control Systems Edited by He Yanqing and Yu Jinshou Beijing: Chemical Industry Press 2002. 10 Shi Guosheng, editor of DC speed control system, Beijing: Chemical Industry Press, 2002. 1 Vehicle electronics technology, edited by Wu Ji'an, Beijing: People's Posts and Telecommunications Press, 1999. 11 Generation of electric vehicle technology, edited by Chen Qingquan, Sun Fengchun, Zhu Jiaguang / Beijing: Beijing Institute of Technology Press 2002. 11 Collection of Tablet Computer Applications (1) (2) Selected by He Limin, Beijing University of Aeronautics and Astronautics Press Application Technology Selection 1-18, edited by He Limin, Beijing University of Aeronautics and Astronautics, Urban Rail Transit, Cai Junshi, Shanghai: Tongji University Press 2000. 3 BRIEF DESCRIPTION
图 1是小型车辆的轨道交通系统示意图 Figure 1 is a schematic diagram of a rail transit system for small vehicles
图 2是直行双向轨道俯视示意图 Figure 2 is a schematic plan view of a straight two-way track
图 3是图 2的 I ― I方向的端视示意图 Fig. 3 is a schematic end view of the I-I direction of Fig. 2
图 4是单向分岔路口轨道俯视示意图 Figure 4 is a schematic plan view of a one-way bifurcation intersection track
图 5是单向合并路口轨道俯视示意图 Figure 5 is a schematic plan view of a one-way merged junction track
图 6是车辆的俯视示意图 Figure 6 is a schematic top view of the vehicle
图 7是车辆的右侧视示意图 Figure 7 is a schematic diagram of the right side of the vehicle
图 8是车辆底盘仰视示意图 Figure 8 is a schematic bottom view of the vehicle chassis
图 9是小客流量车站轨道的示意图 Figure 9 is a schematic diagram of a small passenger station track
图 10是中等客流量车站轨道的示意图 Figure 10 is a schematic diagram of a medium passenger station track
图 11是大客流量车站轨道的示意图 Figure 11 is a schematic diagram of a large passenger station track
图 12是车速控制装置的结构示意图 Fig. 12 is a schematic structural diagram of a vehicle speed control device
图 13是中心定位轮结构示意图 Figure 13 is a schematic diagram of the structure of the center positioning wheel
图 14是车辆定位轮结构的示意图 FIG. 14 is a schematic diagram of a vehicle positioning wheel structure
图 15是图 14的 A— A剖面示意图 Fig. 15 is a schematic cross-sectional view taken along A-A in Fig. 14
图 16是车辆转向控制装置的示意图 Fig. 16 is a schematic diagram of a vehicle steering control device
图 17是车辆横向传送装置的示意图 Fig. 17 is a schematic diagram of a vehicle lateral transfer device
图 18是轨道护栏与车辆的相对位置示意图 Figure 18 is a schematic diagram of the relative position of the rail fence and the vehicle
图 19是采用车辆转向控制装置的站台轨道示意图 Figure 19 is a schematic diagram of a platform track using a vehicle steering control device
图 20是采用车辆横向传送装置的站台轨道示意图 Figure 20 is a schematic diagram of a platform track using a vehicle lateral transfer device
图 21是采用弹簧的碰撞緩沖装置结构示意图 FIG. 21 is a schematic structural diagram of a collision buffer device using a spring
图 22是采用液压杆的碰撞緩冲弹簧结构示意图 Figure 22 is a schematic structural diagram of a collision buffer spring using a hydraulic rod
图 23是计算机网絡框图 Figure 23 is a block diagram of a computer network
图 24是站台计算机的集散控制系统框图 图 25是车辆的集散控制系统框图 Figure 24 is a block diagram of the distributed control system of the platform computer Figure 25 is a block diagram of a vehicle's distributed control system
图 26是轨道计算机控制框图  Figure 26 is a block diagram of a track computer control
图 27是站厅计算机控制框图  Figure 27 is the computer control block diagram of the station hall
图 28是区域无线通信系统框图  Figure 28 is a block diagram of a regional wireless communication system
图 29是微无线通信系统框图  Figure 29 is a block diagram of a micro wireless communication system
图 30是轨道无线通信系统框图  Figure 30 is a block diagram of an orbital wireless communication system
图 31是多段轨道无线通信系统框图  Figure 31 is a block diagram of a multi-segment wireless communication system
图 32是调用空车的过程  Figure 32 is the process of calling an empty car
图 33是组织乘客乘车的过程  Figure 33 is the process of organizing passengers
图 34是调度车辆发车的过程  Figure 34 is the process of dispatching vehicles
图 35是调度车辆运行的过程图  Figure 35 is a process diagram of dispatching vehicle operation
图 36是车辆通过合并路口的过程  Figure 36 is the process of vehicles passing through a merged intersection
图 37是车辆通过分岔路口的过程  Figure 37 is the process of vehicles passing through a bifurcation
图 38是车辆进行登记、 核对和排序的过程 具体实施方式  Figure 38 is the process of registration, verification and ordering of vehicles.
下面结合附图对本发明进行详细描述:  The present invention is described in detail below with reference to the drawings:
(一) 系统:  (1) System:
图 1 示出了单个运输方向的小型车辆的轨道交通系统, 系统主要 包括小型车辆 1、 区间封闭轨道 2和车站 3, 其中区间封闭轨道有直行 轨道 2、 分岔路口 4和合并路口 5。 此外, 鱼直行轨道 2、 分岔路口 4、 合并路口 5组合成立交和环路轨道, 可以将轨道连接成轨道网。  Figure 1 shows the rail transit system for small vehicles in a single transport direction. The system mainly includes small vehicles 1, closed tracks 2 and stations 3, of which closed tracks have straight tracks 2, bifurcation junctions 4, and merged junctions 5. In addition, the fish straight track 2, the bifurcation intersection 4, and the merge intersection 5 are combined to form an intersection road track, which can connect the tracks into a track network.
每个车站 3 在每个运输方向都有进站口和出站口, 其进、 出站口 的轨道分别与区间轨道 2 连接成一条完整的运输线路轨道; 车辆按运 输要求在此轨道上运行。 本发明采用铁路的习惯, 运输方向 (图 2 中 的箭头方向) 分上行方向和下行方向, 每个车站按上行方向、 下行方 向各有唯一的编号。  Each station 3 has an entrance and an exit in each transport direction. The tracks at the entrance and exit of the station are connected to the section track 2 to form a complete transport line track. The vehicle runs on this track according to the transportation requirements. . The present invention adopts the habit of the railway. The transportation direction (the direction of the arrow in FIG. 2) is divided into an upward direction and a downward direction, and each station has a unique number according to the upward direction and the downward direction.
每段直行轨道 2 是指 (按运输方向) 只有一个入口和一个出口的 封闭轨道。 分岔路口 4是指有一个入口、 两个出口的封闭道口。 如图 1 所示, 分岔路口 4 的入口连接轨道 2 的出口, 而它的两个出口分别连 接后两条轨道 2 的入口。 合并路口 5 是指有两个入口、 一个出口的封 闭道口。 如图 1所示, 合并路口 5的两个入口连接两奈轨道 2的出口, 而它的一个出口连接一条轨道 2 的入口。 同样, 每段轨道、 路口都有 唯一的编号。 Each straight track 2 is a closed track (in the direction of transport) with only one entrance and one exit. Bifurcation intersection 4 refers to a closed intersection with one entrance and two exits. As shown in Figure 1, the entrance of bifurcation junction 4 is connected to the exit of track 2, and its two exits are connected to the entrances of the two tracks 2 respectively. Merging junction 5 is a closed junction with two entrances and one exit. As shown in FIG. 1, the two entrances of the merged junction 5 are connected to the exit of the two Chennai track 2, And one of its exits connects to the entrance of a track 2. Similarly, each track and intersection has a unique number.
车辆 1 在轨道上可以是单车运行, 也可以自动组成虚拟列车 8 运 行。  Vehicle 1 can run on the track alone, or it can automatically form a virtual train 8 to run.
图 4所示, 在分岔路口 4安装了车辆转向控制装置 24, 车辆转向 控制装置工作时, 就控制车辆驶向岔道。 在路口设一个单片机进行管 理, 它采集车辆信息接收器的检测信号和控制车辆转向控制装置工作。  As shown in FIG. 4, a vehicle steering control device 24 is installed at the bifurcation intersection 4. When the vehicle steering control device works, the vehicle is controlled to drive to the fork. A single-chip microcomputer is arranged at the intersection for management. It collects the detection signals of the vehicle information receiver and controls the operation of the vehicle steering control device.
图 5 所示, 合并路口 5 有两条进路, 为避免两条进路的车辆出现 侧撞, 在两条进路分别安装了车速控制装置 26。 两个车速控制装置 26 由一个单片机进行管理, 两个装置工作在乒乓状态, 一个允许车辆通 行时, 另一个的转速为零, 就禁止车辆通行。  As shown in FIG. 5, the merged junction 5 has two routes. To avoid side collisions of vehicles on the two routes, a speed control device 26 is installed on each of the two routes. The two vehicle speed control devices 26 are managed by a single-chip microcomputer. The two devices work in a ping-pong state. When one allows the vehicle to pass, and the other rotates at zero speed, the vehicle is prohibited from passing.
本发明的轨道交通系统是采用大量的小型运输车辆组成虚拟列车 在区间轨道上鱼贯而行, 他们的每小时单向轨道截面的客流量与地铁 相当, 举例说明如下:  The rail transit system of the present invention uses a large number of small transport vehicles to form a virtual train running on section rails. Their hourly one-way cross-section passenger flow is equivalent to that of a subway. An example is as follows:
O 例如: 车辆长度为 4米, 车内空间长为 3米, 宽 1. 6 米; 一 侧有 6个座位, 另一侧为 4个座位和 1米宽的门, 每辆车乘坐 10人; 车速 40公里 /小时, 平均车辆间隔为 1米, 则单向轨道截面的客流量 一一最大运输能力:  O For example: The vehicle is 4 meters in length, the interior space is 3 meters in length, and 1.6 meters in width; there are 6 seats on one side, and 4 seats and 1 meter wide doors on the other side. Each vehicle can seat 10 people. ; With a speed of 40 km / h and an average vehicle interval of 1 meter, the passenger capacity of the unidirectional track cross section is one of the maximum transport capacity:
40公里 /小时 X 200辆 /公里 X10人 /辆 = 80, 000人 /小时; 一般应控制在 40, 000人 /小时至 60, 000人 /小时。  40 km / h X 200 vehicles / km X10 people / vehicle = 80,000 people / hour; generally should be controlled between 40,000 people / hour to 60,000 people / hour.
需要增大运输能力就要降低个性化服务能力, 反之可以提高个性 化服务能力。  The need to increase transportation capacity requires a reduction in personalized service capabilities. Conversely, it can increase personalized service capabilities.
一般地铁的单向轨道截面的客流量为 4 ~ 6万人 /小时;  The passenger volume of a unidirectional track section of a general subway is 40,000 to 60,000 people / hour;
一般轻轨的单向轨道截面客的流量为 1 ~ 3万人 /小时。  Generally, the cross-section passenger traffic of the unidirectional track of the light rail is 10,000 to 30,000 people / hour.
提高车辆通过车站时的通过能力, 采用的技术方案是类似铁路车 站的轨道布局, 有通过车辆的正线和供乘客上、 下车的侧线, 在车站 设置进站的分岔路口、 直通轨道、 站台轨道和出站的合路路口等组成 轨道网。 减少到 (站) 、 (出)发车辆对直通车辆的影响, 减少慢动 作乘客的上、 下车对发车的影响。  To improve the passing capacity of vehicles when passing through the station, the technical scheme adopted is similar to the track layout of railway stations. There are main lines for passing vehicles and side lines for passengers to get in and out of the station. Bifurcation junctions, through tracks, Platform tracks and junctions of exit stations constitute the track network. Reduce the impact of vehicles to (stop) and (departure) on through vehicles, and reduce the impact of slow-moving passengers on and off.
(二) 轨道:  (II) Track:
图 2示出了区间的双向直行轨道的结构示意图,它与德国的 0- Banh 系统的轨道类似(资料 8的 82页) 。 图 3示出了区间的双向直行轨道 的 I —I 方向的端视结构示意图。 在每条单向轨道的两侧安装了护栏Figure 2 shows a schematic diagram of the bidirectional straight orbit of the interval, which is similar to the orbit of the German 0-Banh system (Page 82 on Source 8). Figure 3 shows the two-way straight track of the interval Schematic diagram of the end-view structure in the I-I direction. Guardrails installed on each side of each one-way track
22、 轨道面 21、 支架 31, 在车辆运行方向的轨道左侧安装了供无线通 信的泄漏电缆 23; 在车辆运行方向的入口处安装了检测车辆通过的车 辆信息接收器 29, 和车辆检测的轨道信号发送装置 30。 轨道信号发送 装置 30发出标志着车辆进入了一段新的轨道的信号。 在轨道的外侧设 置设备密封机柜 32, 设备密封机拒 32 内放置轨道计算机 201、 轨道无 线通信机 210等设备。 22. Track surface 21, bracket 31, a leaky cable 23 for wireless communication is installed on the left side of the track in the vehicle running direction; a vehicle information receiver 29 is installed at the entrance of the vehicle running direction, and a vehicle detection Orbit signal transmitting device 30. The track signal transmitting device 30 sends a signal indicating that the vehicle has entered a new track. A device sealing cabinet 32 is set on the outside of the track, and equipment such as a track computer 201 and a track radio 210 are placed inside the device sealing machine 32.
(1) 轨道结构  (1) Track structure
图 2 中的护栏 22的作用是用于车辆运行的导向, 采用平滑钢板连 接而成, 其板的宽度大于车辆 (导向)定位轮活动的范围 (见图 18 ); 轨道面 21是钢筋水泥路面, 可以是整体路面, 也可以是由钢筋水泥连 接的两条钢筋水泥路面, 路口、 车站可采用整体路面的钢筋水泥路面, 直行轨道可采用钢筋水泥连接的两条钢筋水泥路面。 支架 31适用于高 架线路, 固定在高架桥梁上, 是钢筋水泥预制件, 既支撑了轨道面 21, 又可固定护栏 22; 在隧道线路和地面线路, 轨道面 21直接置于地面, 支架 31是一根立柱, 只用于固定护栏 22。  The function of the guardrail 22 in Figure 2 is to guide the running of the vehicle. It is connected by smooth steel plates, and the width of the board is larger than the range of the vehicle (guide) positioning wheel (see Figure 18). The track surface 21 is a reinforced concrete road surface. It can be a monolithic pavement or two reinforced concrete pavements connected by reinforced concrete. The intersection and the station can use the monolithic reinforced concrete pavement, and the straight track can use two reinforced concrete pavements connected by the reinforced concrete. The bracket 31 is suitable for an elevated line and is fixed on an elevated bridge. It is a reinforced concrete prefabricated part that supports both the track surface 21 and the fence 22. In the tunnel and ground lines, the track surface 21 is directly placed on the ground. The bracket 31 is An upright post is only used to secure the fence 22.
(2)轨道运行的标志装置  (2) Marking device for orbital operation
轨道运行的标志装置包括车辆信息接收器 29 和轨道信号发送装置 30。 在图 2 中的车辆信息接收器 29是用于检测车辆通过, 而轨道信号 发送装置 30是用于车辆来检测车辆是否进入了一段新轨道。  The marking device for track operation includes a vehicle information receiver 29 and a track signal transmitting device 30. The vehicle information receiver 29 in FIG. 2 is used to detect the passage of the vehicle, and the track signal transmitting device 30 is used to detect whether the vehicle has entered a new track.
车辆信息接收器 29 和轨道信号发送装置 30 的安装位置与后面将 详细描述的车辆运行的标志装置的车辆信息发送装置 54和轨道信号接 收装置 52 的安装位置相对应。 轨道运行的标志装置和后面将详细描述 的车辆运行的标志装置构成运行的系统的标志装置。 当车辆通过时, 轨道的车辆信息接收器 29接收或检测车辆信息发射器 54发出的信息, 以确定车辆的通过。 同样, 当车辆进入一段新轨道时, 车辆的轨道信 号接收装置 52接收或检测轨道的轨道信号发送装置 30发出的信息, 以确定车辆进入了一段新轨道。  The installation positions of the vehicle information receiver 29 and the track signal transmitting device 30 correspond to the installation positions of the vehicle information transmitting device 54 and the track signal receiving device 52 of a marking device for vehicle operation which will be described in detail later. The marking device for rail operation and the marking device for vehicle operation which will be described in detail later constitute the marking device of the operating system. When the vehicle passes, the track's vehicle information receiver 29 receives or detects the information from the vehicle information transmitter 54 to determine the passage of the vehicle. Similarly, when the vehicle enters a new track, the vehicle's track signal receiving device 52 receives or detects the information from the track signal transmitting device 30 to determine that the vehicle has entered a new track.
车辆信息接收器 29 检测车辆通过和轨道信号发送装置 30检测车 辆进入一段新轨道的方法, 可以采用很多种已有技术的检测方法, 例 如: 采用光信号原理的信号灯 (例如发光管等) 和光接收器 (例如光 敏器件) , 采用磁技术的磁铁(例如电磁铁) 与霍尔器件 (例如干簧 继电器) , 采用无线标志信号的发射器和接收器等; 采用遮光原理的 光电对射器 27 与遮光板 28 也是其中一种。 具体地说: 车辆信息接收 器 29是光接收器、 光敏器件、 霍尔器件、 干簧继电器的一种, 而与之 对应的后面将要详细描述的车辆信息发射器 54就是信号灯、 发光管、 磁铁、 电磁铁中对应的一种; 轨道信号发送装置 30是信号灯、 发光管、 磁铁、 电磁铁中的一种, 而与之对应的后面将要描述的安装在车辆上 的轨道信号接收装置 52就是光接收器、 光敏器件、 霍尔器件、 干簧继 电器中对应的一种。 The vehicle information receiver 29 detects the vehicle passing through and the track signal transmitting device 30 to detect the vehicle entering a new track. Many existing detection methods can be used, for example: a signal lamp (such as a light-emitting tube, etc.) using light signal principle and light receiving Devices (such as photosensitive devices), magnets using magnetic technology (such as electromagnets), and Hall devices (such as reeds) Relays), transmitters and receivers that use wireless sign signals, etc .; optoelectronic emitters 27 and shading plates 28 that use the shading principle are also one of them. Specifically: The vehicle information receiver 29 is one of a light receiver, a photosensitive device, a Hall device, and a reed relay, and a corresponding vehicle information transmitter 54 which will be described in detail later is a signal lamp, a light emitting tube, and a magnet. A corresponding one of the electromagnets; the track signal transmitting device 30 is one of a signal lamp, a light-emitting tube, a magnet, and an electromagnet, and a corresponding track signal receiving device 52 mounted on a vehicle to be described later is a light The corresponding one of a receiver, a photosensitive device, a Hall device, and a reed relay.
光电对射器 27是由光发射器和光接收器组成, 平时光接收器接收 光发射器发射的光信号, 并输出一个高电平的直流信号; 当一块遮光 板 28 阻挡对射器 27 中间的光线时, 光接收器接收不到光信号, 输出 低电平的直流信号。 光电对射器 27 与遮光板 28 分别安装在相对运动 的轨道和车辆上, 用于轨道检测车辆和车辆检测轨道。  The optoelectronic radiator 27 is composed of a light transmitter and a light receiver. The light receiver usually receives the light signal emitted by the light transmitter and outputs a high-level DC signal. When a light shielding plate 28 blocks the middle of the radiator 27 When light is emitted, the optical receiver cannot receive the optical signal and outputs a low-level DC signal. The photoelectric radiator 27 and the light shielding plate 28 are respectively installed on a track and a vehicle that are relatively moving, and are used for track detection of a vehicle and a vehicle detection track.
如图 26 所示, 车辆信息接收器 29、 轨道信号发送装置 30、 轨道 无线通信机 210都连接轨道计算机 201。 当车辆进入一段轨道时, 车辆 信息接收器 29检测到车辆通过时的车辆信息发射器 54 发出的信号, 就产生一个脉冲信号送往轨道计算机 201; 轨道信号发送装置 30 可以 由轨道计算机 201控制发送, 也可以是人工控制的连续发送。  As shown in FIG. 26, the vehicle information receiver 29, the track signal transmitting device 30, and the track wireless communication device 210 are all connected to the track computer 201. When the vehicle enters a section of track, the vehicle information receiver 29 detects a signal from the vehicle information transmitter 54 when the vehicle passes, and generates a pulse signal to send to the track computer 201; the track signal sending device 30 can be controlled and sent by the track computer 201 It can also be continuous transmission under manual control.
(3) 安装在轨道的第一轨道无线通信装置  (3) First orbit wireless communication device installed on the orbit
安装在轨道上的第一轨道无线通信装置与后面将要详细描述的安 装在车辆上的第二轨道无线通信装置实现车辆与轨道之间的通信。 由 第一轨道无线通信装置与第二轨道无线通信装置构成轨道无线通信系 统。  The first track wireless communication device mounted on the track and the second track wireless communication device mounted on the vehicle to be described in detail later realize communication between the vehicle and the track. The first orbit wireless communication device and the second orbit wireless communication device constitute an orbit wireless communication system.
第一轨道无线通信装置包括泄漏电缆 23 和轨道无线通信机 210。 如图 2、 图 3和图 30所示, 泄漏电缆 23的一端用低损耗电缆 231连接 至轨道无线通信机 210天线口, 泄漏电缆 23相当于一条很长的分布式 天线, 在泄漏电缆 23的周围形成一个轨道无线通信机 210发射的 (信 号) 场强区域, 对应的车载的轨道无线通信器 410 能够接收到轨道无 线通信机 210发射的信号; 由于电波传播是双向的, 车载轨道无线通 信器 410发出的信号, 通过泄漏电缆 23被轨道无线通信机 210所接收。 采用泄漏电缆 23 的轨道无线通信设备的特点是: 它的通信范围只在泄 漏电缆周围的几米范围, 也就是无线通信的范围可以用架设泄漏电缆 进行控制。 The first rail radio communication device includes a leak cable 23 and a rail radio communication device 210. As shown in FIG. 2, FIG. 3 and FIG. 30, one end of the leakage cable 23 is connected to the antenna port of the track wireless communication device 210 with a low-loss cable 231. The leakage cable 23 is equivalent to a very long distributed antenna. An area of (signal) field strength emitted by the orbital radio communicator 210 is formed around, and the corresponding on-board orbital radio communicator 410 can receive the signal transmitted by the orbital radio communicator 210; Since the radio wave propagation is bidirectional, the on-board orbital radio communicator The signal from 410 is received by the track radio communication device 210 through the leak cable 23. The characteristics of a track wireless communication device using a leaky cable 23 are: its communication range is only a few meters around the leaky cable, that is, the range of wireless communication can be set up with a leaky cable Take control.
轨道无线通信机 210、 轨道计算机 201和其它电路放置在一个密封 的设备机拒 32 内, 机柜安装在轨道的入口附近。 用低损耗的连接电缆 231在轨道面 21下面串过, 连接轨道无线通信机 210的天线接口和泄 漏电缆 23 的一端。 另一方向的轨道入口也同样安装轨道无线通信机 210、 轨道计算机 201 等设备, 也是同样连接。 即泄漏电缆 23 的两端 分别连接了上行、 下行的轨道无线通信机 210, 泄漏电缆 23 内传输两 路(上行、 下行)轨道无线通信的发射信号, 和两路轨道无线通信的 接收信号。 上行轨道无线通信系统和下行轨道无线通信系统分别使用 不同的频率组。  The track radio 210, track computer 201 and other circuits are placed in a sealed equipment box 32, and the cabinet is installed near the entrance of the track. A low-loss connection cable 231 is connected under the track surface 21 to connect the antenna interface of the track wireless communication device 210 and one end of the leakage cable 23. Orbital entrances in the other direction are also similarly installed with orbital radio communicator 210, orbital computer 201 and the like. That is, the two ends of the leaky cable 23 are connected to the uplink and downlink orbital wireless communicators 210, respectively. The leaky cable 23 transmits the two (uplink and downlink) orbital wireless communication transmit signals and the two orbital wireless communication receive signals. The uplink orbit wireless communication system and the downlink orbit wireless communication system respectively use different frequency groups.
