WO2018153339A1 - 个人悬挂式双轨道双动力自动控制轻型轨道交通系统 - Google Patents

个人悬挂式双轨道双动力自动控制轻型轨道交通系统 Download PDF

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Publication number
WO2018153339A1
WO2018153339A1 PCT/CN2018/076936 CN2018076936W WO2018153339A1 WO 2018153339 A1 WO2018153339 A1 WO 2018153339A1 CN 2018076936 W CN2018076936 W CN 2018076936W WO 2018153339 A1 WO2018153339 A1 WO 2018153339A1
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WIPO (PCT)
Prior art keywords
track
rail
railcar
platform
straight
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PCT/CN2018/076936
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English (en)
French (fr)
Inventor
万普华
万泽霈
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万普华
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Application filed by 万普华 filed Critical 万普华
Priority to SG11201907635VA priority Critical patent/SG11201907635VA/en
Priority to EP18756952.0A priority patent/EP3594079B1/en
Publication of WO2018153339A1 publication Critical patent/WO2018153339A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B3/00—Elevated railway systems with suspended vehicles
    • B61B3/02—Elevated railway systems with suspended vehicles with self-propelled vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L1/00—Devices along the route controlled by interaction with the vehicle or train
    • B61L1/02—Electric devices associated with track, e.g. rail contacts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L1/00—Devices along the route controlled by interaction with the vehicle or train
    • B61L1/20—Safety arrangements for preventing or indicating malfunction of the device, e.g. by leakage current, by lightning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B25/00—Tracks for special kinds of railways
    • E01B25/22—Tracks for railways with the vehicle suspended from rigid supporting rails
    • E01B25/26—Switches; Crossings
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance

Definitions

  • the invention relates to a rail type traffic system, in particular to a personal suspension type double track dual power automatic control light rail transit system, which uses a light rail set in the air and an electric rail car suspended on the track to be controlled by a computer for automatic driving. Point-to-point transportation of personnel and goods.
  • the rail vehicles commonly used at present are mainly ground rail transit systems, underground rail transit systems and elevated light rail transit systems. These rail-type vehicles are large in volume, fast in speed, safe and reliable.
  • there are widespread shortcomings such as large investment scale, long construction period, long site spacing, and large urban space resources.
  • Due to this limitation orbital traffic is currently only available as a mainline traffic between cities and within the city.
  • PRT which is a transportation system in which small vehicles are automatically driven on a dedicated track network or a dedicated road network.
  • the concept of light rail and personal rail vehicles used in urban feeder traffic is proposed.
  • Patent WO 03/047903 is also a Chinese invention patent of "Autonomous Steering Suspension Monorail" by Professor Hu Yingping, Patent No. CN200510007655.2
  • the personal rail transit solution does not provide a fast, reliable, concise and reasonable solution for the steering, bucking, orbiting, site docking and system control of individual railcars. Due to this limitation, the PRT concept has not been practically applied in foreign countries or in China for nearly 70 years.
  • the object of the present invention is to provide a personal suspended double-track dual-power automatic control light rail transit system, which solves the problem that the existing rail vehicle can only be used as a universal feeder vehicle as a traffic trunk line, and can be applied to urban primary and secondary times.
  • Personal suspended double-track dual-power automatic control light rail transit system including rail system, railcar power system, railcar traffic network control system, railcar compartment system, railcar power supply system, railcar docking station system;
  • the track system consists of a track support system comprising a vertical support column 3 and a horizontal support truss 2, the railcar 1 running along the track 8, the track 8 being a left straight track 29 and a right turn track 28
  • the rail 8 is mounted in the inner cavity of the horizontal support truss 2, and the left straight rail 29 is mounted on the left side of the cavity, which is a continuously arranged trunk track; the right turn track 28 is mounted on the right side of the cavity.
  • It consists of a straight section and a turning section.
  • the straight section is parallel with the left straight track 29 and has a spacing.
  • the top elevation of the straight section is higher than the top elevation of the left straight track 29, and the top elevation is gradually raised when the straight section enters the turning section.
  • the height difference between the turn and the top of the left straight track 29 can cause the left device platform 16 of the railcar 1 to be disengaged from the left straight track 29, and the right turn track 28 is curved at the highest point, straight to the left.
  • the spacing between the rails 29 is gradually increased, and the right turning rail 28 is turned to the stopping station to enable the rail car to stop, and the right turning rail 28 of the intersecting or parallel lines can be connected to realize the turning of the railcar 1 and Or orbit;
  • the railcar power system includes a cabin boom 20, a railcar power platform 27, and an eccentric moment support wheel 19.
