WO2004068438A1 - Systeme de circulation de mini-vehicules sur des rails - Google Patents

Systeme de circulation de mini-vehicules sur des rails 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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WO
WIPO (PCT)
Prior art keywords
vehicle
track
station
computer
platform
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Application number
PCT/CN2004/000087
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English (en)
Chinese (zh)
Inventor
Yong Shen
Original Assignee
Yong Shen
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Filing date
Publication date
Application filed by Yong Shen filed Critical Yong Shen
Publication of WO2004068438A1 publication Critical patent/WO2004068438A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B13/00—Other railway systems

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a rail transit system for a small 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the collision buffer device 43 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a bifurcation junction 4 at the entry station there is a bifurcation junction 4 at the entry station, and a merge junction 5 at the exit 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.
  • a bifurcation junction 4 at the entry station there is a bifurcation junction 4 at the entry station, and a merge junction 5 at the exit 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.
  • 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
  • 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 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.
  • 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.
  • 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 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.
  • 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;
  • 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.
  • a method for controlling a rail transit system of a vehicle 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:
  • 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;
  • 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;
  • 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;
  • 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;
  • 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.
  • the station dispatch computer queries the vehicle location database 708 of the local area network of the station.
  • 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;
  • 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.
  • 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;
  • Passenger boarding Passengers board the ticket and pass the check-in gate to board the bus.
  • 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;
  • the door 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;
  • 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.
  • 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;
  • 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;
  • 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.
  • 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.
  • 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.
  • the vehicle may be driven in a virtual train mode, and the steps of the virtual train mode are as follows:
  • 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;
  • 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.
  • 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.
  • 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;
  • 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;
  • Parking registration When the vehicle enters the parking track, the vehicle registers with the microcontroller of the parking track.
  • 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.
  • 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.
  • 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.
  • the present invention also has the following advantages:
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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 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 is not only suitable for trunk and ring traffic, but also for distribution and distribution traffic.
  • 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.
  • 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.
  • Figure 1 is a schematic diagram of a rail transit system for small vehicles
  • Figure 2 is a schematic plan view of a straight two-way track
  • Fig. 3 is a schematic end view of the I-I direction of Fig. 2
  • Figure 4 is a schematic plan view of a one-way bifurcation intersection track
  • Figure 5 is a schematic plan view of a one-way merged junction track
  • Figure 6 is a schematic top view of the vehicle
  • Figure 7 is a schematic diagram of the right side of the vehicle
  • Figure 8 is a schematic bottom view of the vehicle chassis
  • Figure 9 is a schematic diagram of a small passenger station track
  • Figure 10 is a schematic diagram of a medium passenger station track
  • Figure 11 is a schematic diagram of a large passenger station track
  • Fig. 12 is a schematic structural diagram of a vehicle speed control device
  • Figure 13 is a schematic diagram of the structure of the center positioning wheel
  • FIG. 14 is a schematic diagram of a vehicle positioning wheel structure
  • Fig. 15 is a schematic cross-sectional view taken along A-A in Fig. 14
  • Fig. 16 is a schematic diagram of a vehicle steering control device
  • Fig. 17 is a schematic diagram of a vehicle lateral transfer device
  • Figure 18 is a schematic diagram of the relative position of the rail fence and the vehicle
  • Figure 19 is a schematic diagram of a platform track using a vehicle steering control device
  • Figure 20 is a schematic diagram of a platform track using a vehicle lateral transfer device
  • FIG. 21 is a schematic structural diagram of a collision buffer device using a spring
  • Figure 22 is a schematic structural diagram of a collision buffer spring using a hydraulic rod
  • Figure 23 is a block diagram of a computer network
  • 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
  • Figure 26 is a block diagram of a track computer control
  • FIG. 27 is the computer control block diagram of the station hall
  • Figure 28 is a block diagram of a regional wireless communication system
  • Figure 29 is a block diagram of a micro wireless communication system
  • Figure 30 is a block diagram of an orbital wireless communication system
  • Figure 31 is a block diagram of a multi-segment wireless communication system
  • Figure 32 is the process of calling an empty car
  • Figure 33 is the process of organizing passengers
  • Figure 34 is the process of dispatching vehicles
  • Figure 35 is a process diagram of dispatching vehicle operation
  • Figure 36 is the process of vehicles passing through a merged intersection
  • Figure 37 is the process of vehicles passing through a bifurcation
  • Figure 38 is the process of registration, verification and ordering of vehicles.
  • 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.
  • 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.
  • 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.
  • 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 India track 2, And one of its exits connects to the entrance of a track 2. Similarly, each track and intersection has a unique number.
  • Vehicle 1 can run on the track alone, or it can automatically form a virtual train 8 to run.
  • a vehicle steering control device 24 is installed at the bifurcation intersection 4.
  • 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.
  • the merged junction 5 has 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.
  • 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:
  • 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:
  • the passenger volume of a unidirectional track section of a general subway is 40,000 to 60,000 people / hour;
  • the cross-section passenger traffic of the unidirectional track of the light rail is 10,000 to 30,000 people / hour.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 is one of a light receiver, a photosensitive device, a Hall device, and a reed relay.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first orbit wireless communication device and the second orbit wireless communication device constitute an orbit wireless communication system.
  • the first rail radio communication device includes a leak cable 23 and a rail radio communication device 210.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • vehicle A and the orbital computer b perform wireless data communication
  • the vehicle N and the single-chip microcomputer e at the merged intersection of the station K + 1 perform Wireless data communication.
  • 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.
  • the track signal receiving device 52 of vehicle 1 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) .
  • 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.
  • 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.
  • the vehicle steering device 24 is a pair of conveyor belts mounted in opposite directions on a track. 244.
  • 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.
  • 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 for
  • 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.