泄漏电缆 23是一种能将电缆中的电磁场泄漏到电缆外部的同轴电 缆, 又能将电缆外的电磁场感应到电缆内部。 它与普通的同轴电缆的 不同之处是其外导体开槽或有空隙, 它的特点既是一条传输线, 又沿 线辐射能量。 泄漏电缆 23有标准的产品, 按开槽方式分, 常用的泄漏 电缆有一字 (形开)槽、 八字槽的两种; 按频率分有 450MHz、 150MHz 两个频段和 450MHz、 150MHz 综合频段三种; 另外, 还有外导体是稀编 织的宽带泄漏电缆。 泄漏电缆在地铁、 铁路的山区和隧道、 江底的公 路隧道已经得到广泛应用。  The leakage cable 23 is a coaxial cable that can leak the electromagnetic field in the cable to the outside of the cable, and can also induce the electromagnetic field outside the cable to the inside of the cable. It differs from ordinary coaxial cables in that the outer conductor is slotted or has a gap, and it is characterized by both a transmission line and radiated energy along the line. Leakage cable 23 has standard products. It is divided according to the slotting method. There are two types of commonly used leakage cables: slotted (shaped) slot and slotted slot. There are three types of frequency bands: 450MHz, 150MHz, and 450MHz and 150MHz integrated frequency bands. In addition, there are broadband leaky cables whose outer conductor is a thin braid. Leaky cables have been widely used in subways, railway mountains and tunnels, and road tunnels on the river bottom.
如图 31所示, 每段轨道、 路口都有由一台轨道无线通信机 210连 接的泄漏电缆 23构成的无线通信区域, 轨道无线通信机 210和在此区 域内的车辆 1组成轨道周围的无线通信网,图 31是多台轨道计算机 201 通过轨道无线通信机 210、 和泄漏电缆 23与车辆 1组成的多个轨道无 线通信网。 车辆的主控微机 401通过轨道无线通信网与轨道计算机 201 实现数据通信, 图 31所示, 车辆 A与轨道计算机 b进行无线数据通信, 而车辆 N与车站 K+1的合并路口的单片机 e进行无线数据通信。  As shown in FIG. 31, each track and intersection has a wireless communication area constituted by a leaky cable 23 connected by a track wireless communicator 210, and the track wireless communicator 210 and the vehicles 1 in this area constitute a radio around the track. As for the communication network, FIG. 31 is a plurality of rail wireless communication networks composed of a plurality of rail computers 201 and a vehicle 1 via a rail wireless communication device 210 and a leak cable 23. The main control microcomputer 401 of the vehicle implements data communication with the orbital computer 201 through the orbital wireless communication network. As shown in FIG. 31, vehicle A and the orbital computer b perform wireless data communication, while the vehicle N and the single-chip microcomputer e at the merged intersection of the station K + 1 perform Wireless data communication.
轨道无线通信采用统一的两组频率 (上行、 下行各用一组) 、 调 制方式、 数据结构、 传输速率、 纠错方式等。 最好选用 450MHz频段的 半双工通信方式 (频率由无线电管理委员会批准) , 轨道的固定无线 通信设备 210为双工通信设备, 其发射频率为高端的 460MHz频带的频 率, 车辆的移动通信设备 410 为异频单工无线通信机, 车辆的发射频 率为低端的 450MHz频带的频率。 其调制方式可以用频率调制、 相位调 制或其它调制方式。 采用带有奇偶校验位的异步串行通信方式。 常用 速率为 2400波特、 4800波特、 9600波特等。 Orbit wireless communication uses a unified set of two frequencies (one for each of the uplink and the downlink), a modulation method, a data structure, a transmission rate, and an error correction method. It is best to use the half-duplex communication method (frequency approved by the Radio Regulatory Commission) in the 450MHz band. The fixed wireless communication device 210 in the orbit is a duplex communication device. Its transmission frequency is the high-end 460MHz frequency band. The mobile communication device 410 of the vehicle It is an inter-frequency simplex wireless communication device, and the transmission frequency of the vehicle is a frequency of a low-end 450 MHz band. The modulation method can be frequency modulation, phase modulation or other modulation methods. Adopt asynchronous serial communication mode with parity bit. Commonly used The speed is 2400 baud, 4800 baud, 9600 baud, etc.
(4) 车辆运行的登记、 排序和核对  (4) Registration, sequencing and checking of vehicle operation
当车辆 1 驶入一段轨道(包括路口) 时, 需要进行一次登记、 排 序和核对。 其过程结合图 38予以说明:  When Vehicle 1 enters a section of track (including an intersection), it needs to be registered, sorted and checked once. The process is illustrated in conjunction with Figure 38:
车辆 1 进入新的轨道区域时, ① 车辆 1 的轨道信号接收装置 52 也接收到轨道的轨道信号发送装置 30的信号, 就产生一个脉沖送主控 微机 401 ; ② 轨道的车辆信息接收器 29接收到车辆的车辆信息发送器 54 的信号, 也产生一个脉冲送轨道计算机 201, 轨道计算机 201 就记 录了进入车辆的数量; ③ 车辆的主控微机 401 收到脉沖信号后, 确认 车辆进入一段轨道, 将车辆的运行的登记、 核对信息 (车辆固定编号、 运行目的站、 在前方路口的出口方向)通过车辆无线通信器 410 和轨 道无线通信机 210传送给轨道计算机 201 ; ④轨道计算机 201通过轨道 无线通信机 210和车辆无线通信器 410向主控微机 401发送应答的核 对、 排序的指令(车辆固定编号、 本区段的轨道编号、 车辆在本区段 的序号 m、 在本区段的允许运行速度) ; ⑤车辆就此指令进行核对, 并 调整车辆的运行状态; ⑥ 轨道计算机 201 进行了车辆登记, 并将车辆 运行信息(车辆的序号 m、 轨道编号、 后面路口的编号、 通过路口后的 方向) 送往下一个路口的单片机。 其中车辆的序号用 1 个字节—— 256 个数,循环使用, 即从 00H ( 0 )开始到 0FFH ( 255 ) ,再到 00H ( 0 )……。  When vehicle 1 enters the new track area, ① the track signal receiving device 52 of vehicle 1 also receives the signal from the track signal sending device 30 of the track, and generates a pulse to be sent to the main control microcomputer 401; ② the track vehicle information receiver 29 receives The signal to the vehicle's vehicle information transmitter 54 also generates a pulse to send to the track computer 201, and the track computer 201 records the number of vehicles entering; ③ After receiving the pulse signal, the vehicle's main control microcomputer 401 confirms that the vehicle has entered a section of track. The vehicle's operation registration and verification information (vehicle fixed number, operation destination station, exit direction in front of the intersection) are transmitted to the orbit computer 201 via the vehicle wireless communicator 410 and the orbit wireless communicator 210; ④ orbit computer 201 via orbit wireless The communicator 210 and the vehicle wireless communicator 410 send a response check and ordering instructions to the main control microcomputer 401 (vehicle fixed number, track number of this section, vehicle serial number m in this section, permitted operation in this section Speed); ⑤ The vehicle checks this instruction, and Adjust the running status of the vehicle; ⑥ The track computer 201 has registered the vehicle and sent the vehicle running information (vehicle serial number m, track number, the number of the intersection behind, the direction after passing the intersection) to the microcontroller of the next intersection. The serial number of the vehicle uses 1 byte-256 numbers, which is used cyclically, that is, from 00H (0) to 0FFH (255), and then to 00H (0) .......
(5) 分岔路口:  (5) Bifurcation:
图 4 示出了单向分岔路口轨道结构, 入口处安装了车辆信息接收 器 29和轨道信号发送装置 30, 在分岔处安装了由单片机 202控制的车 辆转向控制装置 24, 在车辆转向控制装置 24的后方的轨道面 21上安 装压敏器件 246, 在分岔的两个出口处安装了车辆定位轮 25 若干对, 其第一对定位轮对的间隔略宽, 后面定位轮对的间隔逐渐减少。  FIG. 4 shows the track structure of a one-way bifurcation intersection. A vehicle information receiver 29 and a track signal transmitting device 30 are installed at the entrance. A vehicle steering control device 24 controlled by a single-chip microcomputer 202 is installed at the branch. A pressure-sensitive device 246 is installed on the track surface 21 at the rear of the device 24. Several pairs of vehicle positioning wheels 25 are installed at the two exits of the bifurcation. The spacing of the first pair of positioning wheels is slightly wider. The spacing of the rear positioning wheels is slightly wider. gradually decreases.
O 例如: 轨道控制板 51 的厚度可为 4mm, 第一对轮间距离可为 30cm;在离第一对 0. 5m处安装第二对,其轮间距离为 20cm;在后面 0. 5m 的第三对轮间距离为 10cm; 再后面 0. 5m的第四对轮间距离为 5cm; 最 后一对为 2cm„  O For example: The thickness of the track control board 51 may be 4mm, the distance between the first pair of wheels may be 30cm; the second pair is installed at 0.5m from the first pair, and the distance between the wheels is 20cm; at the back 0.5m The distance between the third pair of wheels is 10cm; the distance between the fourth pair of wheels behind 0.5m is 5cm; the last pair is 2cm.
车辆信息接收器 29和轨道信号发送装置 30, 离车辆转向控制装置 2 的距离为 20m— 30mo The vehicle information receiver 29 and a track signal transmitting apparatus 30, the distance from the vehicle steering control apparatus 2 is 20m- 30m o
车辆转向装置 24 是安装在轨道上的一对相反运转方向的传送带 244。 当左侧传送带 244向前传动、 右侧传送带 244向后传动, 车辆 1 就在车辆转向控制装置 24 配合下向右拐弯驶向岔道。 图 16 所示, 传 送带 244 由主动轴 241驱动, 被动轴 242支撑, 主动轴 241连接低速 电机 243 或带有变速器的电机, 在传送带 244 出口的地面处装有一个 压敏器件 246,压敏器件 246可选用已有技术的各种标准产品;电机 243 由单片机 202控制, 压敏器件 246的输出信号送单片机 202, 在车辆的 后轮压在压敏器件 246时, 单片机 202收到压敏器件 246输出的高电 平信号, 说明该车辆已经通过车辆转向装置。 The vehicle steering device 24 is a pair of conveyor belts mounted in opposite directions on a track. 244. When the left conveyor belt 244 is driven forward and the right conveyor belt 244 is driven backward, the vehicle 1 turns to the right with the cooperation of the vehicle steering control device 24 toward the fork. As shown in FIG. 16, the conveyor belt 244 is driven by a driving shaft 241 and supported by a passive shaft 242. The driving shaft 241 is connected to a low-speed motor 243 or a motor with a transmission. A pressure-sensitive device 246 is installed on the ground at the exit of the belt 244. Various standard products of the prior art can be selected for 246; the motor 243 is controlled by the single-chip microcomputer 202, and the output signal of the pressure-sensitive device 246 is sent to the single-chip microcomputer 202. When the rear wheel of the vehicle is pressed on the pressure-sensitive device 246, the single-chip microcomputer 202 receives the pressure-sensitive device The high-level signal output by 246 indicates that the vehicle has passed the vehicle steering device.
图 37 所示, ① 分岔路口的单片机 202 在车辆到达路口前就收到 轨道计算机 201 传送的车辆的运行信息; ②车辆进入分岔路口 4 后, 与直行轨道 2—样, 车辆 1检测到轨道信号发送装置 30发送的信号; ③ 分岔路口 4 的单片机 202也检测到车辆信息发射器 54 的信号, 单 片机 202就进行计数; ④ 车辆 1的主控微机 401通过轨道无线通信系 统向分岔路口 4 的单片机 202发送车辆的运行登记、 核对信息 (发送 车辆的序号、 运行目的站、 路口的出口方向) ; ⑤单片机 202 收到车 辆 1 通过轨道无线通信发送的运行信息后发送应答指令(车辆的序号、 本路口的编号) 。 车辆 1 在分岔路口单片机 202 进行了登记, 车辆 1 也核对了行驶路线。  As shown in Fig. 37, ① the single-chip microcomputer 202 at the bifurcation intersection receives the operation information of the vehicle transmitted by the track computer 201 before the vehicle reaches the intersection; ② after the vehicle enters the bifurcation intersection 4, the same as the straight track 2, the vehicle 1 detects The signal sent by the track signal transmitting device 30; ③ The single-chip microcomputer 202 of the bifurcation intersection 4 also detects the signal of the vehicle information transmitter 54 and the single-chip microcomputer 202 counts; ④ The main control microcomputer 401 of the vehicle 1 sends the bifurcation road through the track wireless communication system The single-chip microcomputer 202 at the port 4 sends the vehicle's operation registration and verification information (sending the serial number of the vehicle, the operating destination station, and the direction of the exit of the intersection); ⑤ The single-chip microcomputer 202 sends the response command after receiving the operation information sent by the vehicle 1 via track wireless communication (vehicle Serial number, the number of this intersection). Vehicle 1 was registered at the single-chip microcomputer 202 at the fork, and Vehicle 1 also checked the driving route.
图 37还表示虚拟列车 8通过分岔路口 4的过程: ①在车辆 1到达 分岔路口 4 以前, 分岔路口单片机 202 已经接收到轨道计算机 201发 送的序号为 m和 m+1号车辆的运行信息, 记录了 m号车辆直行运行信 息和 m+1号车辆的拐弯运行信息。 即 m号车是直行通过、 而 m+1号车 需要拐弯, ⑥ 在 m号车的后轮压在压敏器件 246 时, ⑦ 单片机 202 收到压敏器件 246 输出的高电平信号, 说明 m号车辆已经通过车辆转 向装置 24; ⑧分岔路口单片机 202启动车辆转向控制装置 24运转; ⑨ 在 m+1 号车辆到达时, 就控制 m+1 号车辆拐弯驶向岔道。 反之, 在前 面的拐弯车辆的后轮压在压敏器件 246时,单片机 202收到压敏器件 246 输出的高电平信号, 路口单片机 202控制车辆转向控制装置 24停止工 作。 如果前后车辆去往同一方向, 单片机虽然也收到压敏器件 246 输 出的高电平信号, 但不改变车辆转向控制装置 24的工作状态。  FIG. 37 also shows the process of the virtual train 8 passing through the branch 4: ① Before the vehicle 1 reaches the branch 4, the single-chip microcomputer 202 at the branch has received the operation of the number m and m + 1 vehicles sent by the track computer 201 Information, which records the running information of vehicle m and the turning information of vehicle m + 1. That is, car No. m goes straight, and car No. m + 1 needs to turn. ⑥ When the rear wheel of car No. m is pressed on the pressure sensitive device 246, ⑦ the single-chip microcomputer 202 receives the high-level signal output from the pressure sensitive device 246, The vehicle m has passed the vehicle steering device 24; ⑧ the single-chip microcomputer 202 at the bifurcation intersection starts the vehicle steering control device 24 to operate; ⑨ when the vehicle m + 1 arrives, it controls the vehicle m + 1 to turn to the fork. On the contrary, when the rear wheel of the turning vehicle in front is pressed on the pressure-sensitive device 246, the single-chip microcomputer 202 receives the high-level signal output from the pressure-sensitive device 246, and the intersection single-chip microcomputer 202 controls the vehicle steering control device 24 to stop working. If the front and rear vehicles go in the same direction, although the single-chip microcomputer also receives the high-level signal output from the pressure sensitive device 246, it does not change the working state of the vehicle steering control device 24.
单片机 202 判断车辆的运行方向是根据轨道计算机 201 送来的车 辆运行信息 (车辆序号、 目的站、 出口方向) ; 车辆 1进入分岔路口 4 时, 单片机 202 的计数; 车辆 1 发送的车辆运行信息 (车辆序号、 目 的站、 路口的出口方向)。 所以每辆车到达车辆转向控制装置 24之前, 单片机 202就按车辆 1的出口方向控制车辆转向控制装置 24的是否运 转。 虚拟列车 8 通过分岔路口 4 是要求最严格的。 下面举例说明虚拟 列车 8在通过分岔路口 4时, 车辆转向控制装置 24的工作情况: The single-chip microcomputer 202 determines that the running direction of the vehicle is based on the vehicle running information (vehicle serial number, destination station, and exit direction) sent by the track computer 201; the vehicle 1 enters the bifurcation intersection 4 At the time, the single-chip microcomputer 202 counts; the vehicle running information (vehicle serial number, destination station, exit direction of the intersection) sent by vehicle 1. Therefore, each vehicle before the arrival of the vehicle steering control apparatus 24, the microcontroller 202 to the outlet direction of the vehicle by a steering control of the vehicle control apparatus 24 is operating in. Virtual train 8 passes bifurcation 4 and is the most demanding. The following illustrates the operation of the vehicle steering control device 24 when the virtual train 8 passes through the bifurcation intersection 4:
O 例如: 图 40所示, 车辆转向控制装置 24的传送带 244是长约 1米、 宽大于 40公分, 最高运行线速度是 1米 /秒; 虚拟列车 8 以 40 公里 /小时 (约 11米 /秒) 的速度运行, 每个车轮 502在传送带 244上 的通过时间为 0. 09秒; 车辆的左、 右轮的实际行程偏差为 2X 0. 09米 =0. 18米; 当车长为 4米, 前、 后轮之间的轮距为 2米, 在车辆通过车 辆转向控制装置后 24, 就产生 5 的偏转。  O For example: As shown in FIG. 40, the conveyor belt 244 of the vehicle steering control device 24 is about 1 meter long and greater than 40 cm wide, and the maximum running linear speed is 1 meter / second; the virtual train 8 is driven at 40 kilometers / hour (about 11 meters / Seconds), the passing time of each wheel 502 on the conveyor 244 is 0.09 seconds; the actual travel deviation of the left and right wheels of the vehicle is 2X 0.09 meters = 0. 18 meters; when the vehicle length is 4 Meters, the track distance between the front and rear wheels is 2 meters, and a deflection of 5 is generated after the vehicle passes the vehicle steering control device 24.
车辆转向控制装置 24 的启动加速度选择为 10米 /秒 2, 当前车的 车号 m的后轮通过传送带 244时(已压在压敏器件上) , 电机 启 动, 只需 0. 1 秒就达到稳定速度(这是一般电机都能做到的) ; 而后 车的车号 m+1的前轮到达传送带 244, 需要 0. 1秒时间, 传送带 244已 经到达稳定的速度; 同样, 传送带的停止时间也能满足要求。 Vehicle steering control apparatus 24 starts selecting the acceleration is 10 m / s 2, number m of the current vehicle wheel by conveyor belt 244 (the device is pressed against the pressure-sensitive), motor starting, just reached 0.1 seconds Stable speed (this can be done by ordinary motors); while the front wheel of the rear car number m + 1 reaches the conveyor 244, it takes 0.1 second, the conveyor 244 has reached a stable speed; similarly, the stop time of the conveyor Can also meet the requirements.
当车辆 1 通过分岔路口 4 时, 位置可能出现偏差, 造成车辆撞击 护栏。 在分岔出口处安装了车辆定位轮 25若干对, 如图 4所示, 当车 辆 1向前行驶时, 车辆的轨道控制板 51进入第一对定位轮 25, 逐渐通 过第二对、 第三对等, 车辆被定位在轨道中央, 避免车辆撞击护栏。  When vehicle 1 passes through branch 4, the position may deviate, causing the vehicle to hit the guardrail. Several pairs of vehicle positioning wheels 25 are installed at the branch exit. As shown in FIG. 4, when the vehicle 1 is moving forward, the vehicle's track control board 51 enters the first pair of positioning wheels 25 and gradually passes through the second pair and the third. Equivalently, the vehicle is positioned in the center of the track to prevent it from hitting the guardrail.
图 13是车辆定位轮 25的结构示意图,两个橡胶轮 250通过轴承 252 分别固定在两根轴 251上, 轴 251与支架 253浮接固定, 两轴之间的 距离大于车辆的轨道控制板 51 的厚度, 第一对的轮间距离最大, 以后 各对的轮间距离逐渐减小。  FIG. 13 is a schematic structural diagram of a vehicle positioning wheel 25. Two rubber wheels 250 are respectively fixed on two shafts 251 through bearings 252. The shaft 251 and the bracket 253 are floatingly fixed. The distance between the two shafts is larger than the track control board 51 of the vehicle. The distance between the wheels of the first pair is the largest, and the distance between the wheels of the subsequent pairs gradually decreases.
(6) 合并路口:  (6) Merged intersection:
图 5 所示单向合并路口 5 轨道结构, 在两条轨道的入口处, 分别 安装了车辆信息接收器 29和轨道信号发送装置 30, 以及一对定位轮 25 和车速控制装置 26, 在车速控制装置 26后面的地面, 车轮可以压着的 位置, 安装了压敏器件 246, 在合并出口处安装若干对定位轮 25。 车 辆信息接收器 29和轨道信号发送装置 30, 离车速控制装置 26 的一般 距离为 20m— 30m。  The one-way merge intersection 5 track structure shown in FIG. 5 is installed at the entrance of the two tracks, respectively, a vehicle information receiver 29 and a track signal transmitting device 30, and a pair of positioning wheels 25 and a speed control device 26. On the ground behind the device 26, where the wheels can be pressed, pressure-sensitive devices 246 are installed, and several pairs of positioning wheels 25 are installed at the combined exit. The general distance between the vehicle information receiver 29 and the track signal transmitting device 30 from the vehicle speed control device 26 is 20m-30m.
车速控制装置 26的结构如图 12所示, 车速控制装置 26是由一对 固定在轴 261上的旋转轮 260, 其轴 261通过轴承 262 固定在支架 263 上; 两个旋转轮 26G之间的间隙与车辆底盘下的轨道控制板 51的厚度 相等, 能紧密配合; 其中一根轴通过变速箱 264 连接在由单片机 203 控制的电机 265。 The structure of the vehicle speed control device 26 is shown in FIG. 12. The vehicle speed control device 26 is a pair of The rotating wheel 260 fixed on the shaft 261, the shaft 261 of which is fixed on the bracket 263 through the bearing 262; the gap between the two rotating wheels 26G is equal to the thickness of the track control plate 51 under the vehicle chassis, and can closely fit; The root shaft is connected to a motor 265 controlled by a single-chip microcomputer 203 through a gearbox 264.
合并路口 5的单片机 203控制两条进路的车速控制装置 26是采用 乒乓方式, 即放行一条进路的车辆, 就制止另一条进路的车辆通行。 单片机 203 的管理控制规则: 一般是先到先走; 两个进路的车辆同时 到达时, 主路优先 (人为定义) ; 在主路的虚拟列车 8 通过时, 待虚 拟列车 8通过后, 放行辅路车辆。  The single-chip microcomputer 203 at the intersection 5 controls the speed control device 26 of the two routes. The ping-pong method is adopted, that is, the vehicles of one route are released, and the vehicles of the other route are stopped. Management and control rules of the single-chip microcomputer 203: Generally, it is first-come-first-served; when the two vehicles arrive at the same time, the main road takes priority (artificially defined); when the virtual train 8 of the main road passes, the virtual train 8 passes and is released Side road vehicles.