  • the railcar power platform 27 is composed of a left equipment platform 16 and a right equipment platform 17, and the left equipment platform 16 is installed.
  • the front left driving wheel 11, the rear left driven wheel 13, the right equipment platform 17 is mounted with a front right driving wheel 12, a rear right driven wheel 14 and a right equipment platform lifting device 18, and an eccentric moment supporting wheel is mounted at the lower end of the cabin hanger 20 19, the eccentric moment support wheel 19 roller surface is in contact with the bottom side surface of the rail 8;
  • the cabin boom 20 is connected with the top of the railcar compartment 4 by a turntable, and when the railcar 1 makes a small radius turn, the cabin boom 20 and the railcar compartment Rotation occurs between 4, the left device platform 16 is located above the left straight track 29, the right device platform 17 is located above the right turn track 28, and the right device platform 17 is implemented relative to the left by the right device platform lifting device 18.
  • the side equipment platform 16 reciprocates up and down as a whole; when the rail car 1 goes straight, the left equipment platform 16 is located above the left straight track 29, and the front left driving wheel 11 and the rear left driven wheel 13 drive the rail car 1 along the left side.
  • the straight track 29 goes straight ahead, and the rail car 1 needs to turn into the station, merge, change lane, and the fault needs to be urgently separated from the left straight track 29, and the right equipment platform 17 is under the action of the right equipment platform lifting device 18.
  • the lower side is in contact with the right turn track 28, and at the same time, the front right drive wheel 12 is powered to support the railcar 1, and when the railcar 1 runs along the straight section of the right turn track 28 to the turning section, the top elevation is relative to the left straight track.
  • the railcar power platform 27 is lifted as the right turn rail 28 is raised, so that the left equipment platform 16 is separated from the left straight rail 29, and the railcar 1 enters the turning section of the right turn rail 28 along the arc.
  • the line turns away from the left straight track 29 to realize the turning of the rail car 1 , and when the turning section is merged into the straight section, the height of the right turning track 28 gradually decreases, and the distance between the right turning track 28 and the left straight track 29 gradually approaches, reaching
  • the straight section of the right turn track 28 is in the straight section, the left equipment platform 16 is in contact with the left straight track 29, the front left drive wheel 11 of the left equipment platform 16 is activated, and the front right of the right equipment platform 17 is closed.
  • the driving wheel 12 is lifted by the right equipment platform lifting device 18 and lifted off the right turning platform 28, and the rail car enters the straight state;
  • the railcar transportation network control system is composed of a central control computer system, an onboard computer control system, a track signal identification device, and a docking station computer control system.
  • the central control computer system is composed of a large central control computer and its auxiliary system, and the central control computer passes Collecting the reservation and destination information of each railcar 1, the stop information, the fault information of the rail 8 and the railcar 1, and performing automatic control on the overall dispatching of the railcar 1, the design of the running line, and the emergency handling of the fault through data calculation
  • the on-board computer control system is composed of an on-board computer, a rail car signal transmitting and receiving device 30, a car computer door lock 6 and a data line.
  • the on-board computer stores a control program of the rail car 1 in various states, and acquires the user in the car door. After the target information is set on the lock 6, the onboard computer uploads the target information to the central control computer, and the central control computer calculates the optimal running line of the railcar 1 and returns the onboard computer, which is collected by the onboard computer through the calculation processing signal transmitting and receiving device 30. Signal data to get track
  • the running command of the vehicle the onboard computer controls the acceleration, deceleration and braking of the railcar 1 by adjusting the input current, voltage and the opening and closing brake 15 of the railcar power platform 27, and realizes the rail by starting the right equipment platform lifting device 18. Turning, bounce and change rails.
  • the railcar compartment system includes a railcar compartment 4, a seat 9, a folding workbench 10, and a vehicle door 5.
  • the railcar compartment 4 is connected to the railcar power platform 27 through the front and rear two compartment booms 20, and the railcar compartment 4
  • the railcar power supply system is composed of a substation, a transmission line, an internal power supply system of the railcar, and a power supply contact wire network 22 disposed along the track.
  • the internal power supply system of the railcar is composed of a power receiving contact 23 and a railcar distribution box.
  • the battery emergency power supply 21, the power platform power supply line, the car power supply line, and the weak current system are composed.
  • the substation is provided along the track 8.