  • 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.
  • 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.
  • 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:
  • 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.
  • the position 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.
  • 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.
  • 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.
  • a vehicle information receiver 29 and a track signal transmitting device 30 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.
  • 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.
  • 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.
  • Figure 36 is the specific process of vehicles passing through a 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.
  • 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.
  • the single-chip microcomputer at the intersection switches and releases the single-chip microcomputer sends separate instructions for passing and decelerating to the vehicle.
  • 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.
  • the vehicle 1 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
  • 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.
  • 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.
  • 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.
  • 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) ⁇ 48 pages of a master-slave distributed system composed of IBM-PC and a single-chip microcomputer.
  • Fig. 6 is a top view of the vehicle 1
  • Fig. 7 is a side view of the vehicle 1
  • Fig. 8 illustrates equipment installation of the vehicle chassis.
  • 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.
  • 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.
  • the safety part of the vehicle operation includes an electronic distance measuring device 49 and a collision buffer device 43.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the main control microcomputer 01 controls the motor drive circuit to reduce the vehicle speed.
  • 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.
  • the guiding and positioning part of the vehicle operation includes positioning wheels 44 and a track control board 51.
  • 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.
  • the surface of the positioning wheel sleeve 440 has a prominent rib.
  • the positioning wheel sleeve 440 with a smooth surface can be used, but its installation height is Random.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a regional wireless communication system a track wireless communication system
  • a micro wireless communication system between the front and rear vehicles.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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, ⁇ is the high-end frequency, and f 1 ′ is the (top-end frequency).
  • the front bumper 41 of the vehicle or the front of the compartment is equipped with a front vehicle information receiver 45
  • the rear bumper 42 of the vehicle is equipped with a vehicle operation information transmitter 46.
  • 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.
  • 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.
  • Vehicle-mounted second track wireless communication device
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the one-chip computer in this text can adopt the general-purpose one-chip computer, for example MCS-51 series.
  • 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.
  • 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.
  • 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.
  • 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)
  • 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 means terminal station
  • '11 means cross station (or transfer station)
  • 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,
  • 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).
  • 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);
  • 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);
  • 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);
  • 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).
  • 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.
  • the 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
  • 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
  • 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.
  • 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.
  • 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.
  • the vehicle's main control microcomputer compiles the operation plan by itself.
  • 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),
  • Vehicle 1 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.
  • 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.
  • 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.
  • 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.
  • the track computer 201 sorts each car through the track wireless communication system, and numbers them.
  • 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.
  • 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.
  • 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.
  • 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.
  • the station is divided into 3 levels: small passenger station, medium passenger station, large passenger station Station.
  • 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.
  • 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.
  • 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.
  • 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
  • -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 rail
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the limit switch is turned off, and the motor controlled by the single-chip microcomputer stops running.
  • 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.
  • a computer dispatch center is set up at the station.
  • 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.
  • 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).
  • the ticket gate 86 is released Passengers, and pass the number of passengers to the station computer 702.
  • 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 sends the information of the departing vehicle to the single-chip microcomputer 203 at the intersection;
  • 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
  • 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.
  • 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.
  • the merged single chip computer 203 sends the information of the vehicle passing to the platform computer 703.
  • the platform computer 703 deletes the outbound vehicle number in the vehicle location database.
  • 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.
  • 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.
  • the running suffix -X indicates the running direction
  • X is the singular number for the downward direction
  • X is the double number for the upward direction.
  • 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.
  • the downward scheduling computer 701-1 goes up to the upstream scheduling computer 701-2.
  • 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.
  • 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.
  • 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
  • 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.
  • each intersection controls the direction of the vehicle according to the received vehicle operation information.
  • the dispatch computer 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.
  • Scheduling computer 701 There are two steps to organizing departures: organizing passengers to board and organizing vehicles to depart.
  • the ticket sales computer 706 sends passenger information to the passenger boarding information database 707
  • 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
  • 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.
  • 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.
  • 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; ⁇ Release the exit vehicle at the merge. ⁇
  • the integrated single-chip microcomputer modifies the vehicle position database through the platform computer.
  • 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.
  • 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; ...
  • the vehicle chases the preceding vehicle.
  • 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.
  • 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.
  • vehicle chasing technology 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:
  • 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
  • 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.
  • 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.
  • the vehicles constitute a virtual train running in the section, which improves the transportation capacity.
  • 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.
  • the empty car After the empty car is closed, the empty car applies to the downward dispatch computer for arrangement.
  • 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.
  • the downlink dispatching computer modifies the vehicle distribution location database.
  • 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.
  • 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.
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Train Traffic Observation, Control, And Security (AREA)