图 36是车辆通过合并路口的具体过程:  Figure 36 is the specific process of vehicles passing through a merged intersection:
在车辆到达合并路口前, 合并路口 5 的单片机 203 已经收到两条 进路传送来的车辆运行信息; ①当轨道 A的车辆 m到达合并路口 5 的 入口时, 车辆 m 的轨道信号接收装置 52检测到轨道信号发送装置 30 发出的信号; ②轨道的车辆信息接收器 29检测到车辆的车辆信息发射 器发出的信号; ③车辆 m的主控微机 401 通过轨道无线通信系统与合 并路口 5 的单片机 203进行登记、 核对的通信; ④轨道 B 的车辆 m+1 到达路口, 车辆 m+1检测到信号; ⑤ 合并路口的单片机 203也检测到 车辆 m+1的进入路口的信息; ⑥ 车辆 m+1也进行登记、 核对。 Before the vehicle reaches the merged intersection, the single-chip microcomputer 203 of the merged intersection 5 has received the vehicle operation information transmitted by the two routes; ① When the vehicle m of the track A reaches the entrance of the merged intersection 5, the track signal receiving device 52 of the vehicle m The signal from the track signal transmitting device 30 is detected; ② The vehicle information receiver 29 of the track detects the signal from the vehicle information transmitter of the vehicle; ③ The main control microcomputer 401 of the vehicle m is integrated with the single-chip microcomputer of the intersection 5 through the track wireless communication system 203 performs registration and verification communication; ④ vehicle m + 1 of track B arrives at the intersection, and vehicle m + 1 detects a signal; ⑤ the single-chip microcomputer 203 at the merged intersection also detects the information of vehicle m + 1's entering intersection; ⑥ vehicle m + 1 Register and check.
合并路口 5 的单片机 203按时间顺序记录每条进路的车辆序号; 单片机 203 按车辆到达时间进行排队, 根据两条进路的车辆到达顺序 放行。 ⑦单片机 203 通过轨道无线通信系统对放行车辆发送全速通过 指令; ⑧同样对禁行车辆发送减速指令; ⑨单片机 203 控制车速控制 装置 26放行先到的车辆。 以此类推, 路口的单片机在每次倒换放行时, 单片机都要向车辆分别发送通过和减速的指令。  The single-chip microcomputer 203 at the junction 5 records the vehicle serial number of each route in chronological order; the single-chip microcomputer 203 queues according to the arrival time of the vehicles and releases the vehicles according to the arrival sequence of the two routes. ⑦SCM 203 sends a full-speed pass command to the passing vehicle through the track wireless communication system; ⑧Same speed deceleration command is also sent to the forbidden vehicle; ⑨SCM 203 controls the speed control device 26 to release the first arriving vehicle. By analogy, each time the single-chip microcomputer at the intersection switches and releases, the single-chip microcomputer sends separate instructions for passing and decelerating to the vehicle.
合并路口 5 的单片机 203判断虚拟列车的方法: 车辆 1 通过合并 路口 5的入口时, 轨道上的车辆信息接收器 29接收到车辆的车辆信息 发射器 54发出的信号,车辆信息接收器 29产生一个脉冲送单片机 203, 当虚拟列车 8通过时,就产生一个间隔均匀的脉冲串,脉沖间隔约 0. 36 秒(车速为 40公里 /小时) 。 单片机 203判断脉冲间隔小于 0. 45秒时 (车速为 32公里 /小时的虚拟列车, 或车速为 40公里 /小时的间隔为 1 米的车辆) , 就认为是虚拟列车通过。  Method for judging a virtual train by the single chip microcomputer 203 of the merge intersection 5: When the vehicle 1 passes the entrance of the merge intersection 5, the vehicle information receiver 29 on the track receives a signal from the vehicle information transmitter 54 of the vehicle, and the vehicle information receiver 29 generates a The pulse is sent to the single-chip microcomputer 203, and when the virtual train 8 passes, a uniformly spaced pulse train is generated, and the pulse interval is about 0.36 seconds (vehicle speed is 40 km / h). The single-chip microcomputer 203 judges that when the pulse interval is less than 0.45 seconds (a virtual train with a speed of 32 km / h, or a vehicle with a speed of 40 km / h and an interval of 1 meter), it is considered that the virtual train passes.
车速控制装置 26在制动状态时, 车辆 1接收到合并路口 5的单片 机 203的减速指令, 车辆底盘的轨道控制板 51被紧紧地卡在车速控制 装置 26内, 车辆就停在车速控制装置 26处; 当车速控制装置 26以某 个速度运行时, 车辆 1 一方面按单片机 203 的速度指令运行, 在进入 车速控制装置 26 时就以车速控制装置 26 的速度运行。 总之, 车辆 1 和车速控制装置 26按单片机的指定速度运行, 车速控制装置 26 的运 行速度为实际运行速度。 When the vehicle speed control device 26 is in the braking state, the vehicle 1 receives a single piece of the merged intersection 5 The deceleration command of the engine 203, the track control board 51 of the vehicle chassis is tightly stuck in the speed control device 26, and the vehicle stops at the speed control device 26; when the speed control device 26 runs at a certain speed, the vehicle 1 In accordance with the speed command of the single-chip microcomputer 203, when entering the vehicle speed control device 26, it runs at the speed of the vehicle speed control device 26. In short, the vehicle 1 and the vehicle speed control device 26 operate at the speed specified by the single-chip microcomputer, and the operation speed of the vehicle speed control device 26 is the actual operation speed.
车速控制装置的运转速度由电机 265 的转速决定, 单片机 203 通 过驱动电路控制电机的速度。  The running speed of the vehicle speed control device is determined by the rotation speed of the motor 265, and the single-chip microcomputer 203 controls the speed of the motor through the driving circuit.
车速控制装置 26的运转速度由轨道计算机 201组成的集散控制系 统控制。 可以采用已有技术的集散控制系统。 关于集散控制系统原理 及应用已在对比文件 2和对比文件 6 ( 1 )的笫 48页 IBM-PC和单片机 构成的主从分布式系统详细叙述。  The operating speed of the vehicle speed control device 26 is controlled by a distributed control system composed of a track computer 201. The existing distributed control system can be used. The principle and application of the distributed control system have been described in detail in Comparative Document 2 and Comparative Document 6 (1) 页 48 pages of a master-slave distributed system composed of IBM-PC and a single-chip microcomputer.
(三) 车辆:  (3) Vehicles:
图 6为车辆 1的俯视图、 图 7为车辆 1 的侧视图、 图 8示意车辆 底盘的设备安装情况。  Fig. 6 is a top view of the vehicle 1, Fig. 7 is a side view of the vehicle 1, and Fig. 8 illustrates equipment installation of the vehicle chassis.
车辆可以是单独运行的智能化小型电动车或无人驾驶车辆, 包括 车体、 车辆运行的安全部分、 车辆运行的导向定位部分、 车辆运行的 标志部分、 车辆运行的无线通信部分、 车辆运行的管理控制部分和电 源。  The vehicle may be an intelligent small electric vehicle or an unmanned vehicle that operates independently, including a vehicle body, a safety portion of the vehicle operation, a positioning portion of the vehicle operation, a sign portion of the vehicle operation, a wireless communication portion of the vehicle operation, and Manage control section and power.
( 1 ) 车体  (1) Body
例如, 车体可以为载客 10人左右小型电动客车, 可以选用合适的 旅游观光车或电瓶运输车改装而成。 车体包括驱动电机、 制动装置和 调速控制电路, 对于不同的驱动电机采用不同的制动装置和调速控制 电路, 可以采用现有的驱动电机、 制动装置和调速控制电路来构成车 体。 车门 503 为自动门, 有条件时, 可以采用轮毂电机, 直接驱动车 轮 502, 电机、 制动、 自动门由驱动单片机 404控制。  For example, the car body can be a small electric passenger car carrying about 10 passengers, which can be modified by using a suitable tourist sightseeing car or battery transporter. The vehicle body includes a driving motor, a braking device, and a speed control circuit. Different braking devices and speed control circuits are used for different driving motors. The existing driving motor, braking device, and speed control circuit can be used to constitute Bodywork. The door 503 is an automatic door. When conditions permit, a wheel motor can be used to directly drive the wheel 502. The motor, brake, and automatic door are controlled by a driving single-chip microcomputer 404.
( 2 ) 车辆运行的安全部分  (2) Safety part of vehicle operation
车辆运行的安全部分包括电子测距装置 49和碰撞緩沖装置 43。 如 图 6和图 8所示。 在车辆的前保险杠 41或车厢前部安装了电子测距装 置 49, 电子测距装置 49可以采用目前常用的测速雷达(声纳) , 测量 距离小于 30 米, 用于测量与前车之间的距离。 在车辆的前保险杠 41 安装碰撞緩冲装置 43, 碰撞緩冲装置 43在车辆碰撞时, 起到了緩冲作 用, 并输出碰撞信号到信息采集单片机 402, 再送主控微机 401 , 再由 主控微机 401控制车辆的速度, 如附图 25所示。 The safety part of the vehicle operation includes an electronic distance measuring device 49 and a collision buffer device 43. As shown in Figures 6 and 8. An electronic distance measuring device 49 is installed on the front bumper 41 of the vehicle or the front of the compartment. The electronic distance measuring device 49 can use the current commonly used speed measuring radar (sonar). The measuring distance is less than 30 meters for measuring the distance between the vehicle and the front vehicle. distance. A collision buffer device 43 is installed on the front bumper 41 of the vehicle. The collision buffer device 43 acts as a buffer when the vehicle collides. Then, the collision signal is output to the information collection single-chip microcomputer 402, and then sent to the main control microcomputer 401, and then the main control microcomputer 401 controls the speed of the vehicle, as shown in FIG. 25.
碰撞緩冲装置 43 的緩冲部件可以采用弹簧或液压杆。 图 21 示出 了采用弹簧结构的碰撞緩冲装置 43: 在前保险杠 41上焊接导杆 431, 导杆 431外面套上弹簧 430, 导杆 431的端部有罗纹和有一个斜面, 穿 过车辆底盘 50的固定孔 501后, 由螺母 432 固定; 在车辆底盘 50上 安装了微动开关 439, 安装位置与导杆 431相配合, 导杆 431的斜面对 准微动开关 439 的按钮, 当前保险杠不移动时, 斜面不接触按钮(处 于常闭状态) , 而在前保险杠移动时, 斜面接触按钮, 接点断开。  The shock absorbing device 43 may adopt a spring or a hydraulic rod as a shock absorbing member. FIG. 21 shows a crash buffer device 43 using a spring structure: a guide bar 431 is welded to the front bumper 41, and a spring 430 is sleeved on the outside of the guide bar 431. The end of the guide bar 431 has ribs and a slope, and passes through After the fixing hole 501 of the vehicle chassis 50, it is fixed by a nut 432. A micro switch 439 is installed on the vehicle chassis 50, and the installation position is matched with the guide rod 431. The inclined surface of the guide rod 431 is aligned with the button of the micro switch 439. When the bumper does not move, the inclined surface does not touch the button (in the normally closed state), and when the front bumper moves, the inclined surface contacts the button and the contact is disconnected.
图 22示出了采用液压杆的碰撞緩沖装置 43, 在前保险杠内侧焊接 支架 436, 液压杆 434—端由螺母 432 固定在支架上, 另一端穿过车辆 底盘 50的固定孔 501后, 由螺母 432 固定; 微动开关 439 固定在车辆 底盘 50上, 在支架 436 固定一条带有一个斜面的板条 435, 斜面对准 微动开关 439 的按钮。 当前保险杠不移动时, 斜面不接触按钮, 而在 前保险杠移动时, 斜面按下按钮。 (以常闭状态的开关为例)  FIG. 22 shows a collision buffer device 43 using a hydraulic rod, a bracket 436 is welded on the inside of the front bumper, the hydraulic rod 434—one end is fixed on the bracket by a nut 432, and the other end passes through the fixing hole 501 of the chassis 50 of the vehicle. The nut 432 is fixed; the micro switch 439 is fixed on the chassis 50 of the vehicle, and a slat 435 with an inclined surface is fixed on the bracket 436, and the inclined surface is aligned with the button of the micro switch 439. When the front bumper does not move, the ramp does not touch the button, and when the front bumper moves, the ramp presses the button. (Take a normally closed switch as an example)
微动开关 439 连接单片机 402 的一个输入端 (称为碰撞信号口) 和地, 平时此口为低电平; 当微动开关按动时, 接点端开, 碰撞信号 口呈现高电平。 单片机 402 读此口, 以高、 低电平判断是否碰撞, 再 将信息送主控微机 401。  The micro switch 439 is connected to an input terminal (referred to as a collision signal port) of the single chip microcomputer 402 and the ground. Usually, this port is at a low level. When the micro switch is pushed, the contact terminal is opened, and the collision signal port shows a high level. The single-chip microcomputer 402 reads this port, and judges whether the collision is high or low, and then sends the information to the main control microcomputer 401.
碰撞緩冲装置 43 的弹簧(或液压杆) 的弹性系数较小, 以人力推 动保险杠时, 车辆不会移动, 而只是弹簧压缩; 在无外力时就恢复原 状; 在车辆开动时, 前保险杠不应有明显的颤抖。  The spring (or hydraulic rod) of the impact buffer device 43 has a small elastic coefficient. When the bumper is pushed by human force, the vehicle will not move, but the spring will compress; it will return to its original state when there is no external force; when the vehicle is moving, the front insurance There should be no significant trembling.
当后车追逐前面的车辆而相碰撞时, 后车的前保险杠 41向后移动, 碰撞緩冲装置 43压缩, 微动开关 439的接点断开, 单片机 402的碰撞 信号口为高电平, 再由主控微机 01 控制电机驱动电路以降低车速; 当车辆脱离碰撞时, 前保险杠 41恢复, 微动开关 439的接点接通, 碰 撞信号口为低电平, 主控微机 401 控制提高车速; 主控微机不停地调 整车速, 达到与前车的运行速度同步。  When the following vehicle collides with the vehicle in front and collides, the front bumper 41 of the rear vehicle moves backward, the collision buffer device 43 is compressed, the contact of the micro switch 439 is opened, and the collision signal port of the single-chip microcomputer 402 is at a high level. The main control microcomputer 01 then controls the motor drive circuit to reduce the vehicle speed. When the vehicle is out of the collision, the front bumper 41 is restored, the contact of the micro switch 439 is turned on, and the collision signal port is low. The main control microcomputer 401 controls to increase the vehicle speed. ; The main control microcomputer continuously adjusts the vehicle speed to achieve synchronization with the running speed of the preceding vehicle.
( 3 ) 车辆运行的导向定位部分  (3) Guiding and positioning part of vehicle operation
车辆运行的导向定位部分包括定位轮 44和轨道控制板 51。  The guiding and positioning part of the vehicle operation includes positioning wheels 44 and a track control board 51.
车辆 1的前保险杠 41、 后保险杠 42的两端分别固定了定位轮 44, 在底盘 50下面的中间安装了轨道控制板 51, 如图 6 - 8 所示。 4个定 位轮 44限制车辆在轨道内行驶。 图 14、 图 15示出了车辆定位轮 44的 结构。 定位轮套 440通过轴承 441 固定在定位轮轴 442上, 定位轮 44 的组件由调整高度的垫片 444和螺母 443固定在保险杠的端部。 车辆 1 的定位轮 44与轨道 2的护栏 22长期磨擦, 为减少护栏 2的局部磨损, 定位轮套 440 的表面有突出的罗纹; 另外可以选用表面平滑的定位轮 套 440, 但其安装高度是随机的。 The front bumper 41 and the rear bumper 42 of the vehicle 1 are respectively fixed with positioning wheels 44 at both ends, and a track control plate 51 is installed in the middle below the chassis 50, as shown in FIG. 6-8. 4 fixed The position wheel 44 restricts the vehicle from traveling on the track. The structure of the vehicle positioning wheel 44 is shown in FIGS. 14 and 15. The positioning wheel sleeve 440 is fixed on the positioning wheel shaft 442 through a bearing 441. The components of the positioning wheel 44 are fixed to the end of the bumper by a height-adjusting washer 444 and a nut 443. The positioning wheel 44 of the vehicle 1 and the guardrail 22 of the track 2 have been rubbed for a long time. In order to reduce the local wear of the guardrail 2, the surface of the positioning wheel sleeve 440 has a prominent rib. In addition, the positioning wheel sleeve 440 with a smooth surface can be used, but its installation height is Random.
O 例如: 车辆 1 宽度为 1. 8米, 定位轮 44直径为 0. 2米, 超出 车辆 1侧面 0. 1米, 护栏 22之间的距离略大于 2米。  O For example: The width of vehicle 1 is 1.8 meters, and the diameter of positioning wheel 44 is 0.2 meters, which is 0.1 meters beyond the side of vehicle 1, and the distance between guardrails 22 is slightly greater than 2 meters.
在车辆 1的底盘 50下面的轨道控制板 51, 有 2个作用: 车辆通过 分岔路口时, 起定位作用; 在合并路口, 起到地面直接控制车辆速度 的作用。  The track control board 51 under the chassis 50 of the vehicle 1 has two functions: when the vehicle passes through a bifurcation intersection, it plays the role of positioning; at the merged intersection, it plays the role of directly controlling the vehicle speed on the ground.
( 4 )车辆运行的标志部分  (4) Marking part of vehicle operation
车辆运行的标志部分包括轨道信号接收装置 52、 车辆信息发射器 54、 遮光板 56、 光电对射器 55。  The marking part of the vehicle operation includes a track signal receiving device 52, a vehicle information transmitter 54, a light shielding plate 56, and a photoelectric radiator 55.
安装在车辆上的车辆运行的标志装置的车辆信息发射器 54 和轨道 信号接收装置 52 的安装位置与前面细描述的在轨道上安装的轨道运行 标志装置的车辆信息接收器 29 和轨道信号发送装置 30 的相对应。 当 车辆通过时, 轨道的车辆信息接收器 29接收或检测车辆信息发送装置 54发出的信息, 以确定车辆的通过。 同样, 当车辆进入一段新轨道时, 车辆的轨道信号接收装置 52 接收或检测轨道的轨道信号发送装置 30 发出的信息, 以确定车辆进入了一段新轨道。  The vehicle information transmitter 54 and the track signal receiving device 52 of the vehicle running marking device installed on the vehicle are installed in the vehicle information receiver 29 and the track signal transmitting device of the track running marking device installed on the track described in detail above Corresponding to 30. When the vehicle passes, the track's vehicle information receiver 29 receives or detects information from the vehicle information transmitting device 54 to determine the passage of the vehicle. Similarly, when the vehicle enters a new track, the track signal receiving device 52 of the vehicle receives or detects the information sent by the track signal transmitting device 30 of the track to determine that the vehicle has entered a new track.
如图 8 所示, 在车辆 1 的底盘 50上安装了轨道信号接收装置 52 和车辆信息发射器 54轨道信号接收装置 52和车辆信息发射器 54的安 装位置分别与轨道 2 的车辆信号接收器 29和轨道信息发送装置 30相 对应。 如前所述, 轨道信号接收装置 52 和车辆信息发射器 54 可以采 用已有技术的各种方式, 只要能检测到车辆的通过和能确定车辆进入 了一新的轨道区域就可以。 此外, 在车辆 1 上还可安装与轨道 2 上的 光电对射器 27、 遮光板 28相对应的遮光板 56、 光电对射器 55, 同样 用于检测车辆的通过。  As shown in FIG. 8, the track signal receiving device 52 and the vehicle information transmitter 54 are installed on the chassis 50 of the vehicle 1 and the installation positions of the track signal receiving device 52 and the vehicle information transmitter 54 are respectively different from the vehicle signal receiver 29 of the track 2. Corresponds to the orbit information transmitting device 30. As described above, the track signal receiving device 52 and the vehicle information transmitter 54 can adopt various methods of the prior art, as long as the passing of the vehicle can be detected and it can be determined that the vehicle has entered a new track area. In addition, a light shielding plate 56 and a light shielding device 55 corresponding to the photoelectric radiator 27 and the light shielding plate 28 on the track 2 can also be installed on the vehicle 1 to detect the passing of the vehicle.
( 5 )车辆运行的无线通信部分  (5) Wireless communication part of vehicle operation
车辆运行的无线通信部分三个相互独立的子系统: 区域无线通信 系统、 轨道无线通信系统和前后车辆之间的微无线通信系统。 为避免 三个系统的干扰, 应选择不同的工作频率或频段; 为避免上下行之间 的干扰, 应采用两组频率, 车载无线通信设备能自动切换工作频率。 这些无线通信系统都是常规的无线通信系统, 是成熟技术的具体应用。 The wireless communication part of the vehicle operation has three independent subsystems: a regional wireless communication system, a track wireless communication system, and a micro wireless communication system between the front and rear vehicles. To avoid For the interference of the three systems, different operating frequencies or frequency bands should be selected; in order to avoid interference between uplink and downlink, two sets of frequencies should be used, and the vehicle-mounted wireless communication equipment can automatically switch the operating frequency. These wireless communication systems are conventional wireless communication systems and are specific applications of mature technologies.
区域无线通信系统  Regional wireless communication system
区域无线通信系统是车辆与车站局域网的移动数据通信, 通信覆 盖范围是车站的站区。 区域无线通信系统包括车上无线通信设备和车 站的无线通信设备。 通过该区域无线通信系统, 车辆接受调度计算机 对车辆发送调度指令或对车辆进行无线引导; 车辆向调度计算机发送 运行信息、 申请和应答指令。  The area wireless communication system is mobile data communication between the vehicle and the station LAN. The communication coverage area is the station area of the station. The area wireless communication system includes wireless communication equipment on the vehicle and wireless communication equipment on the station. Through this regional wireless communication system, the vehicle accepts the dispatching computer to send dispatching instructions to the vehicle or wirelessly guides the vehicle; the vehicle sends operating information, application and response instructions to the dispatching computer.
如图 28所示, 在车辆 1顶部安装了车上无线通信设备 411的天线 57, 它与车站的区域无线通信设备 71 0, 组成车站范围内的区域无线通 信系统。 例如, 车站的区域无线通信设备 710 可以采用双工收发信机 71 0, 无线通信设备 411 可以采用异频单工收发信机, 无线通信设备 411、 71 0 分别具有天线。 频率由地方无线电管理局 (委员会)分配, 可以选 800MHz或 450MHz频段的双工频率, Π为高端频率、 f 1 '为 (氐端 频率。  As shown in FIG. 28, an antenna 57 of the on-board wireless communication device 411 is installed on the top of the vehicle 1, and the antenna 57 and the area wireless communication device 7100 of the station constitute an area wireless communication system within the station range. For example, the station wireless communication device 710 may use a duplex transceiver 71 0, the wireless communication device 411 may use an inter-frequency simplex transceiver, and the wireless communication devices 411 and 71 0 each have an antenna. The frequency is allocated by the local radio authority (committee), and the duplex frequency in the 800MHz or 450MHz band can be selected, Π is the high-end frequency, and f 1 ′ is the (top-end frequency).
微无线通信系统  Micro wireless communication system
车辆的前保险杠 41或车厢前部安装了前车信息接收器 45, 在车辆 的后保险杠 42装有车辆运行信息发射器 46。 如图 29所示, 由前车的 车辆运行信息发送器 46 与后车的车辆信息接收器 45 组成微无线通信 系统, 实现前后车辆之间的近距离无线通信, 前车发送车辆的运行信 息, 后车接收前车发送的信息, 通信距离只需要 20 多米。 频率 f 3 采 用 200MHz或 350MHz开放频段的同频通信频率。  The front bumper 41 of the vehicle or the front of the compartment is equipped with a front vehicle information receiver 45, and the rear bumper 42 of the vehicle is equipped with a vehicle operation information transmitter 46. As shown in FIG. 29, the vehicle operation information transmitter 46 of the preceding vehicle and the vehicle information receiver 45 of the following vehicle constitute a micro-wireless communication system to implement close-range wireless communication between the front and rear vehicles, and the front vehicle sends the vehicle operation information. The following vehicle receives the information sent by the preceding vehicle, and the communication distance only needs more than 20 meters. Frequency f 3 uses the same frequency communication frequency of 200MHz or 350MHz open frequency band.
车辆运行信息包括车辆的序号、 目的站、 运行速度。 后面车辆的 前车信息接收器 45 受到信号后, 需要判断序号, 序号相符合时, 接收 的信息有效。 车辆在收不到前面车辆发出的信息时, 就按 0. 5 秒间隔 进行发射; 在收到前面车辆发送的信息后, 就立即向后面发射信息。  The vehicle operation information includes the vehicle serial number, destination station, and operation speed. The front vehicle information receiver 45 of the following vehicle needs to determine the serial number after receiving the signal. When the serial numbers match, the received information is valid. When the vehicle cannot receive the information from the vehicle in front, it transmits at 0.5 second intervals; after receiving the information from the vehicle in front, it immediately transmits the information to the rear.