  • Each substation is provided with an uninterruptible power supply by not less than two urban power supply lines, and the transmission line is arranged along the horizontal support truss 2
  • the internal power supply system of the railcar 1 is connected to the power source through the power receiving contact 23, and through the power distribution box 24 to the battery emergency power source 21, the railcar power platform 27, the railcar compartment 4, the weak current system A power source is provided, and the battery emergency power source 21 is mounted on the left device platform 16 of the railcar power platform 27.
  • the front left driving wheel 11 and the front right driving wheel 12 are respectively provided with braking members 15 respectively, and the right device lifting device 18 is driven by mechanical, electromagnetic or hydraulic means.
  • the rail 8 has an inverted L-shaped structure, and the rail 8 is composed of an inverted L-shaped rail steel plate 25 and a rail supporting member 26.
  • the railcar power platform 27 is connected to the railcar compartment 4 through the front and rear two compartment booms 20, and the eccentric moment support wheels 19 are mounted on the front and rear compartment booms 20, respectively, and the eccentric moments mounted on the front and rear two compartment booms 20 are respectively installed.
  • the roller faces of the support wheels 19 are in contact with the left and right sides of the bottom of the rail 8, respectively, to resist the eccentric moment generated between the carriage boom 20 and the sides of the rail 8.
  • the track 8 is provided with a signal device at the parallel rail, and the rail car bounce signal receiving and transmitting device is arranged at an appropriate position of the straight track.
  • the vehicle passes the bounce signal device, the vehicle is transmitted to the rail car bounce signal receiving and transmitting device, and goes straight.
  • the railcar passes the scanning signal, the signal of the railcar is obtained, and the signal is calculated by the onboard computer to determine whether to accelerate or decelerate to avoid the rail vehicle.
  • the railcar 1 runs on one of the parallel rails A, B, C, and can be run from the rail B to the left to the other rail A or to the right by the orbiting device.
  • the rail changing device is a
  • the right turn track is formed in an arc shape, and can be connected to the right side turn track of the track B to the left or the right turn track of the track C to the right.
  • the docking station system is composed of a hardening site, a docking station track, a passenger platform, a passenger platform, a railcar maintenance platform, and a docking station control center.
  • the hardening site is composed of an open space, a basement, and a large space building disposed on both sides of the track route.
  • the internal space is completed, and the docking station track is composed of a right turning track 28 and at least one left straight track 29, and the right turning track 28 is gradually turned by the track 8 of the track system and the height is gradually lowered to the bottom of the rail car 1, and Above the landing site, the right turn track 28 turns around the outside of the site in the docking station to form an outwardly projecting arc.
  • the left straight track of the stop station 29 Distributed on the inner side of the arc, the two sides of the left straight track 29 are respectively provided with parallel segments 31 connected to the right turn track 28 for the railcar 1 to be merged from the right turn track 28 to the left when entering the station.
  • the left straight track 29 of the stop station is used as the rail car 1 and the entrance is set to
  • the passenger platform is set as the passenger platform, and the arc top of the right turn track 28 of the docking station is set as the maintenance platform of the railcar 1.
  • the docking station system can be divided into a manned docking station and an unattended docking station, and can also be divided into an open docking station and an indoor docking station.
  • the track system of the present invention has two rail lines which are juxtaposed on the left side and the right side turn but have different top surface elevations.
  • Two sets of power systems are disposed on the left side of the straight track drive device and the right side turn track drive device.
  • the lifting device is used to change the relative distance between the right-turning track driving device and the turning track, and at the same time, under the action of the relative elevation changes of the straight track and the turning track, the rail car is switched between the left straight track and the right turn track, thereby Safe, simple and fast way to achieve steering, bucking, orbiting and docking of railcars.
  • the system is equipped with a central computer control system to achieve automatic control, and the rail car operates autonomously, so that the PRT concept can be truly transformed into an application technology that can serve people's lives.
  • Figure 1 is a schematic diagram of a rail support system.
  • Figure 2 is a schematic view of the layout of a railcar on an urban road.
  • Figure 3 is a schematic view of the appearance of the rail car.
  • Figure 4 is a schematic view of the internal structure of the rail car.
  • Figure 5 is a front view of the railcar power system.
  • Figure 6 is a top view of the railcar power system.
  • Figure 7 is a side view of the railcar power system.
  • Figure 8 is a front view of the railcar power system in orbit.
  • Figure 9 is a top plan view of the railcar power system in orbit.
  • Figure 10 is a side view of the railcar power system in orbit.
  • Figure 11 is a top view of the rail car.
  • Figure 12 is a side view of the railcar.
  • Figure 13 is a top view of a turning of a railcar.