Abstract

L'invention concerne un système de circulation de véhicules sur des rails et un procédé de régulation de la circulation de véhicules sur des rails. Ledit système comprend des véhicules sans pilote, des rails proches les uns des autres, ainsi que des gares. Ces véhicules sont commandés par des ordinateurs et circulent sur les rails. Les gares sont installées le long des rails. Ce système peut remplacer les métros et les chemins de fer urbains et permet de créer un réseau complet de circulation urbaine.
PCT/CN2004/000087 2003-01-30 2004-01-30 Systeme de circulation de mini-vehicules sur des rails WO2004068438A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN03102259A CN1429726A (zh) 2003-01-30 2003-01-30 小型车辆的轨道交通系统
CN03102259.6 2003-01-30

Publications (1)

Publication Number Publication Date
WO2004068438A1 true WO2004068438A1 (fr) 2004-08-12

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PCT/CN2004/000087 WO2004068438A1 (fr) 2003-01-30 2004-01-30 Systeme de circulation de mini-vehicules sur des rails

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CN (1) CN1429726A (fr)
WO (1) WO2004068438A1 (fr)

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CN111497873A (zh) * 2020-05-29 2020-08-07 中铁第四勘察设计院集团有限公司 可减少工程预留规模的主线、支线接轨构造及含其的车站
CN113377032A (zh) * 2021-06-09 2021-09-10 王海涛 悬挂式轨道交通系统的控制系统及运行控制方法
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US9105137B2 (en) 2011-11-04 2015-08-11 Komatsu Ltd. Mining machine information collection system
CN104925092A (zh) * 2015-07-14 2015-09-23 上海无线电设备研究所 轨道交通辅助追踪预警防撞系统及其追踪预警方法
CN104925092B (zh) * 2015-07-14 2017-08-25 上海无线电设备研究所 轨道交通辅助追踪预警防撞系统及其追踪预警方法
CN109458006A (zh) * 2018-12-13 2019-03-12 中铁第四勘察设计院集团有限公司 一种公铁合建整体现浇框架式高架车站及其施工方法
CN111497873A (zh) * 2020-05-29 2020-08-07 中铁第四勘察设计院集团有限公司 可减少工程预留规模的主线、支线接轨构造及含其的车站
CN111497873B (zh) * 2020-05-29 2024-06-04 中铁第四勘察设计院集团有限公司 可减少工程预留规模的主线、支线接轨构造及含其的车站
CN113377032A (zh) * 2021-06-09 2021-09-10 王海涛 悬挂式轨道交通系统的控制系统及运行控制方法
CN113452389A (zh) * 2021-08-13 2021-09-28 南京康尼机电股份有限公司 一种站台门双无线冗余信号传输系统和方法
CN113452389B (zh) * 2021-08-13 2022-07-01 南京康尼机电股份有限公司 一种站台门双无线冗余信号传输系统和方法
CN114312893A (zh) * 2021-12-24 2022-04-12 侯建昌 一种列车变轨泊车系统

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