安装在车辆上的第二轨道无线通信装置  Vehicle-mounted second track wireless communication device
前面所述的安装在轨道上的第一轨道无线通信装置与安装在车辆 上的第二轨道无线通信装置实现车辆与轨道之间的通信。 整个系统的 轨道无线通信系统包括第一轨道无线通信装置与第二轨道无线通信装 置。 如附图 30所示, 在车辆 1的底盘 50下面安装无线通信器 410的 天线 53, 车辆 1的无线通信器 410与泄漏电缆 23、轨道无线通信机 210 组成轨道无线通信系统, 天线 53安装在车辆的左侧, 它接收泄漏电缆 23辐射的射频信号, 还向轨道无线通信机 210发射信号。 由于无线通 信器 410的天线 53安装在车辆底部, 降低了干扰信号的强度, 改善了 信号的信噪比。频率由地方无线电管理局(委员会)分配,可以选 450MHz 频段的双工频率, f2为高端频率、 f2'为低端频率。 The aforementioned first track wireless communication device mounted on the track and the second track wireless communication device mounted on the vehicle realize communication between the vehicle and the track. The orbit wireless communication system of the entire system includes a first orbit wireless communication device and a second orbit wireless communication device. As shown in FIG. 30, the antenna 53 of the wireless communicator 410 is installed under the chassis 50 of the vehicle 1. The wireless communicator 410 of the vehicle 1 and the leakage cable 23 and the orbital wireless communicator 210 constitute an orbital wireless communication system. The antenna 53 is installed on the On the left side of the vehicle, it receives radio frequency signals radiated by the leaky cable 23 and also transmits signals to the rail radio 210. Since the antenna 53 of the wireless communicator 410 is installed on the bottom of the vehicle, the strength of the interference signal is reduced, and the signal-to-noise ratio of the signal is improved. The frequency is allocated by the local radio authority (committee), and the duplex frequency in the 450MHz band can be selected, f2 is the high-end frequency, and f2 'is the low-end frequency.
如附图 31 所示, 各轨道、 路口的单片机接轨道无线通信机 210、 泄漏电缆 23等, 建成各个轨道区段的轨道无线通信网。 车辆进入哪个 区段, 就在该区段的轨道无线通信网内与该单片机进行无线通信。  As shown in FIG. 31, the single-chip computer of each track and intersection is connected to the track wireless communication machine 210, the leakage cable 23, etc., and the track wireless communication network of each track section is completed. In which section the vehicle enters, wireless communication is performed with the single-chip microcomputer in the track wireless communication network of the section.
( 6 )车辆运行的管理控制部分  (6) Management and control part of vehicle operation
车辆运行的管理控制部分包括主控微机 401、 红外检测器 58、 电 子显示牌 59和多个单片机 402 - 409等。  The management and control part of the vehicle operation includes a main control microcomputer 401, an infrared detector 58, an electronic display card 59, and a plurality of single-chip microcomputers 402-409.
在车辆 1的内部设置了主控微机 401, 车门上部安装了红外检测器 58 , 用于检测车外是否有乘客在上、 下车, 以控制自动开关车门 503; 车辆上还安装电子显示牌 59, 用于显示车辆运行的目的站。  Inside the vehicle 1, a main control microcomputer 401 is installed, and an infrared detector 58 is installed on the upper part of the door to detect whether there are passengers outside or inside the vehicle to control the automatic opening and closing of the door 503; an electronic display card 59 is also installed on the vehicle , Used to display the destination station of vehicle operation.
图 25是车辆 1的主控微机 401和各单片机组成的集散控制的计算 机系统。 采集单片机 402采集碰撞緩冲装置 43、 轨道信号接收装置 52、 光电对射器 55、 红外检测器 58的开关信号; 测量单片机 403采集电子 测距设备 49测量的数据。 驱动单片机 404通过驱动电路控制动力电机 65, 控制电机的运转速度, 实现控制车辆的车速; 驱动单片机 404 还 控制车辆的自动门 503 和控制车辆的制动装置; 显示单片机 405 用于 控制电子指示牌的显示, 显示目的站的站名; 微通信单片机 406 处理 前车信息接收器 45接收的信息, 和控制车辆运行信息发射器 46 发射 车辆的运行信息。 轨道单片机 407 控制无线通信器 410 与轨道无线通 信机 210通信。 区域单片机 408控制无线通信机 411 与车站的无线通 信设备 710通信。 主控微机 401 采集各单片机的信息, 向单片机发送 工作指令; 各单片机各负其责, 控制车辆按主控微机 401 的运行计划 运行。 车辆信息发射器 54是车辆启动就工作。  FIG. 25 is a computer system for distributed control composed of a main control microcomputer 401 of the vehicle 1 and each single-chip microcomputer. The acquisition single-chip microcomputer 402 collects the switching signals of the collision buffer device 43, the track signal receiving device 52, the optoelectronic transmitter 55, and the infrared detector 58; the measurement single-chip microcomputer 403 collects the data measured by the electronic ranging device 49. The driving single-chip microcomputer 404 controls the power motor 65 through the driving circuit to control the running speed of the motor to control the vehicle speed; the driving single-chip microcomputer 404 also controls the automatic door 503 of the vehicle and the braking device of the vehicle; the display single-chip microcomputer 405 is used to control the electronic sign The micro-communications single-chip microcomputer 406 processes the information received by the preceding vehicle information receiver 45, and controls the vehicle operation information transmitter 46 to transmit the vehicle operation information. The orbit microcontroller 407 controls the wireless communicator 410 to communicate with the orbit wireless communicator 210. The area single-chip microcomputer 408 controls the wireless communication device 411 to communicate with the wireless communication device 710 of the station. The main control microcomputer 401 collects the information of each single-chip microcomputer, and sends work instructions to the single-chip microcomputer; each single-chip microcomputer has its own responsibility, and controls the vehicle to operate according to the main control microcomputer 401 operation plan. The vehicle information transmitter 54 operates when the vehicle is started.
本文中单片机可以采用通用的单片机, 例如 MCS-51系列。  The one-chip computer in this text can adopt the general-purpose one-chip computer, for example MCS-51 series.
主控微机 401 可以是一台嵌入式微机, 微机 401 存有系统的各车 站、 停车场、 各段轨道、 各路口分布的电子地图 (数据库) 。 当确定 发车站和目的站后, 主控微机 401 就自行编制运行计划 (确定行车路 线) , 从发车站直达目的站。 The main control microcomputer 401 may be an embedded microcomputer, and the microcomputer 401 stores an electronic map (database) of each station, parking lot, various tracks, and intersections of the system. When ok After the departure station and the destination station, the main control microcomputer 401 compiles the operation plan (determines the driving route) on its own, and goes directly from the departure station to the destination station.
由于系统中的车站、 轨道、 路口、 停车场等不需要精确的位置, 所述的电子地图只是记载各车站、 轨道、 路口、 停车场之间的相互关 系, 远比地理信息的电子地图简单。  Since the stations, tracks, intersections, parking lots, etc. in the system do not need precise locations, the electronic map described is only recording the interrelationships among the stations, tracks, intersections, parking lots, which is much simpler than the electronic map of geographic information.
o例如: 以一条直线和一条环形线路相互交叉的系统为例, 建立 数据库: 直线线路 1有 13个车站, 其站名为 A1— A15; 环行线路 2有 18 个车站, 其站名为 B1— B18。 其交叉点的车站 (或称换乘站)有 2 个, 是 A4与 B2、 A10与 B10两个站。 对于 1线有 14条连接车站的双 向轨道, 对于 2线有 18条连接车站的双向轨道。  o For example: Take a system where a straight line and a circular line intersect each other as an example, establish a database: straight line 1 has 13 stations and its station names are A1—A15; ring line 2 has 18 stations and its station name is B1— B18. There are 2 stations (or transfer stations) at the intersection, which are two stations A4 and B2, A10 and B10. For Line 1, there are 14 two-way tracks connecting the stations, and for Line 2, there are 18 two-way tracks connecting the stations.
定义下行方向为编号从小至大的方向, 反之为上行方向。 (以下 可以自行定义)  The downward direction is defined as the number from the smallest to the largest, and the opposite is the upward direction. (The following can be defined by yourself)
以两个字节表示每个车站、轨道、停车场的地址: 如, 第一个(高) 字节的 D7、 D6位区分地址性质, 其 00为路口、 01为车站、 10为轨道、 11为停车场等; 其 D5为待用; D4— DO为线路号, 可有 32条线路; 第 二个(低)字节的 D7表示上下行, '0, 表示是上行、 '1, 表示是下 行; D6、 D5 区分车站标志, '00, 表示是一般车站、 '01, 无定义, The address of each station, track, and parking lot is represented by two bytes: For example, the D7 and D6 bits of the first (higher) byte distinguish the nature of the address, where 00 is the intersection, 01 is the station, 10 is the track, 11 It is parking lot, etc .; its D5 is standby; D4—DO is the line number, there can be 32 lines; D7 of the second (low) byte means uplink and downlink, '0, it means uplink, and' 1, it means Downward line; D6 and D5 distinguish the station sign, '00, which means a normal station, '01, no definition,
'10, 表示终端车站、 '11, 表示交叉车站 (或称换乘站) ; D4— DO 有 32个地址。 轨道、 路口、 停车场等都可以类似编号。 '10 means terminal station, '11 means cross station (or transfer station); D4—DO has 32 addresses. Tracks, intersections, parking lots, etc. can all be similarly numbered.
首先确定代码  Determine the code first
线路 1的车站的下行站台代码为 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 ) , All (41、 8B ) , A12 (41、 8C) , A13 (41、 8D ) , A14 (41、 8E ) , A15 (41、 CF ) ; 线路 1的车站的上行站台代码为 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 ) , All (41、 0B) , A12 (41、 0C) , A13 (41、 0D ) , A14 (41、 0E ) , A15 (41、 4F ); 线路 2的车站的下行站台代码为 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 descending platform codes for the station on line 1 are 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), All (41, 8B), A12 (41, 8C), A13 (41, 8D), A14 (41, 8E), A15 (41, CF); the code of the uplink platform of the station on line 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), All (41, 0B), A12 (41, 0C), A13 (41, 0D), A14 (41, 0E), A15 (41, 4F); the downlink platform code of the station on line 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);
线路 2的车站的上行站台代码为 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、 OF) , B16 (42、 10) , B17 (42、 11) , B18 (42、 52) 。  The upward platform codes for stations on line 2 are 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, OF), B16 (42, 10), B17 (42, 11), B18 (42, 52).
同样可以列出区间轨道的代码表:  You can also list the code table of the interval track:
线路 1的下行区间轨道的代码为 al (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 ) , alO (81、 EA) , all (81、 8B ) , al2 (81、 8C) , al3 (81、 8D ) , al4 (81、 CE ) ;  The codes of the down track of line 1 are al (81, C1), a2 (81, 82), a3 (81, E3), a4 (81, E4), a5 (81, 85), and a6 (81, 86) , A7 (81, 87), a8 (81, 88), a9 (81, E9), alO (81, EA), all (81, 8B), al2 (81, 8C), al3 (81, 8D), al4 (81, CE);
线路 1的上行区间轨道的代码为 al ( 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) , alO (81、 6A ) , all (81、 OB) , al2 (81、 0C) , al3 (81、 0D ) , al4 (81、 4E );  The codes of the upward section orbit of line 1 are al (81, 41), a2 (81, 02), a3 (81, 63), a4 (81, 64), a5 (81, 05), and a6 (81, 06) , A7 (81, 07), a8 (81, 08), a9 (81, 69), alO (81, 6A), all (81, OB), al2 (81, 0C), al3 (81, 0D), al4 (81, 4E);
线路 2的下行区间轨道的代码为 bl (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 ) , blO (82、 CA ) , bll (82、 8B) , bl2 (82、 8C) , bl3 (82、 8D ) , bl4 (82、 8E ) , bl5 (82、 8F ) , bl6 (82、 90) , bl7 (82、 91) , bl8 (82、 D2 ) ;  The codes of the downward section orbit of line 2 are bl (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), blO (82, CA), bll (82, 8B), bl2 (82, 8C), bl3 (82, 8D), bl4 (82, 8E), bl5 (82, 8F), bl6 (82, 90), bl7 (82, 91), bl8 (82, D2);
线路 2的下行区间轨道的代码为 bl (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) , blO (82、 6A ) , bll (82、 0B) , bl2 (82、 0C) , bl3 (82、 0D ) , bl4 (82、 0E ) , bl5 (82、 OF) , bl6 (82、 10) , bl7 (82、 11) , bl8 (82、 52) 。  The codes of the downward section orbit of line 2 are bl (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), blO (82, 6A), bll (82, 0B), bl2 (82, 0C), bl3 (82, 0D), bl4 (82, 0E), bl5 (82, OF), bl6 (82, 10), bl7 (82, 11), bl8 (82, 52).
建立数据库:  build database:
上述系统的数据库的内容为三张表: 一张为线路布局表, 一张为 线路关系表, 另一张为站名代码表。  The content of the database of the above system is three tables: one is a line layout table, one is a line relationship table, and the other is a station name code table.
线路布局表是由下列子表组成: ①线路 1的下行表: A1 (41、 C1), al (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 ) , AlO (41、 EA ) , alO (81、 EA) , All (41、 8B ) , all (81、 8B ) , A12 (41、 8C ) , al2The line layout table is composed of the following sub-tables: ① Downline table of line 1: A1 (41, C1), al (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), AlO (41, EA), alO (81, EA), All (41, 8B), all (81, 8B) ), A12 (41, 8C), al2
(81、 8C ) , A13 (41、 8D ) , al3 (81、 8D ) , A14 (41、 8E ) , al4 (81、 CE) , A15 (41、 CF ) ; (81, 8C), A13 (41, 8D), al3 (81, 8D), A14 (41, 8E), al4 (81, CE), A15 (41, CF);
②线路 1的上行表: Al ( 41、 41 ) , al ( 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) , Α6 (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) , alO ( 81、 6A ) , All ( 41、 OB ) , all (81、 OB) , A12 (41、 OC ) , al2 (81、 OC ), A13 (41、 OD ) , al3 ② Ascending tables for line 1: Al (41, 41), al (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), alO (81, 6A), All (41 , OB), all (81, OB), A12 (41, OC), al2 (81, OC), A13 (41, OD), al3
(81、 OD) , A14 (41、 OE ) , al4 (81、 4E ) A15 (41、 4F ); (81, OD), A14 (41, OE), al4 (81, 4E) A15 (41, 4F);
③线路 1的下行表: Bl ( 42、 CI) , bl ( 82、 CI) , 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、 ③Downline table for line 1: Bl (42, CI), bl (82, CI), 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) , BIO (42、 EA ) , blO (82、 CA ) , Bll (42、 8B ) , bll (82、 8B) , B12 (42、 8C ) , bl2 (82、 8C ) , B13 (42、 8D ) , bl389), b9 (82, C9), BIO (42, EA), blO (82, CA), Bll (42, 8B), bll (82, 8B), B12 (42, 8C), bl2 (82, 8C ), B13 (42, 8D), bl3
(82、 8D) , B14 (42、 8E ) , bl4 (82、 8E ) , B15 (42、 8F ) , bl5 (82、 8F) , B16 (42、 90) , bl6 (82、 90) , B17 (42、 91) , bl7 (82、 91) , B18 (42、 D2 ) , bl8 (82、 D2 ) ; (82, 8D), B14 (42, 8E), bl4 (82, 8E), B15 (42, 8F), bl5 (82, 8F), B16 (42, 90), bl6 (82, 90), B17 ( 42, 91), bl7 (82, 91), B18 (42, D2), bl8 (82, D2);
④线路 2的上行表: Bl ( 42、 41) , bl ( 82、 61 ), B2 ( 42、 62 ) , b2 (82、 62) , B3 (42、 03) , b3 (82、 03) , Β4 (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 ) , blO ( 82、 6A ), Bll (42、 OB) , bll (82、 OB) , B12 (42、 OC ) , bl2 (82、 OC ) , B13 (42、 OD ) , bl3 ④ Upline table for line 2: Bl (42, 41), bl (82, 61), B2 (42, 62), b2 (82, 62), B3 (42, 03), b3 (82, 03), Β4 (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), blO (82, 6A), Bll (42 , OB), bll (82, OB), B12 (42, OC), bl2 (82, OC), B13 (42, OD), bl3
(82、 OD) , B14 (42、 OE ) , bl4 (82、 OE ) , B15 (42、 OF) , bl5 (82、 OF) , B16 (42、 10) , bl6 (82、 10) , B17 (42、 11 ) , bl7 (82、 11) , B18 (42、 52) , bl8 (82、 52) 。 (82, OD), B14 (42, OE), bl4 (82, OE), B15 (42, OF), bl5 (82, OF), B16 (42, 10), bl6 (82, 10), B17 ( 42, 11), bl7 (82, 11), B18 (42, 52), bl8 (82, 52).
线路关系表列出交叉站的线路关系①交叉站 1: A4/B2 (41、 X4, 42、 Y2 ) , ②交叉站 2: A10/ B10 (41、 XA, 42、 YA ) 。 (7) 电源 The line relationship table lists the line relationships of the cross stations ① Cross station 1: A4 / B2 (41, X4, 42, Y2), ② Cross station 2: A10 / B10 (41, XA, 42, YA). (7) Power supply
电源可以按需要选择, 一种是由蓄电池供电, 另一种是以地面供 电系统供电为主、 蓄电池作为备用。 这两种供电方式都有应用, 例如, 电动汽车就是蓄电池供电, 而通过长安街的无轨电车就采用了后一种 供电方式。  The power source can be selected as required, one is powered by the battery, and the other is based on the ground power supply system, with the battery as a backup. Both types of power supply have applications. For example, electric vehicles are powered by batteries, while trolleybuses on Chang'an Street use the latter.
(8)车辆的运行  (8) Vehicle operation
主控微机 401 是一台嵌入式微机, 微机的存储器存有系统的各车 站、 停车场、 各段轨道、 各路口分布的电子地图。 当确定发车站和目 的站后, 主控微机 401 就自行编制运行计划 (确定行车路线) , 从发 车站直达目的站。  The main control microcomputer 401 is an embedded microcomputer. The memory of the microcomputer stores electronic maps of the stations, parking lots, various tracks, and intersections of the system. When the departure station and the destination station are determined, the main control microcomputer 401 compiles an operation plan (determines the driving route) by itself, and directly goes from the departure station to the destination station.
还以上面的数据库为例, 当确定发车站和目的站后, 车辆的主控 微机自行编制运行计划。  Taking the above database as an example, when the departure station and the destination station are determined, the vehicle's main control microcomputer compiles the operation plan by itself.
◊例如: 车辆从 A14站出发去 B17站。  ◊Example: The vehicle departs from station A14 to station B17.
首先按确定发车站和目的站的所在线路, A14站在 1线, B17站在 2线;  First, confirm the line where the departure and destination stations are located. A14 is on line 1 and B17 is on line 2.
检索 1线与 2线的交叉站: A4/B2和 A10/B10 (查代码的线路号) ; 车辆选择路线: 在一般情况下先选择最近的交叉站, A10/B10站; 确定运行线路: 车辆将通过的车站 A14、 A13、 A12、 All、 A10/B10, Bll、 B12、 B13、 B14、 B15、 B16、 B17; 车辆在 A14至 A10段是行驶在 上行线路, 在 B10至 B17段是行驶在下行线路; 则运行线路为 A14 ( 41、 0E), al3 (81、 0D ), A13 (41、 0D ), al2 (81、 0C ) , A12 (41、 0C ) , all (81、 OB) , All (41、 0B) , alO (81、 6A ) , A10 (41、 6A ) ; 车辆在 A10/B10站从 1线的上行线路转到 2线的下行线路, A10 ( 41、 6A)、 B10 (42、 EA), blO ( 82、 CA ) , B11 (42、 8B ) , bll ( 82、 8B ), B12 (42、 8C) , bl2 (82、 8C ) , B13 (42、 8D ) , bl3 (82、 8D ) , B14 (42、 8E) , bl4 (82、 8E ) , B15 (42、 8F ) , bl5 (82、 8F ) , B16 (42、 90) , bl6 (82、 90) , B17 (42、 91) 。 (由于每个车站都有 分岔路口和合路路口, 在运行计划中要将各车站的路口代码列在表 内) 。  Retrieve the intersections of lines 1 and 2: A4 / B2 and A10 / B10 (check the line number of the code); Vehicle selection route: Under normal circumstances, first select the nearest intersection, A10 / B10 station; Determine the operation line: Vehicle Passing stations A14, A13, A12, All, A10 / B10, Bll, B12, B13, B14, B15, B16, B17; Vehicles are driving on the upward line in sections A14 to A10, and driving in sections B10 to B17 Downlink lines; then the operating lines are A14 (41, 0E), al3 (81, 0D), A13 (41, 0D), al2 (81, 0C), A12 (41, 0C), all (81, OB), All (41, 0B), alO (81, 6A), A10 (41, 6A); At A10 / B10, the vehicle changes from the upward line of line 1 to the downward line of line 2, A10 (41, 6A), B10 (42 , EA), blO (82, CA), B11 (42, 8B), bll (82, 8B), B12 (42, 8C), bl2 (82, 8C), B13 (42, 8D), bl3 (82, 8D), B14 (42, 8E), bl4 (82, 8E), B15 (42, 8F), bl5 (82, 8F), B16 (42, 90), bl6 (82, 90), B17 (42, 91) ). (Because each station has bifurcations and junctions, the intersection codes for each station are listed in the table in the operation plan).
车辆 1 运行到一段轨道时, 都要进行登记、 核对和排序; 在每个 路口也都要进行登记、 核对。 其登记、 核对和排序的过程在 (二)轨 道一节的 (4)中已经叙述。 车辆 1 通过分岔路口 4 时, 车辆 1继续直行, 在路口的车辆转向 装置 24 配合下, 车辆按运行计划运行。 其具体的过程在(二)轨道一 节的 (5)中已经叙述。 When Vehicle 1 runs to a section of track, it must be registered, checked and sorted; it must also be registered and checked at each intersection. The process of registration, verification and ordering has been described in (4) of the section (2) Track. When the vehicle 1 passes the branch 4, the vehicle 1 continues to go straight. With the cooperation of the vehicle steering device 24 at the intersection, the vehicle runs according to the operation plan. The specific process has been described in (5) of the (II) orbital section.
车辆 1通过合并路口 5时, 车辆 1在路口的单片机 203的安排下, 以单片机 203指定的速度通过合并路口 5。 其具体的过程在(二)轨道 一节的 (6)中已经叙述。  When vehicle 1 passes through merged intersection 5, vehicle 1 passes through merged intersection 5 at the speed specified by the single-chip microcomputer 203 at the intersection. The specific process is described in (6) of the section (2) Orbit.
车辆 1 需要通过车站 3 时, 其过程由 (四)车站一节中将予以叙 述。  When vehicle 1 needs to pass through station 3, the process will be described in section (4) Station.
车辆 1 可以单独在直行轨道 2 上运行; 为提高运输效率 (充分利 用专用路权的道路) , 车辆自行编组成为虚拟列车 8 在直行轨道 2 上 运行。  Vehicle 1 can run on straight track 2 alone; in order to improve transportation efficiency (roads that make full use of the right of way), the vehicle is organized into a virtual train 8 running on straight track 2.
虚拟列车 8的编组过程:  Marshalling process of virtual train 8:
本发明所述的虚拟列车是指无固定连接和牵引的若干辆车以同步 速度运行的列车。  The virtual train according to the present invention refers to a train running at a synchronous speed by a plurality of vehicles without fixed connection and traction.