  • Figure 14 is a side view of a railcar turning.
  • Figure 15 is a top view of the rail car's rail change.
  • Figure 16 is a side view of the rail car.
  • Figure 17 is a schematic view of a railcar stop.
  • Figure 18 is a cross-sectional view of the railcar of Figure 11 in five positions when they are joined together.
  • Figure 19 is a cross-sectional view of the railcar of Figure 13 at five positions when cornering.
  • Figure 20 is a cross-sectional view of the railcar of Figure 15 at four positions during a rail change.
  • a personal suspended dual-track dual-power automatic control light rail transit system includes a rail system, a railcar power system, a railcar traffic network control system, a railcar compartment system, a railcar power supply system, and a railcar stop station system.
  • the track system consists of a track support system comprising a vertical support column 3 and a horizontal support truss 2, the railcar 1 running along the track 8, the track 8 being a left straight track 29 and a right turn track 28
  • the rail 8 is mounted in the inner cavity of the horizontal support truss 2, and the left straight rail 29 is mounted on the left side of the cavity, which is a continuously arranged trunk track; the right turn track 28 is mounted on the right side of the cavity.
  • It consists of a straight section and a turning section.
  • the straight section is parallel with the left straight track 29 and has a spacing.
  • the top elevation of the straight section is higher than the top elevation of the left straight track 29, and the top elevation is gradually raised when the straight section enters the turning section.
  • the height difference between the turn and the top of the left straight track 29 can cause the left device platform 16 of the railcar 1 to be disengaged from the left straight track 29, and the right turn track 28 is curved at the highest point, straight to the left.
  • the spacing between the rails 29 is gradually increased, and the right turning rail 28 is turned to the stopping station to enable the rail car to stop, and the right turning rail 28 of the intersecting or parallel lines can be connected to realize the turning of the railcar 1 and Or orbit.
  • the rail 8 has an inverted L-shaped structure, and the rail 8 is composed of an inverted L-shaped rail steel plate 25 and a rail supporting member 26.
  • the pitch, height, and structural form of the rail vertical support column 3 and the horizontal support truss 2 are determined according to the existing presence of the terrain of the track system installation area, buildings, and the like.
  • the railcar 1 is designed to strictly control the load of the rails as follows: 1.
  • the railcar compartment 4 is lightly designed to control the weight of the railcar compartment 4 and the railcar power platform 27. 2.
  • the load of the railcar 1 is limited by the weight limiting device on the rail car boom 20. 3.
  • the running distance of the railcar 1 on the rail 8 is automatically controlled by a distance measuring device installed at the front of the rail car to control the number of railcars 1 on the track 8 per unit distance.
  • the load of the horizontal support truss 2 of the track can be effectively controlled to the minimum range, and the structural size of the support member can be minimized.
  • the span of the single traffic line track truss 2 can be more than 100 meters.
  • the track 8, the horizontal support truss 2 and the railcar 1 occupy only one air passage having a width of not more than 2 meters, a height of not more than 3 meters, and a distance of 5 to 15 meters from the ground. Therefore, the arrangement of the horizontal support truss 2 can be flexible and can overcome various obstacles such as urban roads, bridges, small buildings, and trees.
  • the urban internal traffic track line can be set in the road above the green belt of the traffic trunk road, the sky above the slow roadside, the sky above the green belt, the bottom of the viaduct, the sky above the park green space, and the residential building.
  • the traffic line between the city and the countryside can be set on both sides of the existing road, over the farmland, woods or hills.
  • the inter-city transportation lines can be set between the inter-city roads on both sides of ordinary highways and highways, and existing tunnels can be used to cross mountains and highlands.
  • the internal traffic lines of large factories, mines, schools, airports, parks, and scenic spots can be arranged on either side of the existing road or arbitrarily above the open space in the area.
  • the interior of a large stadium building can be designed specifically for the design of the orbital route during the design of the building.
  • the railcar power system includes a cabin boom 20, a railcar power platform 27, and an eccentric moment support wheel 19.
  • the railcar power platform 27 is composed of a left equipment platform 16 and a right equipment platform 17, and the left equipment platform 16 is installed.
  • the front left driving wheel 11, the rear left driven wheel 13, the right equipment platform 17 is mounted with a front right driving wheel 12, a rear right driven wheel 14 and a right equipment platform lifting device 18, and an eccentric moment supporting wheel is mounted at the lower end of the cabin hanger 20 19, the eccentric moment support wheel 19 roller surface is in contact with the bottom side surface of the rail 8;
  • the cabin boom 20 is connected with the top of the railcar compartment 4 by a turntable, and when the railcar 1 makes a small radius turn, the cabin boom 20 and the railcar compartment Rotation occurs between 4, the left device platform 16 is located above the left straight track 29, the right device platform 17 is located above the right turn track 28, and the right device platform 17 is implemented relative to the left by the right device platform lifting device 18.