车辆在通过直行轨道 2 时, 轨道计算机 201 通过轨道无线通信系 统对每辆车进行排序, 并予以序号。 车辆在行驶时, 其电子测距设备 49 不断测量与前车之间的距离, 测量数据送测量单片机 403, 当距离达到 20米左右时, 单片机 403将测量值送主控微机 401 ; 另一方面前车信 息接收器 45接收前面车辆的车辆运行信息发送器 46 发送的信息, 主 控微机 401 根据与前面车辆之间的距离和前车的运行速度, 按大于前 面车辆的速度运行, 两车的速度差与两车之间的距离成线性关系, 距 离为零时速度差为零。  When the vehicle passes through the straight track 2, the track computer 201 sorts each car through the track wireless communication system, and numbers them. When the vehicle is running, its electronic distance measuring device 49 continuously measures the distance to the preceding vehicle, and the measurement data is sent to the measurement single-chip 403. When the distance reaches about 20 meters, the single-chip 403 sends the measured value to the main control microcomputer 401; The preceding vehicle information receiver 45 receives the information sent by the vehicle operation information transmitter 46 of the preceding vehicle. The main control microcomputer 401 operates at a speed greater than that of the preceding vehicle according to the distance from the preceding vehicle and the operating speed of the preceding vehicle. The speed difference has a linear relationship with the distance between the two cars. The speed difference is zero when the distance is zero.
由于距离为零时, 实际的速度差不一定是零, 后车追逐到前车时, 会产生碰撞, 碰撞緩冲装置 43被压缩, 其微动开关 439的接点断开, 采集单片机 402采集的碰撞信息送主控微机 401, 主控微机 401通过驱 动单片机 404启动车辆的制动装置, 以调整车速。  Because when the distance is zero, the actual speed difference is not necessarily zero. When the following vehicle chases to the front vehicle, a collision will occur. The collision buffer device 43 is compressed, and the contact of its micro switch 439 is disconnected. The collision information is sent to the main control microcomputer 401. The main control microcomputer 401 activates the braking device of the vehicle by driving the single-chip microcomputer 404 to adjust the vehicle speed.
当前后车辆 1 以同步的速度组成虚拟列车 8 运行, 在通过分岔路 口 5时虚拟列车中的不同方向的车辆在车辆转向装置 24配合下分开行 驶。  The front and rear vehicles 1 form a virtual train 8 running at a synchronized speed, and when passing through the bifurcation intersection 5, vehicles in different directions in the virtual train travel separately with the cooperation of the vehicle steering device 24.
车辆 1在车站内的运行见(四)车站部分。  For the operation of vehicle 1 in the station, see (4) Station section.
(四) 车站:  (4) Station:
车站分为 3 个等级: 小客流量车站, 中等客流量车站, 大客流量 车站。 The station is divided into 3 levels: small passenger station, medium passenger station, large passenger station Station.
(1) 车站的轨道布局:  (1) The track layout of the station:
图 9 所示小客流量车站的轨道布局, 它类似铁路的小车站, 在进 站处有分岔路口 4, 在出站处有合并路口 5, 车站中间每方向有两条相 互隔离的轨道, 一条为提供通过车辆的直通轨道 71, 另一条为上车和 下车的站台轨道 720。 站台 74设在站台轨道的外侧, 这样设置的站台 称为侧式站台, 而直通轨道安排在外侧。 当然, 也可以将站台设于中 间, 这样设置的站台称为岛式站台。 两种轨道布局各有优缺点。 侧式 站台的直通轨道与区间的直行轨道处于一条直线, 直通行驶的车辆没 有晃动, 车站扩建容易, 还便于站台管理; 而岛式站台的站台利用率 高, 站台的宽度较窄, 机电设备(自动扶梯、 空调、 照明等)也较少。  The track layout of the small passenger station shown in Figure 9 is similar to a railway station. It has a bifurcation junction 4 at the entry station, a merge junction 5 at the exit station, and two isolated tracks in each direction of the station. One is a through track 71 for passing vehicles, and the other is a platform track 720 for getting on and off. The platform 74 is provided on the outside of the platform track. The platform thus set up is called a side platform, and the through track is arranged on the outside. Of course, it is also possible to set the platform in the middle, and such a platform is called an island platform. Each of the two track layouts has advantages and disadvantages. The straight track of the side platform is in a straight line with the straight track of the section. The straight-through vehicles are not shaken, the station expansion is easy, and the platform management is also convenient. The island platform has high platform utilization, narrow platform width, and mechanical and electrical equipment ( Escalators, air conditioners, lighting, etc.) are also fewer.
图 10 所示中等客流量车站的轨道布局, 在直通轨道 71 与站台轨 道 720之间增加一条通行轨道 73, 站台轨道 72和通行轨道 73之间没 有隔离护栏。 在这两条轨道上安装了前述的车辆信号接收器 29、 轨道 信息发送装置 30, 车辆转向控制装置 24, 如图图 19 所示。 车辆按调 度指令驶到指定的车辆转向控制装置 24 处(车辆检测轨道信息发送装 置 30发送信号, 进行计数) , 由车辆转向控制装置 24 将车辆从通行 轨道 73转向站台轨道 720, 或将车辆从站台轨道 720移至通行轨道 73。  The track layout of the medium-passenger station shown in Fig. 10 is to add a passing track 73 between the through track 71 and the platform track 720, and there is no isolation fence between the platform track 72 and the passing track 73. The aforementioned vehicle signal receiver 29, track information transmitting device 30, and vehicle steering control device 24 are installed on these two tracks, as shown in FIG. 19. The vehicle drives to the designated vehicle steering control device 24 according to the dispatch instruction (the vehicle detection track information sending device 30 sends a signal and counts), and the vehicle steering control device 24 turns the vehicle from the passing track 73 to the platform track 720, or The platform track 720 moves to the passing track 73.
图 11 所示大客流量车站的轨道布局, 从右向左为下行方向, 从左 向由为上行方向, 附图标记中的 -1代表下行方向, -2 为上行方向。 车 站轨道分上下两层, 上层为直通轨道 71-1、 71-2和下车站台轨道 72-1、 72-2 , 下层为通行轨道 73-1、 73-2和上车站台轨道 80-1、 80-2。 区间 直行轨道 2在进站的第 1个分岔路口 4-1、 4-2分别连接直行轨道和调 车轨道 75-1、 75-2; 直行轨道分别通过第 2个分岔路口 4-3、 4- 4接直 通轨道 71-1、 71-2和供下车的站台轨道 72-1、 72-2 , 下车的站台轨道 72-1、 72-2与折返轨道 77-1、 77-2连接; 折返轨道 77-1、 77-2是从 上层到达下层的轨道, 在下层与停车轨道或停车场 79-2、 79-1 连接; 停车轨道或停车场 79-2、 79-1 分别与反方向的通行轨道 73-2、 73-1 相接; 通行轨道 73-2、 73-1 分别与上车站台轨道 80-2、 80-1 相接; 上车站台轨道 80-2、 80-1 与通行轨道 73-2、 73-1 平行, 在上车站台 轨道 80-2、 80-1 和通行轨道 73-2、 73-1 之间没有隔离护栏, 安装了 车辆横向传送装置 78, 如图 20所示; 通行轨道 73-2、 73-1分别接至 发车轨道 76-2、 76-1 , 发车轨道 76-2、 76- 1是从下层到达上层的轨道; 发车轨道 76-2、 76-1分别和直通轨道 71-2、 71-1在合并路口 5-2、 5- 1合并到区间的直行轨道 2。 为便于从后方站调用空车, 空车从调车轨 道 75-1、 75-2分别驶入下层停车轨道 79-1、 79-2和通行轨道 73-1、 73-2。 The track layout of the high-traffic station shown in Figure 11 is the downward direction from right to left, and the upward direction from left to left. -1 in the reference sign indicates the downward direction, and -2 indicates the upward direction. The station track is divided into two layers, the upper layer is the through track 71-1, 71-2 and the lower platform track 72-1, 72-2, and the lower layer is the passing track 73-1, 73-2 and the upper platform track 80-1. , 80-2. Section straight track 2 at the first branch 4-1 and 4-2 of the pit stop connects the straight track and shunting track 75-1 and 75-2 respectively; the straight track passes the second branch road 4-3 , 4-4 through rails 71-1, 71-2 and platform rails 72-1, 72-2 for getting off, platform rails 72-1, 72-2 for getting off, and return rails 77-1, 77- 2 connections; turn-back tracks 77-1, 77-2 are tracks from the upper level to the lower level, and are connected to the parking track or parking lot 79-2, 79-1 at the lower level; the parking track or parking lot 79-2, 79-1 respectively It is connected to the passing rails 73-2 and 73-1 in the opposite direction; the passing rails 73-2 and 73-1 are connected to the upper platform rails 80-2 and 80-1 respectively; the upper platform rails 80-2 and 80 are connected -1 is parallel to the passing rails 73-2, 73-1, there is no isolation fence between the upper platform rails 80-2, 80-1 and the passing rails 73-2, 73-1, and the vehicle lateral transfer device 78 is installed. As shown in Figure 20; the passing rails 73-2, 73-1 are connected to Departure tracks 76-2, 76-1, Departure tracks 76-2, 76-1 are the tracks from the lower level to the upper level; Departure tracks 76-2, 76-1, and through-tracks 71-2, 71-1 are at merged intersections, respectively 5-2, 5- 1 merge into straight track 2 of the interval. To facilitate the transfer of empty cars from the rear station, empty cars drive from the shunting tracks 75-1, 75-2 into the lower parking tracks 79-1, 79-2, and the passing tracks 73-1, 73-2, respectively.
(2) 车站轨道上的设置:  (2) Setting on the station track:
在车站各段轨道、 路口和停车场的入口处的设置, 与区间的轨道、 路口相同。 如前所述。 在通行轨道和站台轨道中间安装车辆横向传送 装置 78, 用于横向传送车辆, 如图 20所示。  The settings of the tracks, intersections and parking lot entrances at the stations are the same as those of the sections. As mentioned before. A vehicle horizontal transfer device 78 is installed between the passing track and the platform track to transfer the vehicle laterally, as shown in FIG. 20.
图 17示出了车辆横向传送装置 78。 它由站台轨道计算机控制主动 电机 783, 主动电机带动主动滚轮 . 781, 从而驱动传送带 784, 传送带 由辅助滚轮 782 支撑。 电机按需要可以顺时针和逆时针旋转。 类似于 轨道吊车的两端的限位装置, 在传送带上固定了限位块 785、 在站台和 通行轨道上固定了左移和右移两个限位板 786 , 限制了传送带的移动距 离; 在限位板 786 安装了限位开关, 平时开关接通。 当车辆横向传送 装置载车移动到站台轨道的位置时, 限位板与限位块接触, 限制了传 送带移动; 同时, 限位开关断开, 单片机控制的电机停止运转。 当车 辆横向传送装置载车移动到通行轨道的位置时, 另一块限位板与限位 块接触, 也限制了传送带移动和控制电机停止运转。  FIG. 17 shows a vehicle lateral transfer device 78. It is controlled by the platform track computer with an active motor 783, which drives the active roller .781 to drive the conveyor 784, which is supported by the auxiliary roller 782. The motor can be rotated clockwise and counterclockwise as required. Similar to the limit devices at both ends of the rail crane, a limit block 785 is fixed on the conveyor belt, and two limit plates 786, left and right, are fixed on the platform and the passing track, which limits the moving distance of the conveyor belt; Position board 786 is equipped with a limit switch, which is normally on. When the vehicle's lateral transfer device moves the vehicle to the position of the platform track, the limit plate contacts the limit block, which limits the movement of the conveyor belt. At the same time, the limit switch is turned off, and the motor controlled by the single-chip microcomputer stops running. When the vehicle's lateral transfer device moves the vehicle to the position of the passing track, another limit plate comes into contact with the limit block, which also limits the movement of the conveyor belt and controls the motor to stop running.
(3) 车站的计算机调度中心  (3) Computer dispatch center of the station
在车站设置有计算机调度中心。 如图 23 所示, 车站的计算机调度 中心是一套计算机局域网, 它包括票务系统 709、 站厅计算机 702、 站 台计算机 703和调度计算机 701组成。局域网内的计算机通过集线器 704 进行联网, 并由集线器 704 通过专用通信线路接入企业城域网。 局域 网还设置了车辆分布位置数据库 708和乘客信息数据库 707。 局域网、 城域网、 数据库可以采用现有计算机网絡的成熟技术来实现。 票务系 统 709包括人工售票计算机 704和自动售票计算机 705。  A computer dispatch center is set up at the station. As shown in FIG. 23, the computer dispatch center of the station is a set of computer local area network, which includes a ticketing system 709, a station computer 702, a platform computer 703, and a dispatch computer 701. The computers in the local area network are connected through the hub 704, and the hub 704 is connected to the enterprise metropolitan area network through a dedicated communication line. The local area network also sets a vehicle distribution location database 708 and a passenger information database 707. The local area network, metropolitan area network, and database can be implemented using mature technologies of existing computer networks. The ticketing system 709 includes a manual ticketing computer 704 and an automatic ticketing computer 705.
如图 27 所示: 站厅计算机 702与站台的引导电子指示牌 85 的单 片机 705、 各乘车口的验票闸机 86控制单片机 706组成集散控制系统。 站厅计算机 702将电子指示牌 85的显示内容送单片机 705, 由单片机 705驱动电子指示牌 85。 站厅计算机( 702 )将乘车口的目的站信息送 验票闸机(86 ) 的控制单片机 706, 当验票正确时, 验票闸机 86 放行 乘客, 并将通过的乘客人数送站厅计算机 702。 As shown in FIG. 27: The station computer 702 and the single-chip microcomputer 705 of the platform's guide electronic sign 85, and the ticket gates 86 at each entrance control the single-chip microcomputer 706 to form a distributed control system. The hall computer 702 sends the display content of the electronic sign 85 to the single-chip microcomputer 705, and the single-chip microcomputer 705 drives the electronic sign 85. The station hall computer (702) sends the information of the destination station at the departure gate to the control single-chip 706 of the ticket gate (86). When the ticket check is correct, the ticket gate 86 is released Passengers, and pass the number of passengers to the station computer 702.
图 24所示, 站台计算机 703与各单片机组成集散控制系统, 所述 单片机有管理各轨道的轨道单片机 902、 管理分岔路口的单片机 202、 管理合并路口的单片机 203、控制车辆横向传送控制的移动单片机 901。 轨道单片机 902采集车辆信息接收器 29接收到车辆 1的车辆信息发射 器 54的发射信号, 并通过轨道无线通信机 210对车辆进行登记、 排序, 轨道单片机 902将车辆的运行信息送站台计算机 703; 移动单片机 901 采集车辆进入车辆横向移动装置的信息和横向移动装置的位置信息送 站台计算机 703, 站台计算机 703将调度计算机 701的调度指令送移动 单片机 901 ; 分岔路口单片机 202将车辆到达的信息送站台计算机 703; 站台计算机 703将出发车辆的信息送合并路口的单片机 203;  As shown in FIG. 24, the platform computer 703 and each single-chip microcomputer constitute a distributed control system. The single-chip microcomputer includes a track single-chip microcomputer 902 that manages each track, a single-chip microcomputer 202 that manages bifurcation intersections, a single-chip microcomputer 203 that manages merged intersections, and controls the movement of the lateral transmission control of vehicles MCU 901. The track single chip microcomputer 902 collects the vehicle information receiver 29 and receives the transmission signals of the vehicle information transmitter 54 of the vehicle 1, and registers and sorts the vehicles through the track wireless communication machine 210. The track single chip microcomputer 902 sends the vehicle operation information to the platform computer 703; The mobile single-chip microcomputer 901 collects the information of the vehicle entering the vehicle's lateral mobile device and the position information of the horizontal mobile device and sends it to the platform computer 703, and the platform computer 703 sends the dispatching instruction of the dispatching computer 701 to the mobile single-chip 901; Platform computer 703; Platform computer 703 sends the information of the departing vehicle to the single-chip microcomputer 203 at the intersection;
调度计算机 701 根据票务系统 709 的乘客的出行信息, 站厅计算 机 702 的乘客通过乘车口的信息, 车辆的在站内分布的信息, 调度空 车到指定位置、 指定车辆去往的目的站、 通过电子显示牌引导乘客到 指定的乘车口乘车、 安排到站的车辆停靠到指定位置, 向车辆发送发 车的指令;车站的站厅计算机 702和站台计算机 703执行调度计算机 701 的调度指令, 并将执行情况、 采集的信息、 报告调度计算机 701 ; 调度 计算机 701 通过区域无线通信系统向车辆 1 下达各种调度指令, 和车 辆 1 向调度计算机 701 发送运行信息、 申请发车和接收到调度指令的 应答指令;  The dispatching computer 701 dispatches empty cars to the designated location, the destination station to which the designated vehicle goes, according to the travel information of the passengers in the ticketing system 709, the information of the passengers at the station computer 702, and the information of the vehicle's distribution within the station. The electronic display board guides passengers to the designated departure gates, arranges the vehicles to stop at the designated positions, and sends instructions to the vehicles; the station hall computer 702 and the platform computer 703 of the station execute the dispatch instructions of the dispatch computer 701, and The execution situation, collected information, and report to the dispatching computer 701; the dispatching computer 701 issues various dispatching instructions to the vehicle 1 through the regional wireless communication system, and the vehicle 1 sends operating information to the dispatching computer 701, applies for departure, and receives a response to the dispatching instruction Instruction
图 33所示, 票务系统 709的人工售票计算机 706、 自动售票计算 机 705, 在售票时采集乘客乘车信息, 与铁路、 公路一样, 乘客需要指 定目的站, 并实时地将乘客信息修改乘客信息数据库 707。 各验票单片 机 706将乘客通过的信息送站厅计算机 702, 站厅计算机 702实时地修 改乘客信息数据库 707。  As shown in FIG. 33, the manual ticket sales computer 706 and automatic ticket sales computer 705 of the ticketing system 709 collect passenger boarding information during ticket sales. As with railways and highways, passengers need to specify a destination station and modify the passenger information in real time to the passenger information database. 707. Each ticket checking monolithic machine 706 sends the information passed by the passengers to the hall computer 702, and the hall computer 702 updates the passenger information database 707 in real time.
在车站内的车辆进入每段轨道时都进行登记, 各段轨道的单片机 902将车辆的位置信息送站台计算机 703, 由站台计算机 703实时地修 改车辆位置数据库。 当车辆通过出站的合并路口 5 时, 合并路口单片 机 203将车辆通过的信息送站台计算机 703, 同样站台计算机 703要在 车辆位置数据库中删除出站的车辆编号。  Vehicles in the station are registered as they enter each track. The single-chip microcomputer 902 of each track sends the vehicle position information to the platform computer 703, and the platform computer 703 updates the vehicle position database in real time. When the vehicle passes the outbound merged intersection 5, the merged single chip computer 203 sends the information of the vehicle passing to the platform computer 703. Similarly, the platform computer 703 deletes the outbound vehicle number in the vehicle location database.
( 4 )车站的无线通信设备  (4) Wireless communication equipment at the station
由前面所述车上无线通信设备和车站的无线通信设备构成区域无 线通信系统。 区域无线通信系统是车辆与车站局域网的移动数据通信, 通信覆盖范围是车站的站区。 如图 28所示, 调度计算机 701连接车站 的无线通信设备 710, 它与无线通信设备 411组成车站范围内的区域无 线通信系统。 车站的区域无线通信设备 710 可以采用例如双工收发信 机 710, 无线通信设备 710分别具有天线。 Areas composed of wireless communication equipment on board the vehicle and wireless communication equipment at the station Line communication system. The regional wireless communication system is mobile data communication between the vehicle and the station LAN, and the communication coverage is the station area of the station. As shown in FIG. 28, the dispatching computer 701 is connected to the wireless communication device 710 of the station, and it forms a regional wireless communication system within the station range with the wireless communication device 411. The station wireless communication device 710 may use, for example, a duplex transceiver 710, and each of the wireless communication devices 710 has an antenna.
(五) 组织车辆运行的方法  (V) Methods for organizing vehicle operation
以图 11 所示的车站为例。 以编号的尾缀 -X表示运行方向, X为单 数为下行方向, X为双数为上行方向。  Take the station shown in Figure 11 as an example. The running suffix -X indicates the running direction, X is the singular number for the downward direction, and X is the double number for the upward direction.
(1) 调用空车:  (1) Call the empty car:
假设: 下行的上车站台轨道 80-1 的空车数量不够时, 需要调用空 车。  Assumption: When there are not enough empty cars on the lower platform track 80-1, empty cars need to be called.
车站的下行调度计算机 701-1 查询车站局域网的车辆位置数据库 708 , 不同情况采用不同的调度方案。  The station's downstream dispatching computer 701-1 queries the vehicle location database 708 of the station's local area network, and uses different dispatching schemes for different situations.
A. 调用下行停车轨道的空车: 在下行停车轨道(停车场) 79-1有空车 时, 下行调度计算机 701-1 通过区域无线通信系统直接通知停车轨 道的空车行驶到通行轨道 73-1, 由车辆横向传送装置 78 将空车移 到上车站台轨道 80-1。  A. Call the empty car on the downward parking track: When there is an empty car on the downward parking track (parking lot) 79-1, the downward dispatch computer 701-1 directly informs the empty car on the parking track to drive to the passing track 73- through the regional wireless communication system. 1. The empty vehicle is moved to the upper platform track 80-1 by the vehicle lateral conveying device 78.
B. 调用上行停车轨道的空车: 下行停车轨道 79-1 无空车时, 而上行 停车轨道(停车场) 79-2有空车时, 下行调度计算机 701- 1向上行 调度计算机 701-2 申请调用空车, 上行调度计算机 701-2通过区域 无线通信系统向停车轨道 79-2 的空车发送调度指令, 被调空车通 过通行轨道 73-2的最前端、 由车辆横向传送装置 78将空车移到上 车站台轨道 80-2, 再开往下行停车轨道(停车场) 79-1 , 以后与 A 相同。 两个的调度计算机分别修改车辆位置数据库。  B. Calling an empty car on the upward parking track: When there is no empty car on the downward parking track 79-1, and when there is an empty car on the upward parking track 79-2, the downward scheduling computer 701-1 goes up to the upstream scheduling computer 701-2. Applying to call an empty car, the uplink dispatching computer 701-2 sends a dispatching instruction to the empty car on the parking track 79-2 through the regional wireless communication system, and the emptied car passes the front end of the passing track 73-2 and is transferred by the vehicle horizontal transmission device 78. The empty car moves to the upper platform track 80-2 and then goes to the downward parking track (parking lot) 79-1, which is the same as A afterwards. The two dispatch computers modify the vehicle location database, respectively.
C. 调用上行下车站台轨道的空车: 在上行的下车站台轨道 72-2 有空 车时, 空车接受上行的调度计算机 701-2 的调度指令后, 就从下车 站台轨道 72-2 开到上行折返轨道 77-2, 驶入下行停车轨道(停车 场) 79-1, 以后与上面的 A相同。 两个的调度计算机分别修改车辆 分布位置数据库。  C. Calling an empty car on the up and down platform track: When there is a free car on the up and down platform track 72-2, the empty car accepts the dispatching instruction from the up dispatching computer 701-2, and then from the down platform track 72- 2 Drive to the upward reversing track 77-2, enter the downward parking track (parking lot) 79-1, and thereafter, it is the same as A above. The two dispatch computers modify the vehicle distribution database.
D. 需要从其他车站调用空车: 如图 32所示, ① 调度计算机 701检索 企业城域网的车辆动态数据库 803; ② 按先近后远的原则向后方的 富有空车的车站发送空车调度申请; ③ 对方车站的调度计算机 701 通过区域无线通信系统下达调度指令一一按车辆的身份地址指定车 辆开往申请的车站; 另一方面通知站台计算机 703予以发车; ④ 调 度计算机将调度结果通知申请车站的调度计算机; ⑤ 被调车辆的 调度计算机修改车站的车辆位置数据库; ⑥ 被调车辆的调度计算 机修改车辆动态数据库 803。 ……车辆通过区间直达调用空车车 站。……⑦ 车辆通过进站的分岔路口 4-3进入下行调车轨道 75-1 , 进入下行停车轨道(停车场) 79-1, ® 以后与上面的 A相同; ⑨ 调 用车辆的调度计算机修改车辆动态数据库; ⑩调用车辆的调度计算 机修改车辆位置数据库。 车辆经过各个路口时, 各路口按收到的车 辆运行信息控制车辆行驶方向。 D. Need to call empty cars from other stations: As shown in Figure 32, ① the dispatching computer 701 retrieves the vehicle dynamics database 803 of the enterprise metropolitan area network; ② sends empty cars to the rear stations that are rich in empty cars according to the principle of near by far. Dispatching application; ③ Dispatching computer 701 of the opposite station The dispatching instructions are issued through the regional wireless communication system. One vehicle is assigned to the requested station according to the vehicle's identity address. On the other hand, the platform computer 703 is notified to start the train. ④ The dispatching computer informs the dispatching computer of the applying station of the dispatching result. The dispatching computer of the station modifies the vehicle position database of the station; ⑥ The dispatching computer of the transferred vehicle modifies the vehicle dynamic database 803. ...... Vehicles call the empty station directly through the section. ... ⑦ The vehicle enters the descending shunting track 75-1 through the branching point 4-3 of the pit stop, and enters the descending parking track (parking lot) 79-1, which is the same as A above; ⑨ Call the vehicle's dispatching computer to modify Vehicle dynamic database; ⑩ Call the vehicle's dispatching computer to modify the vehicle position database. When a vehicle passes through each intersection, each intersection controls the direction of the vehicle according to the received vehicle operation information.
在调度计算机调度空车发车后, 都要向申请调用空车的调度计算 机发送被调车辆的车辆编号等信息; 车辆在运行时也要逐段登记、 核 对、 排序, 所经过路口需要配合控制车辆的运行方向等等。  After the dispatch computer dispatches an empty car, it must send information such as the vehicle number of the vehicle being dispatched to the dispatch computer that requested to call the empty car; the vehicle must also be registered, checked, and sorted segment by segment during the operation. The passing intersection needs to cooperate with the control vehicle Direction of operation and so on.
(2) 发车:  (2) Departure:
调度计算机 701 组织发车有两个步骤: 组织乘客上车和组织车辆 发车。  Scheduling computer 701 There are two steps to organizing departures: organizing passengers to board and organizing vehicles to depart.
A. 组织乘客上车: 如图 33所示, ① 售票计算机 706将乘客信息发送 给乘客乘车信息数据库 707, ② 乘客乘车方向的调度计算机查询乘 客乘车信息数据库 707; ③ 调度计算机向车辆位置数据库查询空车 位置; ④ 调度计算机指定上车站台轨道的空车开往的目的站后, 向站厅计算机发送调度指令: 开往目的站的空车位置, 以引导乘客 乘车; ⑤ 站厅计算机控制站台的电子指示牌, 指示开往目的站的 空车位置, 乘客通过乘车口的验票机验票后登车; ⑥ 站厅计算机 根据验票机的乘客乘车的信息, 修改乘客信息数据库; ⑦ 调度计 算机向站台计算机向车辆发送关门的指令; ® 车辆发车后, 站台 计算机修改车辆位置数据库。  A. Organize passenger boarding: As shown in FIG. 33, ① the ticket sales computer 706 sends passenger information to the passenger boarding information database 707, ② the scheduling computer of the passenger boarding direction queries the passenger boarding information database 707; ③ the scheduling computer sends the vehicle to the vehicle The location database queries the empty car position; ④ After the dispatching computer designates the destination station for the empty car on the platform track, it sends the dispatching instruction to the station hall computer: the empty car position to the destination station to guide passengers to board; ⑤ station The hall's computer controls the electronic sign on the platform to indicate the empty car position to the destination station. Passengers board the car after checking the ticket through the ticket gate at the departure gate; ⑥ The station hall computer modifies the passenger's boarding information based on the ticket gate. Passenger information database; ⑦ The dispatching computer sends instructions to the platform computer to close the vehicle; ® After the vehicle leaves, the platform computer modifies the vehicle location database.
B. 车辆发车: 图 34 所示, ① 验票机确定车辆的乘客满员后, 站厅计 算机 702 通知调度计算机车辆可以发车; ②调度计算机向站台计算 机发售调度指令, 指定车辆发车; ③站台计算机通过轨道无线通信 系统通知车辆关门; 或者, 车辆的红外.检测器检测到站台上无乘客 时, 也将自动关门; ④ 站台计算机指定车辆横向传送装置 78 移动 车辆到通行轨道 73-1;⑤ 车辆横向传送装置 78将车辆移动到位后, 立即向站台计算机发送车辆移动到位的信息; ⑥ 站台计算机向调 度计算机发送车辆移动到位的信息, 并申请发车; ⑦ 调度计算机 根据各轨道的车辆运行信息, 通过区域无线通信系统向车辆发送发 车指令; ® 车辆发车到出站口的合并路口, 并进行登记; ⑨ 合并 路口放行出站车辆。 ⑩ 合并路口单片机通过站台计算机修改车辆 位置数据库。 B. start vehicle: As shown in FIG. 34, the ticket checker ① vehicle occupant determined full, hall station computer 702 informs the scheduler can start the vehicle's computer; ② the scheduling computer sale computer station scheduling instruction, the specified vehicle departure; ③ site The computer notifies the vehicle to close the door through the track wireless communication system; or, the vehicle ’s infrared. The detector will automatically close the door when it detects that there are no passengers on the platform; ④ The platform computer designates the vehicle's lateral transport device 78 to move the vehicle to the passing track 73-1; ⑤ After the vehicle lateral transfer device 78 moves the vehicle into position, Immediately send the information of the vehicle's movement to the platform computer; ⑥ The platform computer sends the information of the vehicle's movement to the dispatch computer and applies for departure; ⑦ The dispatch computer sends the departure instructions to the vehicle through the regional wireless communication system based on the vehicle operating information of each track; ® Vehicles depart to and merge at the exit and register; 登记 Release the exit vehicle at the merge.单片机 The integrated single-chip microcomputer modifies the vehicle position database through the platform computer.
站台计算机将发车信息发送给出站的合并路口单片机, 路口单片 机根据两条线路的车辆情况进行控制, 如遇到同时有直通车辆需要通 过时, 先放行直通车辆, 直通轨道 71-1 的车速控制装置按车辆的运行 速度运转, 合并路口的单片机通过车速控制装置, 限制出发车辆的速 度; 单片机选择直通轨道的行车空隙, 放行出站车辆; 放行时, 调整 车速控制装置提高出站车辆的车速。  The platform computer sends the departure information to the station ’s merged intersection microcontroller. The intersection microcontroller controls according to the vehicle conditions of the two lines. If there is a through vehicle at the same time, the through vehicle is first released, and the speed of the through track 71-1 is controlled. The device runs at the running speed of the vehicle. The single-chip microcomputer at the intersection uses the speed control device to limit the speed of the starting vehicle. The single-chip microcomputer selects the driving clearance of the through-track to release the vehicle at the station.
(3)运行: 车辆的登记、 追逐、 运行和到站。  (3) Operation: registration, chase, operation and arrival of vehicles.
图 35 所示: ① 发车站的调度计算机对车辆发送发车的调度指令, 车辆出站; ② 发车站的调度计算机向目的站的调度计算机发送发车通 知; ③ 发车站的调度计算机修改车辆动态数据库 803; ④ 车辆进入区 间轨道, 车辆 1向轨道计算机 201进行登记、 核对和排序; ……  Figure 35 shows: ① the dispatch computer at the departure station sends dispatch instructions to the vehicle, and the vehicle leaves the station; ② the dispatch computer at the dispatch station sends a dispatch notification to the dispatch computer at the destination station; ③ the dispatch computer at the dispatch station modifies the vehicle dynamic database 803 ④ The vehicle enters the section track, and the vehicle 1 registers, checks and sorts with the track computer 201; ...
在直行轨道上, 车辆追逐前车, 当电子测距设备测出车辆距离小 于阀值时, 后车的车辆信息接收器能接收到前车的车辆信息发射器发 送的车辆运行信息。 车辆自动组成虚拟列车行驶。  On the straight track, the vehicle chases the preceding vehicle. When the electronic distance measuring device detects that the vehicle distance is less than the threshold, the vehicle information receiver of the following vehicle can receive the vehicle operation information sent by the vehicle information transmitter of the preceding vehicle. The vehicle automatically forms a virtual train.
实现虚拟列车是采用了车辆追逐技术, 它涉及到车辆上安装的电 子测距设备、 车辆信息接收器、 车辆信息发射器、 碰撞緩冲装置、 接 近碰撞传感器等设备。 具体步骤是:  The realization of virtual trains uses vehicle chasing technology, which involves devices such as electronic ranging equipment, vehicle information receivers, vehicle information transmitters, collision buffers, and proximity collision sensors installed on vehicles. The specific steps are:
□ 测距: 车辆的前部安装的电子测距设备在运行时不断测量与前 车的距离, 车辆的主控微机根据距离控制车辆速度; 当距离大于阀值 时, 车辆按轨道计算机的指定的速度运行;  □ Ranging: The electronic distance measuring device installed on the front of the vehicle continuously measures the distance from the vehicle in front of the vehicle. The main control microcomputer of the vehicle controls the speed of the vehicle according to the distance. When the distance is greater than the threshold, the vehicle is designated by the track computer. Speed running
□ 追逐: 当距离小于阀值时, 后车的车辆信息接收器能接收到前 车的车辆运行信息, 主控微机根据前车的速度, 控制本车以大于前车 的速度进行追逐。 两车的速度差与车辆之间的距离成线性关系, 车距 接近于零则车辆的速度之差也接近于零;  □ Chase: When the distance is less than the threshold, the vehicle information receiver of the following vehicle can receive the vehicle operation information of the preceding vehicle, and the main control microcomputer controls the vehicle to chase at a speed greater than the preceding vehicle according to the speed of the preceding vehicle. The speed difference between the two vehicles has a linear relationship with the distance between the vehicles. If the distance between the vehicles is close to zero, the difference in the speed of the vehicles is also close to zero.
口虚拟列车运行: 当车辆距离接近于零而碰撞时, 车辆的碰撞緩 冲装置起到緩沖作用, 微动开关向主控微机提供碰撞信息, 主控微机 降低车辆速度, 直到脱离碰撞; 后车不断调整速度, 直到两车的速度 同步为止。 以此类推, 车辆就组成了虚拟列车在区间运行, 提高了运 输能力。 Virtual train operation: When the vehicle distance is close to zero and the collision occurs, the vehicle's collision buffer device plays a buffering role. The micro switch provides collision information to the main control microcomputer. Reduce the speed of the vehicle until it is out of the collision; the rear vehicle continuously adjusts the speed until the speed of the two vehicles is synchronized. By analogy, the vehicles constitute a virtual train running in the section, which improves the transportation capacity.
车辆需要通过车站时, 经过进站的分岔路口后, 进行了登记和核 对等工作, 分岔路口的单片机控制车辆转向控制装置停止运转, 车辆 在直通轨道上继续直行。 接着车辆进入直通轨道, 并进行登记、 核对 和排序; 直通轨道的计算机将车辆的运行信息送往出站的合并路口的 单片机; 车辆按直通轨道计算机指定的速度运行或重新组成虚拟列车 运行。 车辆再经过出站的合并路口而进入直行轨道。  When a vehicle needs to pass through the station, registration and verification are performed after passing through the fork in the station. The single-chip microcomputer at the fork controls the vehicle's steering control device to stop running, and the vehicle continues to go straight on the through track. The vehicle then enters the through track and performs registration, verification, and sequencing; the through track computer sends the vehicle's operating information to the microcontroller at the exit of the merged station; the vehicle runs at the speed specified by the through track computer or reconstitutes a virtual train. The vehicle then passes through the exit junction of the station and enters the straight track.
还是图 35 ⑤车辆到达目的站的分岔路口 4-1时, 进行了登记和核 对等工作; ⑥ 分岔路口 4-1的单片机控制车辆转向控制装置停止运转; 车辆直行至分岔路口 4-3, 并由分岔路口 4- 3将车辆转向进入岔道、 下 车站台轨道 72-1; 车辆行驶到站台轨道 72-1的最前端 (当前方有停靠 车辆时, 车辆就自动调整速度, 停靠在前车的后面) ; ⑦ 停车后, 车 辆通过区域无线通信系统向车站的下行调度计算机申请开门; ® 下行 调度计算机确定车辆不需向前移动时, 通知车辆和站台计算机, 车辆 可以开门和下客; 车辆自动开门和广播提示乘客下车。 车辆内部的传 感器测定无乘客时, 车辆自动关门。 ⑨ 下行调度计算机修改车辆位置 数据库; ⑩ 下行调度计算机修改企业城域网的车辆动态数据库。  Still in Figure 35 ⑤ When the vehicle reached the branch station 4-1 of the destination station, registration and verification were performed; ⑥ The single-chip computer at the branch station 4-1 stopped the vehicle's steering control device; the vehicle went straight to the branch station 4- 3, and at the intersection 4-3, turn the vehicle into the fork and get off the platform track 72-1; the vehicle travels to the forefront of the platform track 72-1 (when a vehicle is parked on the front side, the vehicle automatically adjusts the speed and stops Behind the front car); 后 After parking, the vehicle applies to the station's downlink dispatch computer for opening the door through the regional wireless communication system; ® When the downlink dispatch computer determines that the vehicle does not need to move forward, it notifies the vehicle and the platform computer that the vehicle can open the door and exit Passengers; vehicles automatically open doors and broadcast prompt passengers to get off. When the sensor inside the vehicle determines that there are no passengers, the vehicle closes the door automatically.下行 The downlink dispatching computer modifies the vehicle location database; ⑩ The downlink dispatching computer modifies the vehicle dynamics database of the enterprise metropolitan area network.
(4) 空车安排:  (4) Empty car arrangement:
空车关门后, 空车向下行调度计算机申请安排。  After the empty car is closed, the empty car applies to the downward dispatch computer for arrangement.
若将空车停至停车场 79-2: 下行调度计算机将调度车辆至停车场 79-2 的信息通知上行调度计算机; 下行调度计算机指令空车至停车轨 道(停车场) 79-2, 车辆就行驶通过折返轨道 77-1 开往停车轨道(停 车场) 79-2。 车辆停车后, 通过轨道无线通信系统向停车轨道(停车 场) 79-2 的计算机进行登记。 下行调度计算机修改车辆分布位置数据 库。  If the empty car is parked in the parking lot 79-2: The downward dispatching computer informs the upward dispatching computer of the information of dispatching the vehicle to the parking lot 79-2; the downward dispatching computer instructs the empty car to the parking track (parking lot) 79-2, and the vehicle will Drive through the return track 77-1 to the parking track (parking lot) 79-2. After the vehicle is parked, it is registered with the computer on the parking track (parking ground) 79-2 via the track wireless communication system. The downlink dispatching computer modifies the vehicle distribution location database.
若空车停至停车场 79-1:下行调度计算机将调度车辆至停车场 79-1 的信息通知上行调度计算机; 下行调度计算机指令空车至停车轨道(停 车场) 79-1, 车辆就行驶通过折返轨道 77-1 开往停车轨道(停车场) 79-2; 再开往通行轨道 73-2, 由车辆传送装置将车辆送至上车站台轨 道 80- 2的出口 (图 18 ) , 车辆向上行调度计算机申请启动, 上行 调度计算机命令车辆启动行驶至停车轨道(停车场) 79-1。 下行调度 计算机修改车辆分布位置数据库。 If an empty car is parked in parking lot 79-1: The downward dispatch computer notifies the upward dispatch computer of the information of dispatching the vehicle to parking lot 79-1; the downward dispatch computer instructs the empty car to the parking track (parking lot) 79-1, and the vehicle will run parking bound by folded rail track 77-1 (parking) 79-2; 73-2 then track bound traffic, by the vehicle to the vehicle transfer means stop track 80- on the outlet (FIG. 18) 2, the vehicle Apply to the uplink scheduling computer to start up The dispatch computer instructs the vehicle to start driving to the parking track (parking lot) 79-1. The downlink dispatch computer modifies the vehicle distribution location database.
若空车停至上车站台轨道 80-1 : 第一步是将车辆停至停车场 79-1 (如前所述过程) ; 第二步是将在停车场 79-1 的空车调往上车站台轨 道 80-1。 第二步是由下行调度计算机通过停车场 79-1的轨道计算机传 送调度指令, 停车场 79-1 的轨道计算机通过轨道无线通信系统向车辆 传送调度指令, 空车按调度指令开往上车站台轨道 80-1。 下行调度计 算机修改车辆分布位置数据库。  If an empty car is parked on the upper platform track 80-1: The first step is to park the car in parking lot 79-1 (the process described above); the second step is to move the empty car in parking lot 79-1 up Platform track 80-1. The second step is that the dispatching computer transmits the dispatching instructions through the track computer of the parking lot 79-1. The orbiting computer of the parking lot 79-1 transmits the dispatching instructions to the vehicle through the track wireless communication system. The empty car is driven to the upper platform according to the dispatching instruction. Orbit 80-1. The downlink scheduling computer modifies the vehicle distribution location database.
综上所述, 本发明既有干线运输的客流量大的优点, 又有个性化 服务特点; 它不仅降低建设投资, 而且也降低运营费用; 它既能进行 客运, 也可以进行货运; 它不仅能建设成全市性的轨道交通路网, 而 且可以方便地连接专用线; 它轨道占地少, 弯曲半径小, 车辆矮, 修 建立体交叉线路方便, 也容易在商业中心建设轨道交通。 也就是说: 它完全能替代地铁和轻轨, 并且还能实现地铁和轻轨不能实现的功能。  To sum up, the present invention not only has the advantages of large passenger traffic for trunk transportation, but also has the characteristics of personalized service; it not only reduces construction investment, but also reduces operating costs; it can carry both passenger and freight transportation; it not only It can build a city-wide rail transit road network, and can be conveniently connected to dedicated lines; it has a small footprint, a small bending radius, short vehicles, convenient cross-section lines, and it is easy to build rail transit in commercial centers. In other words: it can completely replace subways and light rails, and can also achieve functions that subways and light rails cannot.

Claims

权 利 要 求 Rights request
1、 一种车辆的轨道交通系统, 其特征在于, 所述车辆的轨道交通 系统包括: 1. A rail transit system for a vehicle, characterized in that the rail transit system for the vehicle includes:
无人驾驶的车辆 (1 ) ;  Unmanned vehicles (1);
区间封闭轨道, 其中区间封闭轨道有直行轨道(2 )、分岔路口(4 ) 和合并路口 (5 ) , 车辆在封闭轨道行驶;  Section closed track, where the section closed track has a straight track (2), a bifurcation intersection (4), and a merged intersection (5), and the vehicle runs on the closed track;
车站(3 ) , 在区间封闭轨道之间设置有供乘客上车或下车的车站. Station (3), between the closed tracks of the section, there are stations for passengers to board or alight.
2、 如权利要求 1 所述的系统, 其特征在于, 所述区间封闭轨道还 具有上坡轨道( 6 )和下坡轨道( 7 ), 由直行轨道( 2 )、分岔路口( 4 ) 、 合并路口 ( 5 ) 、 上坡轨道( 6 )和下坡轨道( 7 )组合成立交或环路轨 道, 将轨道连接成轨道网。 2. The system according to claim 1, wherein the section closed track further comprises an uphill track (6) and a downhill track (7), which are composed of a straight track (2), a bifurcation intersection (4), The intersection (5), the uphill track (6) and the downhill track (7) are combined to form an intersection or ring track, and the tracks are connected into a track network.
3、 如权利要求 1 所述的系统, 其特征在于, 所述车辆在封闭轨道 内能自动编组成为虚拟列车运行。  3. The system according to claim 1, wherein the vehicle can be automatically organized into a virtual train operation in a closed track.
4、 如权利要求 1 所述的系统, 其特征在于, 所述车辆可以是微机 控制的独立运行的自动驾驶小型电动胶轮车辆。  4. The system according to claim 1, wherein the vehicle is a self-driving small electric rubber-wheeled vehicle that is independently operated and controlled by a microcomputer.
5、 如权利要求 1 所述的系统, 其特征在于, 所述系统包括: 包括 车辆与轨道、 车站之间进行信息交换、 传送指令的无线通信系统。  5. The system according to claim 1, wherein the system comprises: a wireless communication system including information exchange between vehicles, rails, and stations, and transmission of instructions.
6、 如权利要求 5 所述的系统, 其特征在于, 所述无线通信系统包 括:  6. The system according to claim 5, wherein the wireless communication system comprises:
区域无线通信系统, 区域无线通信系统是车辆与车站局域网的移 动数据通信, 通信覆盖范围是车站的站区, 区域无线通信系统包括按 装在车辆 ( 1 ) 的车辆无线通信设备( 411 )与设置在车站( 3 ) 的车站 无线通信设备(710 ) , 通过该区域无线通信系统, 车辆接受车站的调 度计算机对车辆发送调度指令或对车辆进行无线引导; 车辆向车站的 调度计算机发送运行信息、 申请和应答指令;  Regional wireless communication system, the regional wireless communication system is the mobile data communication between the vehicle and the station local area network, and the communication coverage is the station area of the station. The regional wireless communication system includes the vehicle wireless communication equipment (411) installed on the vehicle (1) and the settings. The station wireless communication device (710) at the station (3), through the regional wireless communication system, the vehicle accepts the station's dispatch computer to send dispatch instructions to the vehicle or wirelessly guides the vehicle; the vehicle sends operation information to the dispatch computer of the station, and applies And response instructions;
轨道无线通信系统, 实现车辆与轨道之间的通信, 轨道无线通信 系统包括: 在车辆上安装的车辆 1 的车辆无线通信器(410 ) , 在轨道 ( 2 )上安装的轨道无线通信机 210和在车辆运行方向的轨道左侧安装 的供无线通信的泄漏电缆 23, 无线通信器 410的天线 53安装在车辆 1 的底盘 50 下面并安装在车辆的左侧, 它接收泄漏电缆 23 辐射的射频 信号, 向轨道无线通信机 210发射信号; 微无线通信系统, 包括设置在车辆上的后保险杠 42 上的车辆运行 信息发射器 46 和在车辆的前保险杠 41 或车厢前部安装的前车信息接 收器 45, 前面车辆的车辆运行信息发射器 46向后面车辆的前车信息接 收器 45 发送信息, 后面车辆的前车信息接收器 45接收信息, 实现前 后车辆之间的近距离无线通信。 The track wireless communication system realizes communication between the vehicle and the track. The track wireless communication system includes: a vehicle wireless communicator (410) of the vehicle 1 installed on the vehicle, a track wireless communicator 210 installed on the track (2), and A leaky cable 2 3 for wireless communication is installed on the left side of the track in the vehicle running direction. An antenna 53 of the wireless communicator 410 is installed under the chassis 50 of the vehicle 1 and is installed on the left side of the vehicle. It receives radio frequency radiated by the leaky cable 23 A signal, transmitting a signal to the orbital wireless communicator 210; The micro-wireless communication system includes a vehicle operation information transmitter 46 provided on the rear bumper 42 of the vehicle, and a front vehicle information receiver 45 installed on the front bumper 41 or the front of the compartment, and the vehicle operation information of the front vehicle The transmitter 46 sends information to the preceding vehicle information receiver 45 of the following vehicle, and the preceding vehicle information receiver 45 of the following vehicle receives the information, and realizes close-range wireless communication between the preceding and following vehicles.
7、 如权利要求 1 所述的系统, 其特征在于, 所述车辆包括车体、 车辆运行的安全部分、 车辆运行的导向定位部分和车辆运行的管理控 制部分。  7. The system according to claim 1, wherein the vehicle comprises a vehicle body, a safety part for vehicle operation, a positioning part for guiding and positioning the vehicle, and a management control part for vehicle operation.
8、 如权利要求 7 所述的系统, 其特征在于, 所述车体包括驱动 电机、 制动装置和调速控制电路。  8. The system according to claim 7, wherein the vehicle body comprises a driving motor, a braking device, and a speed control circuit.