  • the side equipment platform 16 reciprocates up and down as a whole; when the rail car 1 goes straight, the left equipment platform 16 is located above the left straight track 29, and the front left driving wheel 11 and the rear left driven wheel 13 drive the rail car 1 along the left side.
  • the straight track 29 goes straight ahead, and the rail car 1 needs to turn into the station, merge, change lane, and the fault needs to be urgently separated from the left straight track 29, and the right equipment platform 17 is under the action of the right equipment platform lifting device 18.
  • the lower side is in contact with the right turn track 28, and at the same time, the front right drive wheel 12 is powered to support the railcar 1, and when the railcar 1 runs along the straight section of the right turn track 28 to the turning section, the top elevation is relative to the left straight track.
  • the railcar power platform 27 is lifted as the right turn rail 28 is raised, so that the left equipment platform 16 is separated from the left straight rail 29, and the railcar 1 enters the turning section of the right turn rail 28 along the arc.
  • the line turns away from the left straight track 29 to realize the turning of the rail car 1 , and when the turning section is merged into the straight section, the height of the right turning track 28 gradually decreases, and the distance between the right turning track 28 and the left straight track 29 gradually approaches, reaching
  • the straight section of the right turn track 28 is in the straight section, the left equipment platform 16 is in contact with the left straight track 29, the front left drive wheel 11 of the left equipment platform 16 is activated, and the front right of the right equipment platform 17 is closed.
  • the driving wheel 12, under the action of the right equipment platform lifting device 18, raises the height of the right equipment platform 17 and disengages from the right turning track 28, and the rail car enters the straight state.
  • the front left driving wheel 11 and the front right driving wheel 12 are respectively provided with braking members 15 respectively, and the right device platform lifting device 18 is driven by mechanical, electromagnetic or hydraulic means.
  • the railcar power platform 27 is connected to the railcar compartment 4 through the front and rear two compartment booms 20, and the eccentric moment supporting wheels 19 are respectively mounted on the front and rear compartment rails 20, respectively, which are in contact with the left and right sides of the bottom of the rail 8, respectively.
  • the use of two booms 20 in front and rear of the compartment can effectively resist the torque generated by the braking of the railcar 1 and increase the ride comfort; the single boom method can make the railcar power and control system more simple and reliable, but when the railcar accelerates When decelerating or braking, the car will have a large swing that affects ride comfort.
  • a steel spring suspension device or an air spring suspension device is arranged inside the boom 20. When the railcar accelerates, decelerates or brakes, the spring device absorbs most of the kinetic energy and increases the stability and comfort of the cabin during operation.
  • the railcar transportation network control system is composed of a central control computer system, an onboard computer control system, a track signal identification device, and a docking station computer control system.
  • the central control computer system is composed of a large central control computer and its auxiliary system, and the central control computer passes Collecting the reservation and destination information of each railcar 1, the stop information, the fault information of the rail 8 and the railcar 1, and performing automatic control on the overall dispatching of the railcar 1, the design of the running line, and the emergency handling of the fault through data calculation
  • the on-board computer control system is composed of an on-board computer, a rail car signal transmitting and receiving device 30, a car computer door lock 6 and a data line.
  • the on-board computer stores a control program of the rail car 1 in various states, and acquires the user in the car door. After the target information is set on the lock 6, the onboard computer uploads the target information to the central control computer, and the central control computer calculates the optimal running line of the railcar 1 and returns the onboard computer, which is collected by the onboard computer through the calculation processing signal transmitting and receiving device 30. Signal data to get track
  • the running command of the vehicle the onboard computer controls the acceleration, deceleration and braking of the railcar 1 by adjusting the input current, voltage and the opening and closing brake 15 of the railcar power platform 27, and realizes the rail by starting the right equipment platform lifting device 18. Turning, bounce and orbiting;
  • the docking station control system is connected by the station control computer, the docking station track monitoring system, the station control computer and the central control computer and receives relevant instructions.
  • Each stop station is set up with a stop control center, which is responsible for controlling the stop of the railcars at the stop, passengers getting on and off, outbound and maintenance management.
  • the track signal identifying device is disposed at a turn, a merge, a track change or a stop of the rail car station of the track, and the rail car initiates the set running program by scanning the identification signal.