9、 如权利要求 1 所述的系统, 其特征在于, 所述的车辆包括车辆 运行标志部分, 所述车辆运行标志部分包括: 安装在车辆上的车辆信 息发送装置 54和轨道信号接收装置 52 ; 在轨道上安装的车辆信息接收 器 29 和轨道信号发送装置 30, 当车辆通过时, 车辆信息发送装置 54 发出信息, 轨道的车辆信息接收器 29通过接收或检测车辆信息发送装 置 54发出的信息, 以检测车辆的通过, 当车辆进入一段新轨道时, 轨 道信号发送装置 30发出信息, 车辆的轨道信号接收装置 52接收或检 测轨道的轨道信号发送装置 30发出的信息, 以检测车辆进入了一段新 轨道。  9. The system according to claim 1, wherein the vehicle includes a vehicle running mark portion, and the vehicle running mark portion includes: a vehicle information transmitting device 54 and a track signal receiving device 52 installed on the vehicle; The vehicle information receiver 29 and the track signal transmitting device 30 installed on the track, when the vehicle passes, the vehicle information transmitting device 54 sends information, and the track vehicle information receiver 29 receives or detects the information sent by the vehicle information transmitting device 54. To detect the passage of the vehicle, when the vehicle enters a new track, the track signal transmitting device 30 sends information, and the vehicle's track signal receiving device 52 receives or detects the information from the track's track signal transmitting device 30 to detect that the vehicle has entered a new section. track.
10、 如权利要求 1 所述的系统, 其特征在于, 所述车辆包括车辆 运行的安全部分, 车辆运行的安全部分包括电子测距装置 49和碰撞緩 冲装置 43, 在车辆的前保险杠 41或车厢前部安装了电子测距装置 49, 用于测量与前车之间的距离; 在车辆的前保险杠 41 安装碰撞緩冲装置 43, 碰撞緩沖装置 43在车辆碰撞时, 起到了緩冲作用, 并输出碰撞信 号到信息采集单片机( 402 ) , 再送主控微机 401, 再由主控微机 401 控制车辆的速度。  10. The system according to claim 1, wherein the vehicle includes a safety part for vehicle operation, and the safety part for vehicle operation includes an electronic distance measuring device 49 and a collision buffer device 43, and a front bumper 41 of the vehicle Or an electronic distance measuring device 49 is installed at the front of the compartment to measure the distance to the front vehicle; a collision buffer device 43 is installed in the front bumper 41 of the vehicle, and the collision buffer device 43 acts as a buffer when the vehicle collides Function, and output the collision signal to the information acquisition single-chip microcomputer (402), and then send it to the main control microcomputer 401, and then the main control microcomputer 401 controls the speed of the vehicle.
11、 如权利要求 10上述权利要求所述的系统, 其特征在于所述电 子测距装置 49 可以采用目前常用的测速雷达, 测量距离小于 30米, 碰撞緩沖装置 43可以采用弹簧结构或液压杆结构的碰撞緩冲装置, 碰 撞緩沖装置 43的弹簧或液压杆的弹性系数较小, 以人力推动保险杠时, 车辆不会移动, 而只是弹簧压缩; 在无外力时就恢复原状; 在车辆开 动时, 前保险杠不应有明显的颤抖, 当后车追逐前面的车辆而相碰撞 时, 后车的前保险杠 41 向后移动, 碰撞緩冲装置 43 输出信号给主控 微机, 再由主控微机 401 控制电机驱动电路以降低车速; 当车辆脱离 碰撞时, 前保险杠 41 恢复, 碰撞緩沖装置 43输出信号给主控微机, 主控微机 401 控制电机驱动电路以提高车速; 主控微机不停地调整车 速, 达到与前车的运行速度同步。 11. The system according to claim 10, characterized in that the electronic distance measuring device 49 can adopt a current speed measurement radar, the measuring distance is less than 30 meters, and the impact buffer device 43 can adopt a spring structure or a hydraulic rod structure. The collision buffer device, the spring or hydraulic rod of the collision buffer device 43 has a small elastic coefficient. When the bumper is pushed by human force, the vehicle will not move, but the spring will compress; it will return to its original state when there is no external force; when the vehicle is moving The front bumper should not have obvious trembling when the rear car collides with the vehicle in front and collides When the front bumper 41 of the rear car moves backward, the collision buffer device 43 outputs a signal to the main control microcomputer, and then the main control microcomputer 401 controls the motor drive circuit to reduce the vehicle speed; when the vehicle is out of the collision, the front bumper 41 recovers The collision buffer device 43 outputs a signal to the main control microcomputer, and the main control microcomputer 401 controls the motor driving circuit to increase the vehicle speed; the main control microcomputer continuously adjusts the vehicle speed to achieve synchronization with the running speed of the preceding vehicle.
12、 如权利要求 11 上述的系统, 其特征在于, 弹簧结构的碰撞 緩冲装置 (43 ) 包括: 在车辆前保险杠 41 上焊接的导杆 431, 在导杆 431外面套上的弹簧 430, 固定孔 501, 螺母 432和安装在车辆底盘 50 上的微动开关 439, 导杆 431穿过车辆底盘 50的固定孔 501后, 由螺 母 432 固定, 微动开关的安装位置与导杆 431相配合, 导杆 431 的端 部有罗纹和有一个斜面, 导杆 431 的斜面对准微动开关 439 的按钮, 当前保险 41 不移动时, 斜面不接触按钮, 处于常闭状态, 而在前保险 杠 41移动时, 斜面接触按钮, 接点断开。  12. The system according to claim 11, wherein the impact buffering device (43) of the spring structure comprises: a guide rod 431 welded on the front bumper 41 of the vehicle, and a spring 430 sleeved on the outside of the guide rod 431, The fixing hole 501, the nut 432 and the micro switch 439 installed on the vehicle chassis 50, and the guide rod 431 passes through the fixing hole 501 of the vehicle chassis 50 and is fixed by the nut 432. The installation position of the micro switch is matched with the guide rod 431 The end of the guide rod 431 is ribbed and has an inclined surface. The inclined surface of the guide rod 431 is aligned with the button of the micro switch 439. When the current fuse 41 does not move, the inclined surface does not touch the button, and is in the normally closed state. 41 When moving, the bevel touches the button and the contact is disconnected.
13、 如权利要求 11 所述的系统, 所述液压杆结构的碰撞緩沖装置 43包括: 在前保险杠内侧焊接的支架 436, 液压杆 434, 螺母 432, 微 动开关 439和带有一个斜面的板条 435, 液压杆 434—端由螺母 432 固 定在支架上, 另一端穿过车辆底盘 50的固定孔 501后, 由螺母 432 固 定, 微动开关 439 固定在车辆底盘 50上, 在支架 436 固定一条带有一 个斜面的板条 435, 斜面对准微动开关 439的按钮, 当前保险杠不移动 时, 斜面不接触按钮, 而在前保险杠移动时, 斜面按下按钮。  13. The system according to claim 11, wherein the impact buffering device 43 of the hydraulic rod structure comprises: a bracket 436 welded on the inside of the front bumper, a hydraulic rod 434, a nut 432, a micro switch 439, and a bevel with a bevel Lath 435, hydraulic rod 434—one end is fixed on the bracket by nut 432, the other end is fixed by nut 432 after passing through the fixing hole 501 of vehicle chassis 50, micro switch 439 is fixed on vehicle chassis 50, and fixed on bracket 436 A slat 435 with a beveled surface is aligned with the button of the micro switch 439. When the front bumper does not move, the beveled surface does not touch the button, and when the front bumper moves, the beveled surface presses the button.
14、 如权利要求 1 所述的系统, 其特征在于, 所述的车辆包括车 辆运行导向定位部分, 车辆运行导向定位部分包括定位轮(44 )和轨 道控制板( 51 ) , 在车辆 1的前保险杠 41、 后保险杠 42的两端分别固 定了定位轮 44,在底盘 50下面的中间安装了轨道控制板 51,定位轮 440 通过轴承 441 固定在定位轮轴 442上, 定位轮 44的组件由调整高度的 垫片 444和螺母 443 固定在保险杠的端部, 定位轮 440的表面有突出 的罗纹或定位轮 440的表面是平滑的。  14. The system according to claim 1, wherein the vehicle includes a vehicle running guide positioning section, and the vehicle running guide positioning section includes a positioning wheel (44) and a track control board (51) in front of the vehicle 1. Two ends of the bumper 41 and the rear bumper 42 are respectively fixed with a positioning wheel 44. A track control plate 51 is installed in the middle under the chassis 50. The positioning wheel 440 is fixed on the positioning wheel shaft 442 through a bearing 441. The components of the positioning wheel 44 are The height-adjusting washer 444 and the nut 443 are fixed at the end of the bumper, and the surface of the positioning wheel 440 has a protruding rib or the surface of the positioning wheel 440 is smooth.
15、 如权利要求 1 所述的系统, 其特征在于, 所述的车辆包括车 辆运行管理部分, 所述车辆运行管理部分包括包括主控微机 401、 红外 检测器 58、 电子显示牌 59、 采集单片机 402、 测量单片机 403、 驱动 单片机 404、 显示单片机 405、 微通信单片机 406、 轨道单片机 407、 区域单片机 408和控制单片机, 主控微机 401设置在车辆 1的内部并存储系统的各车站、 停车场、 各段轨道、 各路口分布的电子地图, 车门上部安装了红外检测器 58, 用于检测车外是否有乘客在上、 下车, 以控制自动开关车门; 安装在 车辆上的电子显示牌 59用于显示车辆运行的目的站, 15. The system according to claim 1, wherein the vehicle includes a vehicle operation management part, and the vehicle operation management part includes a main control microcomputer 401, an infrared detector 58, an electronic display card 59, and a collection single-chip microcomputer. 402, measurement single chip 403, driving single chip 404, display single chip 405, micro communication single chip 406, track single chip 407, area single chip 408 and control single chip, The main control microcomputer 401 is installed inside the vehicle 1 and stores electronic maps of the stations, parking lots, sections of tracks, and intersections of the system. An infrared detector 58 is installed on the upper part of the door to detect whether there are passengers outside the vehicle. Get off the vehicle to control the door opening and closing automatically; the electronic display board 59 installed on the vehicle is used to show the destination station of the vehicle operation,
采集单片机 402采集碰撞緩冲装置 43、 轨道信号接收装置 52、 光 电对射器 55、 红外检测器 58的开关信号; 测量单片机 403采集电子测 距设备 49测量的数据。驱动单片机 404通过驱动电路控制动力电机 65 , 控制电机的运转速度, 实现控制车辆的车速; 显示单片机 405; 微通信 单片机 406处理前车信息接收器 45接收的信息, 控制车辆运行信息发 射器 46发射车辆的运行信息, 轨道单片机 407控制无线通信器 410与 轨道无线通信机 210通信; 区域单片机 408控制无线通信机 411 与车 站的无线通信设备 710通信; 控制单片机; 主控微机 401 采集各单片 机的信息, 向单片机发送工作指令; 各单片机各负其责, 控制车辆按 主控微机 401的运行计划运行。  The acquisition single-chip microcomputer 402 collects the collision buffering device 43, the track signal receiving device 52, the photoelectric signal 55, the switching signal of the infrared detector 58; the measurement single-chip microcomputer 403 collects the data measured by the electronic ranging device 49. The driving single chip microcomputer 404 controls the power motor 65 through the driving circuit to control the running speed of the motor to control the vehicle speed; the display single chip microcomputer 405; the micro communication single chip microcomputer 406 processes the information received by the front vehicle information receiver 45 and controls the vehicle operation information transmitter 46 to transmit The running information of the vehicle, the track single-chip microcomputer 407 controls the wireless communicator 410 to communicate with the track wireless communicator 210; the area single-chip microcomputer 408 controls the wireless communicator 411 to communicate with the station wireless communication equipment 710; the control single-chip microcomputer; the main control microcomputer 401 collects information of each single-chip microcomputer Send work instructions to the single-chip microcomputer; each single-chip microcomputer has its own responsibility to control the vehicle to run according to the operation plan of the main control microcomputer 401.
16、 如权利要求 1 所述的系统, 其特征在于, 所述的车辆包括电 源, 所述电源可以是由蓄电池或者是以地面供电系统供电为主、 蓄电 池作为备用。  16. The system according to claim 1, wherein the vehicle comprises a power source, and the power source may be a battery or a ground power supply system, and the battery is used as a backup.
17、 如权利要求 1 所述的系统, 其特征在于, 所述的轨道在每条 单向轨道的两侧安装了护栏 (22 ) 、 轨道面 (21 ) 、 支架( 31 ) , 在 轨道的外侧设置设备密封机拒 32, 在设备密封机拒 32内放置轨道计算 机 ( 201 )和轨道无线通信机 ( 210 ) 。  17. The system according to claim 1, characterized in that the rails are provided with guardrails (22), rail surfaces (21), and brackets (31) on both sides of each one-way rail on the outside of the rails A device sealer 32 is set, and a track computer (201) and a track wireless communication device (210) are placed in the device sealer 32.
18、 如权利要求 2 所述的系统, 其特征在于, 在单向分岔路口的 分岔处安装了由单片机( 202 )控制的车辆转向控制装置 (24 ) , 并且 车辆转向装置( 24 )安装在轨道上的一对相反运转方向的传送带( 244 ) , 传送带( 244 )由主动轴( 241 )驱动,被动轴( 242 )定位, 主动轴( 241 ) 连接低速电机( 243 )或带有变速器的电机, 在车辆转向控制装置 24 的后方的轨道面 (21 )上安装压敏器件 ( 246 ) 并且压敏器件 ( 246 ) 位于传送带 ( 244 ) 出口的地面处, 压敏器件 ( 245 ) 的输出信号送单 片机 02 ) , 在车的后轮压在压敏器件 ( 246 ) 时, 单片机( 202 ) 收到压敏器件 46 )输出的表示该车辆已经通过车辆转向装置的信号, 控制电机 43 )转动, 当左侧传送带 ( 244 ) 向前传动、 右侧传送带18. The system according to claim 2, wherein a vehicle steering control device (24) controlled by a single-chip microcomputer (202) is installed at a branch of a one-way branch intersection, and the vehicle steering device (24) is installed A pair of conveyor belts (244) in opposite directions on the track. The conveyor belt (244) is driven by a drive shaft (241) and positioned by a passive shaft (242). The drive shaft (241) is connected to a low-speed motor (243) or a transmission with A motor, a pressure-sensitive device (246) is installed on the track surface (21) behind the steering control device 24 of the vehicle and the pressure-sensitive device (246) is located on the ground at the exit of the conveyor belt (244), and the output signal of the pressure-sensitive device (245) Send a single-chip microcomputer 0 2 ), when the rear wheel of the car is pressed on the pressure-sensitive device (246), the single-chip microcomputer (202) receives a signal output by the pressure-sensitive device 46) indicating that the vehicle has passed the vehicle steering device, and controls the motor 43) to rotate When the left conveyor (244) drives forward, the right conveyor
( 244 ) 向后传动, 车辆 (1 ) 就在车辆转向控制装置 (24 ) 配合下驶 向岔道。 (244) Drive backward, the vehicle (1) is driven in cooperation with the vehicle steering control device (24) To the fork.
19、 如权利要求 18 所述的系统, 其特征在于, 在分岔出口处安装 了多对车辆定位轮(25) , , 第一对车辆定位轮的轴间距离最大, 以 后各对的轴间距离逐渐减小, 当车辆 (1 )通过分岔路口 (4) 时, 车 辆的轨道控制板 51 进入第一对定位轮 25, 逐渐通过第二对、 第三 对, ......, 车辆被定位在轨道中央, 避免车辆撞击护栏,  19. The system according to claim 18, characterized in that a plurality of pairs of vehicle positioning wheels (25) are installed at the branch exit, and the distance between the axes of the first pair of vehicle positioning wheels is the largest, and the distances between the subsequent pairs of axes The distance gradually decreases. When the vehicle (1) passes through the bifurcation (4), the track control plate 51 of the vehicle enters the first pair of positioning wheels 25, and gradually passes the second pair, the third pair, ..., The vehicle is positioned in the center of the track to prevent it from hitting the guardrail,
所述车辆定位轮 25 包括: 两个橡胶轮(251) 、 轴承( 262 ) 、 两 根轴 ( 261 ) 、 支架 ( 263 ) , 两个橡胶轮( 251 )通过轴承( 262 ) 分 别固定在两根轴 (261)上, 轴(261)与支架( 263 )焊接固定, 两轴 (261)之间的距离大于车辆的轨道控制板(51) 的厚度, 轨道控制板 (51) 的厚度可为 2腿, 第一对轴间距离可为 30cm; 在离第一对 0.5m 处安装第二对, 其轴间距离为 20cm; 在后面 0.5m的第三对轴间距离为 10cm; 再后面 0.5m的第四对轴间距离为 5cm; 最后一对为 lcm。  The vehicle positioning wheel 25 includes: two rubber wheels (251), bearings (262), two shafts (261), and a bracket (263). The two rubber wheels (251) are respectively fixed to two through bearings (262). On the shaft (261), the shaft (261) and the bracket (263) are welded and fixed. The distance between the two shafts (261) is greater than the thickness of the track control board (51) of the vehicle. The thickness of the track control board (51) can be 2 Legs, the distance between the first pair of axes can be 30cm; the second pair is installed at a distance of 0.5m from the first pair, and the distance between the axes is 20cm; the distance between the third pair of 0.5m behind is 10cm; The distance between the fourth pair of axes is 5cm; the last pair is lcm.
20、 如权利要求 2所述的系统, 其特征在于, 在单向合并路口 (5) 的两条轨道的入口处安装了一对定位轮( 25 )和车速控制装置 (26) , 在车速控制装置 26后面的地面, 车轮可以压着的位置安装了压敏器件 20. The system according to claim 2, characterized in that a pair of positioning wheels (25) and a vehicle speed control device (26) are installed at the entrance of the two tracks of the one-way merge intersection (5), and the vehicle speed control Pressure sensitive devices are installed on the ground behind the device 26, where the wheels can be pressed
( 246 ) , 在合并路口的出口处安装若干对定位轮(25) 。 (246), install several pairs of positioning wheels (25) at the exit of the merged intersection.
车速控制装置 (26) 包括轴 (261) 、 一对固定在轴 (261) 上的 旋转轮( 260 ) 、 轴承( 262 )和支架 ( 263 ) 、 变速箱 ( 264 )和由合 并路口 (5) 的单片机( 203 )控制的电机( 265 ) , 轴 (261)通过轴 承( 262 ) 固定在支架( 263 )上; 两个旋转轮( 260 )之间的间隙与车 辆底盘下的轨道控制板(51) 的厚度相等并紧配合; 其中一根轴 (9) 通过变速箱 ( 264 )连接在由单片机 203控制的电机 265上。  The vehicle speed control device (26) includes a shaft (261), a pair of rotating wheels (260) fixed on the shaft (261), bearings (262) and brackets (263), a gearbox (264), and a junction (5) The motor (265) controlled by the single-chip microcomputer (203), the shaft (261) is fixed on the bracket (263) through a bearing (262); the gap between the two rotating wheels (260) and the track control board (51) under the vehicle chassis ) Are of equal thickness and tight fit; one of the shafts (9) is connected to the motor 265 controlled by the single-chip microcomputer 203 through the gearbox (264).
21、 如权利要求 20所述的系统, 其特征在于, 所述合并路口 (5) 的单片机 203 控制两条进路的车速控制装置 (26)是采用乒乓方式, 即放行一条进路的车辆, 就制止另一条进路的车辆通行, 单片机 203 的管理控制规则: 一般是先到先走; 两个进路的车辆同时到达时, 主 路优先; 在主路的虚拟列车 8 通过时, 待虚拟列车 8 通过后, 放行辅 路车辆。  21. The system according to claim 20, characterized in that: the single-chip microcomputer 203 of the merged intersection (5) controls the speed control device (26) of the two routes using a ping-pong method, that is, vehicles passing one route, In order to stop the traffic of another route, the management and control rules of the single chip microcomputer 203 are: first come first; when the two routes arrive at the same time, the main road takes priority; when the virtual train 8 of the main road passes, wait for the virtual After the passing of train 8, the auxiliary vehicles will be released.
22、 如权利要求 1 所述的系统, 其特征在于所述车站分为 3个等 级: 小客流量车站, 中等客流量车站, 大客流量车站。  22. The system according to claim 1, wherein the station is divided into 3 levels: a small passenger station, a medium passenger station, and a large passenger station.
23、 如权利要求 22所述的系统, 其特征在于在所述小客流量车站, 在进站处有分岔路口 4, 在出站处有合并路口 5, 车站中间每方向有两 条相互隔离的轨道, 一条为提供通过车辆的直通轨道 71, 另一条为上 车和下车的站台轨道 72, 站台 74设在站台轨道 72 的外侧或者直通轨 道 71安排在外侧而将站台设于中间。 23. The system according to claim 22, characterized in that at the small passenger flow station, There is a bifurcation intersection 4 at the pit stop and a merged intersection 5 at the exit. There are two isolated tracks in each direction in the middle of the station. One is to provide a straight track 71 for passing vehicles, and the other is to get on and off. The platform track 72 and the platform 74 are arranged outside the platform track 72 or the through rail 71 is arranged outside and the platform is set in the middle.
24、 如权利要求 22 所述的系统, 其特征在于在所述中等客流量车 站, 在进站处有分岔路口 4, 在出站处有合并路口 5, 车站中间每方向 有三条相互隔离的轨道, 第一条为提供通过车辆的直通轨道 71, 第二 条为上车和下车的站台轨道 72, 在直通轨道 71与站台轨道 72之间增 加第三条通行轨道 73, 站台 74设在站台轨道 72的外侧, 站台轨道 72 和通行轨道 73之间没有隔离护栏。 在站台轨道 72和通行轨道 73上安 装了车辆转向控制装置 24, 车辆按调度指令驶到指定的车辆转向控制 装置 24处, 由车辆转向控制装置 24将车辆从通行轨道 73转向站台轨 道 72, 或将车辆从站台轨道 72移至通行轨道 73。  24. The system according to claim 22, characterized in that at the medium-passenger station, there is a bifurcation junction 4 at the entry station, a merge junction 5 at the exit station, and three mutually isolated directions in the middle of the station. The first track is a through track 71 for passing vehicles, the second is a platform track 72 for getting on and off the train, and a third through track 73 is added between the through track 71 and the platform track 72. The platform 74 is provided at Outside the platform track 72, there is no barrier between the platform track 72 and the passing track 73. A vehicle steering control device 24 is installed on the platform track 72 and the passing track 73, and the vehicle drives to the designated vehicle steering control device 24 according to the dispatch instruction, and the vehicle steering control device 24 steers the vehicle from the passing track 73 to the platform track 72, or The vehicle is moved from the platform track 72 to the passing track 73.
25、 如权利要求 22所述的系统, 其特征在于在所述大客流量车站, 车站轨道分上下两层, 上层为直通轨道 71-1、 71-2 和下车站台轨道 72-1、 72-2 , 下层为通行轨道 73-1、 73-2和上车站台轨道 80-1、 80-2, 区间直行轨道 2在进站的第 1个分岔路口 4-1、 4-2分别连接直行轨道 和调车轨道 75-1、 75-2; 直行轨道分别通过第 2个分岔路口 4-3、 4-4 接直通轨道 71-1、 71-2和供下车的站台轨道 72-1、 72-2 , 下车的站台 轨道 72-1、 72-2与折返轨道 77-1、 77-2连接; 折返轨道 77-1、 77-2 是从上层到达下层的轨道, 在下层与停车轨道或停车场 79-2、 79-1 连 接;停车轨道或停车场 79-2、 79-1分别与反方向的通行轨道 73-2、 73-1 相接; 通行轨道 73-2、 73-1 分别与上车站台轨道 80-2、 80-1 相接; 上车站台轨道 80-2、 80-1 与通行轨道 73-2、 73-1 平行, 在上车站台 轨道 80-2、 80-1 和通行轨道 73-2、 73-1 之间没有隔离护栏, 安装了 车辆横向传送装置 78, 通行轨道 73-2、 73-1分别接至发车轨道 76-2、 76-1 , 发车轨道 76-2、 76- 1是从下层到达上层的轨道; 发车轨道 76-2、 76-1分别和直通轨道 71-2、 71-1在合并路口 5-2、 5-1合并到区间的 直行轨道,空车从调车轨道 75- 1、75- 2分别驶入下层停车轨道 79-1、 79-2 和通行轨道 73-1、 73-2。 25. The system according to claim 22, characterized in that at the high-traffic station, the station track is divided into two layers, the upper layer is the through rails 71-1, 71-2 and the lower platform rails 72-1, 72 -2, the lower level is the passing rails 73-1, 73-2 and the upper platform rails 80-1, 80-2. The section straight rail 2 is connected at the first branch 4-1 and 4-2 of the pit stop. Straight track and shunting track 75-1, 75-2; The straight track is connected to the straight track 71-1, 71-2 and the platform track 72- 1. 72-2, the platform rails 72-1, 72-2 that get off the bus are connected to the turn-back rails 77-1, 77-2; the turn-back rails 77-1, 77-2 are tracks from the upper level to the lower level, and The parking track or parking lot 79-2, 79-1 is connected; the parking track or parking lot 79-2, 79-1 is connected to the traffic lanes 73-2, 73-1 in opposite directions, respectively; the traffic rails 73-2, 73 -1 is connected to the upper platform rails 80-2 and 80-1 respectively; the upper platform rails 80-2 and 80-1 are parallel to the passing rails 73-2 and 73-1, and the upper platform rails 80-2 and 80-1 No isolation between 80-1 and transit rails 73-2, 73-1 Column, transverse transport vehicle mounted device 78, pass rail 73-2, 73-1 are respectively connected to the grid rail 76-2, 76-1, 76-2 start track, 76-1 is reaching the upper track from the lower layer; Departure rails 76-2, 76-1 and through rails 71-2, 71-1 are merged into sections of straight rails at merge intersections 5-2, 5-1, respectively. Empty cars are transferred from shunting rails 75-1, 75-2. Drive into the lower parking tracks 79-1, 79-2 and the passing tracks 73-1, 73-2, respectively.
26、 如权利要求 23、 24 或 25 所述的系统, 其特征在于在所述在 通行轨道和站台轨道中间安装车辆横向传送装置 78, 用于横向传送车 辆, 所述车辆横向传送装置 78 包括主动电机 783, 主动滚轮 781 , 传 送带 784, 辅助滚轮 782, 在传送带上固定的限位块 785、 左移和右移 限位板 786和限位开关, , 26. The system according to claim 23, 24 or 25, characterized in that a vehicle lateral conveying device 78 is installed between the passing track and the platform track, for laterally conveying the vehicle The vehicle's lateral conveying device 78 includes an active motor 783, an active roller 781, a conveyor belt 784, an auxiliary roller 782, a limit block 785 fixed on the conveyor belt, a left and right shift limit plate 786, and a limit switch,
由站台轨道计算机控制主动电机 783, 主动电机带动主动滚轮 781, 从而驱动传送带 784, 传送带由辅助滚轮 782支撑, 电机按需要可以顺 时针和逆时针旋转, 在传送带上固定了限位块 785、 在站台和通行轨道 上固定了左移和右移两个限位板 786, 限制了传送带的移动距离; 在限 位板 786 安装了限位开关, 平时开关接通, 当车辆横向传送装置载车 移动到站台轨道的位置时, 限位板与限位块接触, 限制了传送带移动, 同时, 限位开关断开, 单片机控制的电机停止运转, 当车辆横向传送 装置载车移动到通行轨道的位置时, 另一块限位板与限位块接触, 也 限制了传送带移动和控制电机停止运转。  The platform track computer controls the active motor 783. The active motor drives the active roller 781 to drive the conveyor belt 784. The conveyor belt is supported by the auxiliary roller 782. The motor can rotate clockwise and counterclockwise as required. The limit block 785 is fixed on the conveyor belt. Two limit plates 786, left and right, are fixed on the platform and the passing track, which limit the moving distance of the conveyor belt. A limit switch is installed on the limit plate 786. The switch is normally turned on. When the position of the platform track is reached, the limit plate is in contact with the limit block, which limits the movement of the conveyor belt. At the same time, the limit switch is turned off, and the motor controlled by the single-chip microcomputer stops running. When the vehicle is transported by the vehicle to the position of the passing track The contact of another limit plate with the limit block also restricts the movement of the conveyor and stops the motor from running.
27、 如权利要求 23、 24 或 25 所述的系统, 其特征在于在车站设 置有计算机调度中心, 车站的计算机调度中心包括一套计算机局域网, 计算机局域网包括票务系统、 站厅计算机 702、 站台计算机 703和调度 计算机 701, 计算机局域网内的计算机通过集线器 706进行联网, 并由 集线器 706 通过专用通信线路接入企业城域网, 计算机局域网还设置 了一台数据库服务器 709 , 建立了车辆分布位置数据库 708和乘客信息 数据库 707,  27. The system according to claim 23, 24 or 25, characterized in that a computer dispatch center is set at the station, and the computer dispatch center of the station includes a set of computer local area networks, and the computer local area network includes a ticketing system, a hall computer 702, and a platform computer 703 and dispatching computer 701. Computers in the computer local area network are connected via hub 706, and hub 706 is connected to the corporate metropolitan area network through a dedicated communication line. The computer local area network also sets up a database server 709, and establishes a vehicle distribution location database 708. And passenger information database 707,
票务系统包括人工售票计算机 704和自动售票计算机 705, 站厅计算机 702与站台的引导电子指示牌的单片机 705、 各乘车口 的验票闸机控制单片机 706组成集散控制系统(请在此外增加内容: 702 具体如何控制 705、 706? 信号转换关系? )  The ticketing system includes a manual ticket selling computer 704 and an automatic ticket selling computer 705, a hall computer 702 and a single-chip microcomputer 705 that guides the platform's electronic signs, and a single-chip microcomputer 706 that controls the ticket gates at each entrance. : 702 How to control 705, 706 specifically? Signal conversion relationship?)
站台计算机 703 与各单片机组成集散控制系统, 所述单片机有管 理各轨道的轨道单片机 902、 管理分岔路口的单片机 202、 管理合并路 口的单片机 203、 控制车辆横向传送控制的移动单片机 901 (请在此外 增加内容: 703具体如何控制 705、 706 ?信号转换关系? ) ,  The platform computer 703 and various single-chip microcomputers constitute a distributed control system. The single-chip microcomputers include a track single-chip microcomputer 902 that manages each track, a single-chip microcomputer 202 that manages bifurcation intersections, a single-chip microcomputer 203 that manages merged intersections, and a mobile single-chip microcomputer 901 that controls lateral transmission control of vehicles. In addition, add content: How does 703 specifically control 705, 706? Signal conversion relationship?),
调度计算机 701 向车辆发送调度指令或对车辆进行无线引导, 车 辆向调度计算机发送运行信息、 申请和应答指令(请在此外增加内容: 调度计算机 701的功能, 701具体如何起高度作用? ) 。  The dispatching computer 701 sends dispatching instructions to the vehicle or wirelessly guides the vehicle. The vehicle sends operating information, application, and response instructions to the dispatching computer (please add more content: the function of the dispatching computer 701, how does 701 specifically play a high role?).
28、 一种车辆轨道交通系统的控制方法, 所述车辆的轨道交通系 统包括: 无人驾驶的车辆 (1 ) ; 区间封闭轨道, 其中区间封闭轨道有 直行轨道 2、分岔路口 4和合并路口 5,车辆在封闭轨道行驶;车站( 3 ), 在区间封闭轨道之间设置有供乘客上车或下车的车站; 所述控制方法 包括车辆轨道交通系统的运输组织方法, 所述运输组织方法是在该方 法包括下列步骤: 28. A method for controlling a rail transit system for a vehicle, the rail transit system for the vehicle comprising: an unmanned vehicle (1); an interval closed track, wherein the interval closed track has Straight track 2, bifurcation intersection 4, and merge intersection 5, vehicles are driving on closed tracks; station (3), a station for passengers to board or alight from between closed tracks on the section; the control method includes vehicle rail traffic A systematic method of organizing transportation, which includes the following steps:
调车: 出发车站的调度计算机按需要随机调度车辆, 指定空车到 乘客上车的站台轨道, 车辆在轨道的车辆转向装置或车辆横向传送装 置的配合下, 控制车辆停在指定位置;  Shunting: The dispatching computer at the departure station randomly dispatches vehicles as required, designates empty cars to the platform tracks where passengers board, and the vehicles are controlled to stop at the designated locations in cooperation with the vehicle's steering device or the vehicle's lateral transmission device;
确定目的站和选择车辆行驶的路线: 确定车辆行驶的目的站后, 乘客上车, 自动驾驶的车辆的主控微机自行确定行驶路线的计划, 直 驶目的站;  Determining the destination station and selecting the route of the vehicle: After the destination station of the vehicle is determined, passengers board the vehicle, and the main control microcomputer of the auto-driving vehicle determines the plan of the route by itself, and drive directly to the destination station;
发车: 调度计算机发送发车指令, 车辆通过通行轨道进入发车轨 道; 在出站的合并路口, 车辆在轨道的车速控制装置配合下, 驶入区 间的直行轨道;  Departure: The dispatching computer sends a departure instruction, and the vehicle enters the departure track through the passing track; at the merged exit of the station, the vehicle enters the direct track in the area with the speed control device of the track;
行驶: 车辆在区间的直行轨道上行驶, 并向轨道计算机进行登记、 核对和排序, 车辆的主控微机将实际行驶路线与行驶路线计划进行比 对, 确定继续行驶的方向; 轨道计算机将前进方向通知前方的路口单 片机, 车辆在分岔路口需要拐弯时, 轨道计算机通过单片机启动车辆 转向控制装置, 控制车辆拐弯;  Traveling: The vehicle travels on the straight track in the section, and registers, checks and sorts with the track computer. The main control microcomputer of the vehicle compares the actual driving route with the planned driving route to determine the direction to continue; the track computer will move forward Notify the single-chip microcomputer at the intersection, when the vehicle needs to turn at the bifurcation, the track computer starts the vehicle steering control device through the single-chip microcomputer to control the vehicle's turning;
车辆运行; 车辆从发车站行驶到目的站台;  Vehicle operation; Vehicle travels from the departure station to the destination platform;
车辆到站: 车辆在到达目的站的分岔路口时, 车辆在车辆转向控 制装置的配合下, 控制车辆驶到通行轨道, 按目的站调度计算机的调 度指令, 车辆停到下车站台轨道的指定位置;  Vehicle Arrival: When the vehicle arrives at the bifurcation of the destination station, the vehicle is controlled by the vehicle's steering control device to drive the vehicle to the passing track, according to the dispatch instruction of the destination station dispatch computer, and the vehicle stops at the designated platform track. Location
在乘客下完车后, 按调度计算机的调度指令车辆停在停车轨道或 停车场, 或者按调度计算机的调度指令车辆停在乘客上车的站台轨道。  After the passengers get off the vehicle, the vehicle is parked on the parking track or the parking lot according to the dispatch of the dispatch computer, or the vehicle is parked on the platform track where the passengers get on the train according to the dispatch of the dispatch computer.
29、 如权利要求 28 所述的小型车辆的轨道交通系统的运输组织方 法, 所述调车的步骤如下:  29. The method for transport organization of a rail transit system for a small vehicle according to claim 28, wherein the shunting step is as follows:
当上车站台轨道的空车数量不够时, 车站调度计算机查询车站局 域网的车辆位置数据库 708, 当查询到本车站的停车轨道或下车站台轨 道的有空车时, 调度计算机 701-1 通过区域无线通信系统直接通知停 车轨道或下车站台轨道的空车行驶到通行轨道 73-1, 由车辆横向传送 装置 78将空车移到上车站台轨道 80-1 ;  When the number of empty cars on the platform track is not enough, the station dispatch computer queries the vehicle location database 708 of the local area network of the station. When the parking track of the station or the free trains on the platform track are found, the dispatch computer 701-1 passes the area. The wireless communication system directly informs the empty track of the parking track or the lower platform track to travel to the passing track 73-1, and the empty vehicle is moved to the upper platform track 80-1 by the vehicle lateral transmission device 78;
若本车站的停车轨道或下车站台轨道上都无空车时, 调度计算机 701 检索企业城域网的车辆动态数据库 803, 根据检索结果, 按先近 后远的原则向后方的富有空车的车站发送空车调度申请; 对方车站的 调度计算机 701 —方面通过区域无线通信系统下达调度指令, 按车辆 的身份地址指定车辆开往申请的车站, 另一方面通知站台计算机 703 予以发车; 调度计算机将调度结果通知申请车站的调度计算机; 被调 车辆的调度计算机修改车站的车辆位置数据库; 被调车辆的调度计算 机修改车辆动态数据库 803, 被调车辆通过区间直达调用空车车站, 被 调 车辆通过进站的分岔路口 4-3进入停车轨道或停车场 79-1, 然后进 入上车站台轨道。 If there are no empty cars on the parking track or the lower platform track of the station, the dispatching computer 701 searches the vehicle dynamics database 803 of the enterprise metropolitan area network, and sends an empty vehicle scheduling application to the rear station with rich empty vehicles on the principle of near-to-far-distance based on the search results; the scheduling computer 701 of the opposite station passes the regional wireless communication system Issue a dispatch instruction, specify the vehicle to the requested station according to the vehicle's identity address, and on the other hand notify the platform computer 703 to issue the bus; the dispatch computer notifies the dispatch result of the dispatch station to the application station; the dispatch computer of the transferred vehicle modifies the vehicle position of the station Database; the dispatching computer of the transferred vehicle modifies the vehicle dynamic database 803, the transferred vehicle calls the empty bus station directly through the interval, and the transferred vehicle enters the parking track or parking lot 79-1 through the branching intersection 4-3 of the pit stop, and then enters Get on the platform track.
30、 如权利要求 28 所述的小型车辆的轨道交通系统的运输组织方 法, 所述确定目的站和选择车辆行驶的路线的步骤如下:  30. The method for transport organization of a rail transit system for a small vehicle according to claim 28, wherein the steps of determining a destination station and selecting a route traveled by the vehicle are as follows:
确定目的站: 乘客在购票时确定达到的目的站, 售票计算机将乘 客信息传送给乘客信息数据库, 调度计算机向站台计算机、 站厅计算 机发送调度指令: 停在某位置的某号车辆开往的目的站, 调度计算机 通过区域无线通信系统向车辆发送目的站的指令, 车辆的电子显示牌 显示目的站名; 站厅计算机控制的乘客引导电子指示牌, 显示开往目 的站的车辆位置; 站台护栏的乘车口显示目的站名;  Determining the destination station: The passenger determines the destination station reached when the ticket is purchased. The ticket sales computer transmits the passenger information to the passenger information database, and the dispatching computer sends the dispatching instructions to the platform computer and station hall computer. Destination station. The dispatching computer sends the destination station's instruction to the vehicle through the regional wireless communication system. The electronic display of the vehicle displays the name of the destination station. Passengers controlled by the station computer guide the electronic indication plate to show the position of the vehicle heading for the destination station. The name of the destination station is displayed at the bus stop;
乘客上车: 乘客持车票通过乘车口验票上车, 当去往目的站的乘 客全部上车或车辆满员后, 乘客停止通行, 站厅计算机向调度计算机 发送可以关门和发车信息, 调度计算机向车辆下达指令关门和发车, 验票设备将上车乘客人数通知站厅计算机, 站厅计算机将上车人数修 改乘客信息数据库;  Passenger boarding: The passenger holds the ticket and passes the gate to check the boarding. When all the passengers to the destination station board or the vehicle is full, the passengers stop passing. The station computer sends the closing and departure information to the dispatch computer. The dispatch computer The vehicle is instructed to close and depart, and the ticket inspection device will notify the station computer of the number of passengers on board, and the station computer will modify the passenger information database of the number of passengers on board;
车辆的红外检测器检测到站台上无乘客时, 在接到关门和发车指 令后, 车门自动关闭; 车辆向站台计算机发送发车申请;  When the vehicle's infrared detector detects that there are no passengers on the platform, the door will automatically close after receiving the door closing and departure instructions; the vehicle sends a departure application to the platform computer;
选择行驶路线: 车辆的主控微机根据出发站和目的站的信息, 根 据存储的全系统的电子地图, 自动选择行驶路线, 确定行驶路线计划、 通过的轨道、 分岔路口、 合并路口、 车站的代码和顺序。  Selecting the driving route: The main control microcomputer of the vehicle automatically selects the driving route based on the information of the departure station and the destination station, and according to the stored electronic map of the entire system, determines the driving route plan, the passing track, the bifurcation intersection, the merged intersection, and the station. Code and order.
31、 如权利要求 30 所述的车辆轨道交通系统的运输组织方法, 其 特征在于所述发车的步骤如下:  31. The method for transport organization of a vehicle rail transit system according to claim 30, wherein the steps of the departure are as follows:
发车指令: 接到站台计算机发送的发车申请后, 调度计算机向站 台计算机发送发车指令, 站台计算机通过轨道无线通信系统向准备发 车的车辆发送发车指令; 启动车辆转向控制装置, 车辆拐弯驶向通行 轨道, 或由车辆传送装置将车辆传送到通行轨道; 站台计算机将发车 信息发送给出站的合并路口单片机; Departure instruction: After receiving the departure application sent by the platform computer, the dispatch computer sends the departure instruction to the platform computer, and the platform computer sends the departure instruction to the vehicle ready to start via the track wireless communication system; the vehicle steering control device is activated, and the vehicle turns to the traffic Track, or the vehicle is transported to the passing track by the vehicle transfer device; the platform computer sends the departure information to the integrated intersection microcontroller of the station;
车速控制: 在站台计算机将发车信息发送给出站的合并路口单片 机之后; 当直通轨道有车辆通过时, 合并路口的单片机控制发车方面 的车速控制装置, 限制出发车辆的速度;  Vehicle speed control: After the platform computer sends the departure information to the station's merged intersection MCU; when a vehicle passes through the through track, the microcontroller at the merged intersection controls the speed control device at the departure point to limit the speed of the starting vehicle;
出站: 合并路口的单片机选择直通轨道的行车空隙, 放行出站车 辆; 放行时, 调整车速控制装置提高出站车辆的车速。  Departure: The single-chip microcomputer at the merged intersection selects the driving gap of the through-track, and releases the departed vehicles. When releasing, adjust the speed control device to increase the speed of the outbound vehicles.
32、 如权利要求 28 所述的车辆轨道交通系统的运输组织方法, 其 特所述车辆运行的步骤如下:  32. The method for transport organization of a vehicle rail transit system according to claim 28, wherein the steps of running the vehicle are as follows:
发送登记指令: 车辆进入直行轨道时, 车辆的轨道信号接收装置 检测到轨道信号发射装置发出的信号后, 车辆的无线通信机发送车辆 号码和目的站的信息, 轨道计算机接收到车辆运行信息后进行登记; 核对运行区段和排序: 轨道的车辆信息接收器检测到车辆信息和 接收到车辆登记信息后, 轨道计算机向车辆发送区段代码、 车辆在区 段运行的序号和车辆运行速度; 车辆接收到轨道计算机的信息和指令 后, 与运行线路进行核对; 轨道计算机向车辆运行前方的分岔路口单 片机发送车辆的运行信息: 车辆号码、 序号、 目的站。  Send registration instruction: When the vehicle enters the straight track, after the vehicle's track signal receiving device detects the signal from the track signal transmitting device, the vehicle's wireless communication device sends the vehicle number and the information of the destination station, and the track computer performs the operation after receiving the vehicle operation information. Registration; Checking the running section and sorting: After the vehicle information receiver of the track detects the vehicle information and receives the vehicle registration information, the track computer sends the section code, the serial number of the vehicle running in the section, and the vehicle running speed; the vehicle receives After the information and instructions from the track computer are checked, they are checked with the running line. The track computer sends the running information of the vehicle to the single-chip microcomputer at the branch road ahead of the vehicle: vehicle number, serial number, and destination station.
33、 权利要求 28 所述的车辆轨道交通系统的运输组织方法, 其特 征在于所述车辆可以采用虚拟列车方式行驶, 所述虚拟列车方式行驶 的步骤如下:  33. The method for organizing a vehicle rail transit system according to claim 28, characterized in that the vehicle can be driven by a virtual train, and the steps of the virtual train are as follows:
测距: 车辆的前部安装的电子测距设备在运行时不断测量与前车 的距离, 车辆的主控微机根据距离控制车辆速度; 当距离大于阀值时, 车辆按轨道计算机的指定的速度运行;  Ranging: The electronic distance measuring device installed on the front of the vehicle continuously measures the distance from the front vehicle during operation. The main control microcomputer of the vehicle controls the vehicle speed according to the distance; when the distance is greater than the threshold, the vehicle is at the speed specified by the track computer Run
追逐: 当距离小于阀值时, 后车的车辆信息接收器能接收到前车 的车辆运行信息, 主控微机根据前车的速度, 控制本车以大于前车的 速度进行追逐。 两车的速度差与车辆之间的距离成线性关系, 车距接 近于零则车辆的速度之差也接近于零;  Chase: When the distance is less than the threshold, the vehicle information receiver of the following vehicle can receive the running information of the vehicle in front, and the main control microcomputer controls the vehicle to chase at a speed greater than the speed of the preceding vehicle according to the speed of the preceding vehicle. The speed difference between the two vehicles has a linear relationship with the distance between the vehicles. If the distance between the vehicles is close to zero, the difference in the speed of the vehicles is also close to zero.
虚拟列车运行: 当车辆距离接近于零而碰撞时, 车辆的碰撞緩冲 装置起到緩冲作用, 传感器向主控微机提供碰撞信息, 主控微机降低 车辆速度, 直到脱离碰撞; 后车不断调整速度, 直到两车的速度同步 进入虚拟列车运行方式为止。  Virtual train operation: When the vehicle distance is close to zero and the collision occurs, the vehicle's collision buffering device plays a buffering role. The sensor provides the collision information to the main control microcomputer. The main control microcomputer reduces the speed of the vehicle until it is out of the collision. The rear vehicle is continuously adjusted. Speed until the speed of the two cars enters the virtual train operation mode simultaneously.
34、 如权利要求 28 所述的车辆轨道交通系统的运输组织方法, 所 述车辆到站的步骤如下: 34. The method for transport organization of a vehicle rail transit system according to claim 28, The steps of the vehicle arriving at the station are as follows:
驶入下车站台轨道: 车辆经过进站的分岔路口时, 由车辆转向控 制装置的控制, 车辆驶入下车的站台轨道;  Drive into the platform track: When the vehicle passes through the fork in the station, it is controlled by the vehicle steering control device, and the vehicle enters the platform track;
停靠下车站台: 车辆进入站台轨道后, 行驶到站台的最前端; 当 前方有停靠车辆时, 车辆就自动调整速度, 停靠在前车的后面, 车辆 停稳后, 自动开启车门;  Stopping at the platform: After the vehicle enters the platform track, it will drive to the forefront of the platform. When there is a vehicle parked in front of the platform, the vehicle will automatically adjust the speed and park at the back of the front vehicle. After the vehicle has stabilized, it will automatically open the door;
到停车轨道: 车辆待乘客下车完毕后, 车辆自动关闭车门, 跟随 前方车辆行驶到停车轨道, 进入停车轨道后停在轨道上;  To the parking track: After the vehicle has finished getting off the vehicle, the vehicle automatically closes the door and follows the vehicle in front to the parking track. After entering the parking track, it stops on the track;
停车登记: 车辆在进入停车轨道时, 车辆向停车轨道的单片机进 行登记。  Parking registration: When the vehicle enters the parking track, the vehicle registers with the microcontroller of the parking track.
PCT/CN2004/000087 2003-01-30 2004-01-30 Mini-vehicle track traffic system WO2004068438A1 (en)

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