  • Deformation and stress monitoring devices are placed on the rails and trusses. All control and monitoring systems transmit data to the central control computer over a data line or wireless network.
  • the railcar compartment system includes a railcar compartment 4, a seat 9, a folding workbench 10, and a vehicle door 5.
  • the railcar compartment 4 is connected to the railcar power platform 27 through the front and rear two compartment booms 20, and the railcar compartment 4 There are computer door locks 6, car screen monitoring devices, air conditioning, lighting, rail car weight limit devices, network and radio equipment, emergency call devices and manual control buttons.
  • the railcar compartment 4 is composed of a bottom plate, a steel frame structure, a maintenance plate, a glass window, a car seat 9 and a door 5, and has a height of 1.2 to 1.5 meters, a width of 1.0 to 1.5 meters, and a length of 1.5 to 2 meters.
  • the railcar has two models, single and double, and has a space for carrying items.
  • the opening and closing of the door 5 is controlled by the computer door lock 6.
  • the computer door lock 6 is a data control computer of the car peripheral and is connected to the onboard computer. It has functions such as identification, target setting, charging and door opening and closing. After the passenger completes the identification, setting the destination and the automatic charging program through the computer door lock 6, the door 5 is automatically opened, and the person enters the compartment 4 to sit down.
  • a monitoring system is installed at the top of the front of the car 4 to record the interior of the car, and the monitoring system screen is synchronized with the data of the central monitoring center.
  • the rail car is provided with an air conditioning system to provide a suitable ambient temperature for the car 4.
  • a lighting system is provided in the cabin, and the brightness of the lighting is controlled by the passenger.
  • An automatic metering control system for the car load is provided at the junction of the car boom 20 and the car.
  • the total weight of the car and its load is controlled within a certain range of 200 to 300 kg. When the weight is exceeded, the system automatically alarms and limits the start.
  • the weight limiting device can effectively guarantee the maximum weight of a single car, can effectively control the load range of the horizontal truss, and maximize the transportation capacity of the track 8 under the premise of ensuring the safety of the system.
  • the rail car 1 is provided with wireless network services and radio services for passengers, and passengers can work in the car and enjoy entertainment programs.
  • the railcar transportation system adopts full-automatic control. The passengers can't control the running speed and direction of the railcar 1. When the system is abnormal, the passenger can contact the general control center through the emergency call.
  • the general control center When the passenger starts the emergency call device, the general control center will Show all the information of the passenger car on the railcar, communicate with the passengers through the videophone, and take timely measures.
  • the manual control button When the passenger temporarily changes the destination, the manual control button can be activated, and the vehicle can be selected and the route can be reset.
  • the railcar power supply system is composed of a substation, a transmission line, an internal power supply system of the railcar, and a power supply contact wire network 22 disposed along the track.
  • the internal power supply system of the railcar is composed of a power receiving contact 23 and a railcar distribution box.
  • the battery emergency power supply 21, the power platform power supply line, the car power supply line, and the weak current system are composed.
  • the substation is provided along the track 8.
  • Each substation is provided with an uninterruptible power supply by not less than two urban power supply lines, and the transmission line is arranged along the horizontal support truss 2
  • the internal power supply system of the railcar 1 is connected to the power source through the power receiving contact 23, and through the power distribution box 24 to the battery emergency power source 21, the railcar power platform 27, the railcar compartment 4, the weak current system A power source is provided, and the battery emergency power source 21 is mounted on the left device platform 16 of the railcar power platform 27.
  • the stop station system is composed of a hardening site, a docking station track, a passenger platform, a passenger platform, a rail car maintenance platform, and a docking station control center.
  • the hardening site of the docking station is provided by an open space, a basement, and a large space disposed on both sides of the track route.
  • the interior space of the building is completed.
  • the docking station track is composed of a right turn track 28 and one or more left straight track 29, and the right turn track 28 is turned by the main track 8 and the height is gradually lowered to the bottom of the rail car 1. Slightly higher than the stop station ground, the right turn track 28 turns around the outside of the site to form an outwardly protruding arc.
  • the left straight track 29 of the stop is distributed.
  • the inner side of the arc is provided with a parallel section at both ends and the right turn track 28 for the railcar 1 to be merged from the right turn track 28 to the left straight track 29 and the left straight track when exiting the station. 29 is tracked to the right turn track 28.
  • the left straight track 29 of the stop station serves as the passenger car for the upper and lower passengers.
  • the entrance is set as the lower passenger platform
  • the exit is set as the passenger platform
  • the arc top of the right turn track 28 of the stop is set as the rail car 1. Maintenance platform.
  • the docking station system can be divided into a manned docking station and an unattended docking station, and can also be divided into an open docking station and an indoor docking station.
  • Vehicle reservation In order to realize the reasonable deployment of the vehicle, the user can register the vehicle one day or several hours in advance by using the mobile phone or computer to log in to the vehicle dispatching website according to the needs of the user.
  • the central control computer collects the user's reservation information, and after the overall calculation, arranges the vehicle waiting at the time and address of the user's appointment.
  • the central control computer can calculate the cost according to the length of the user's appointment time and arrange the priority ride. Increase the cost of the ride or impose a certain amount of penalties for the failure to use the vehicle or the contract at the agreed time.
  • Itinerary setting and payment The user rides the agreed rail car at the agreed place and time.
  • the passenger identity is recognized by brushing the mobile phone or IC card, and the computer door lock 6 is activated.
  • the target station setting can be taken at the computer door.
  • Lock 6 enters the digital code, text name or direct language input site name of the site.
  • the display shows the name and cost of the target site.
  • the railcar has two models: single ride and double ride. There is space in the car for storing luggage and belongings. After the passenger and baggage are boarded, the vehicle weight limiter will automatically weigh the weight. When it is greater than the rated weight, it will automatically alarm and the vehicle will not start. When the weight is within the normal range, the rail car 1 automatically closes the door, and the on-board computer automatically starts running.
  • the left front drive wheel 11 of the railcar power platform 27 is activated, the railcar runs forward along the left rail 29, and the turning program is started at the junction with the right turn rail 28. After the turning procedure is completed, the railcar 1 drives along the right turn rail 28 Exit the station.
  • the interior broadcast of the cabin will voice the destination, travel distance, travel time and precautions.
  • the railcar signal transmitting and receiving device 30 scans the signal when passing through the track signal device, and the onboard computer receives the signal and initiates the bounce program. Firstly, the left side drive wheel 11 of the railcar power platform 27 is activated, the right equipment platform lifting device 18 of the railcar power platform 27 is activated, the right equipment platform 17 is up, and the left driving wheel 11 and the driven wheel 13 are in contact with the left straight track. 29 and driving the rail car 1 forward, the right driving wheel 12 and the driven wheel 14 stop running, the right equipment platform 17 continues to lift off the right turning track 28, the rail car 1 is driven by the left driving wheel 11, and goes straight along the left side Track 29 goes straight ahead.
  • the left-hand drive wheel 11 drives the railcar to run on the left-hand straight track 29.
  • the running speed of the railcar can be set at 40-80 km/h, and the running distance is controlled at 10-20 m.
  • the running pitch is automatically controlled by a distance measuring device mounted on the front of the rail car.
  • the acceleration and deceleration of the rail car can be controlled by increasing or decreasing the current or voltage of the drive wheel motor, and the brake device 15 is braked urgently during the emergency braking.
  • the rail car 1 adopts an acceleration or deceleration avoidance measure.
  • the track 8 is provided with a signal device at the bucking rail, and the rail car bounce signal receiving and transmitting device is disposed at an appropriate position of the straight track.
  • the bounce signal device When the vehicle passes the bounce signal device, the vehicle will be transmitted to the rail car bounce signal receiving and transmitting device.
  • the scan signal acquires the signal of the rail car bucking. The signal is determined by the onboard computer to determine whether to adopt acceleration or deceleration avoidance. Bounced vehicles.
  • the railcar signal transmitting and receiving device 30 scans the signal transmitted by the track signal identifying device disposed at the turn, and initiates a turning procedure when it is determined by the onboard computer to determine the set turning point.
  • the railcar power platform 27 activates the right equipment platform lifting device 18, the right equipment platform 17 descends, the right front driving wheel 12 and the right driven wheel 14 contact the right turning track 28, and the right front driving wheel 12 is activated, along the right turning track 28 Forward, as the height of the right turn track 28 is gradually raised relative to the left straight track 29, the railcar power platform 27 is lifted as a whole and drives the left equipment platform 16 away from the left straight track 29, and the left drive wheel 11 stops running.
  • the right turn track 28 is turned away from the left straight track 29, and the track car 1 turns away from the right straight track 29 along the right turn track 28.
  • the railcar 1 runs on one of the parallel rails A, B, C, and can be run from the rail B to the left to the other rail A or to the right to the rail C by the orbiting device.
  • the orbiting device is a right-turning track, and the right-turning track is formed in an arc shape, and can be connected to the right to turn the track B to the right-turning track of the track A, or to the right to bypass the right of the track C and the track C. Side turn tracks are connected.
  • the signal transmitting and receiving device 30 scans the track signal device, and the onboard computer calculates the rail car 1 orbital program when it determines to be the set orbit point.
  • the specific procedure is that the railcar 1 first starts the turning program, and the railcar 1 first leaves the rail B along the right turning rail 28, then travels to the left of the rail A by bypassing the rail B along the orbiting device, and then starts the bounce program. , merge into the target track A; or travel right along the track C to the right side of the track C along the orbiting device, and then start the bounce program into the target track C.
  • a track signal device is arranged at the inbound turn of the track 8, and when the rail car 1 passes, the signal transmitting and receiving device 30 scans the track signal device, and when the on-board computer calculates that it is a turning point or the passenger starts the manual control button, the turn is started. program. If the railcar 1 turns into the station and enters the station for maintenance, it can go directly to the maintenance area along the right turn track 28; if it is a passenger or waiter, the rail car is parallel to the left straight track 29 and the right turn track 28. The section starts the bounce program. The railcar 1 enters the left-hand straight track 29 of the stop station, stops at the lower passenger zone, and the car door automatically opens.
  • the car door automatically closes, and the rail car 1 automatically drives to the passenger area to stop, waiting for the passenger to board the bus.
  • the railcar 1 is started, and the turning program is started at the left straight track 29 parallel to the right turning track 28, and the rail car exits along the right turning track 28 and is merged with the main track.
  • the emergency response method is as follows:
  • the railcar 1 is designed with four independent drive wheel power systems.
  • the two drive wheels are located on the left side of the railcar and two on the right side of the railcar.
  • the left driving wheel 11 of the rail car 1 has a fault stop operation
  • the other driving wheel can still drive the rail car to drive at normal speed; when the two driving wheels fail at the same time, the rail car will automatically start the turning procedure, the right device platform 16 down and start, driving the rail car to turn away from the straight line.
  • the right drive wheel also has two independent drive wheel drives. When one drive wheel fails, the other drive wheel can drive the rail car to drive at normal speed, so that the rail car is off the main track, avoiding the faulty vehicle affecting the straight track car. .
  • the rail car 1 is equipped with the battery 21 as the emergency power supply.
  • the external power supply system of the rail car 1 stops supplying power, immediately start the rail car emergency power supply 21, and start the turning procedure to stop at the nearest station.
  • Rail vehicle running obstacle monitoring and driving distance control device the front end of the rail car is equipped with a laser scanning and ranging system. During the running process, the front running obstacle and the front rail car 1 can be automatically scanned. In case of obstacles or the front rail car 1 distance Less than the safe distance, the deceleration program will automatically start to maintain a safe distance from the front rail car 1, or slow down when encountering obstacles.
  • Track fault monitoring and emergency turn Set stress induction and deformation detection systems on rail 8, rail truss 2, truss support column 3, etc., and timely monitor the components such as rails, trusses and truss support columns due to external forces or their own reasons. Stress and deformation. When the stress and deformation are out of safe range, the central control computer will force the nearby rail car 1 to make an emergency turn and avoid the dangerous line.
  • Figure 1 shows a schematic diagram of the relationship between railcars, trusses and columns.
  • the running track of the rail car 1 is installed in the inner cavity of the horizontal supporting truss 2, and the vertical supporting column 3 supports the truss 2. Due to the light weight design of the railcar 1, the load of the truss 2 is very small, so the span design of the truss 2 can exceed 100 meters, the cross-sectional height of the truss beam is in the range of 1.5 meters to 2.5 meters, and the height of the column is 5 to 15 meters.
  • the column cross-sectional dimension is in the range of 0.8 to 1.5 meters.
  • Fig. 2 is a schematic view showing the arrangement of the railcar 1 on an urban road.
  • the arrangement of the railcar 1 on a common urban road can have three basic forms. 1.
  • the horizontal support truss 2 and the vertical support column 3 are arranged on the sidewalk, and the railcar 1 runs over the sidewalk; 2.
  • the horizontal support truss 2 and the vertical support column 3 are arranged on the green belt of the road, and the railcar 1 is in the green belt.
  • FIG. 3 is a schematic view of the appearance of the rail car.
  • the outer structure of the railcar 1 is composed of a rail car body 4, a front windshield 7, a door 5, two front and rear booms 20, and a computer door lock 6, wherein the railcar weight is set at a joint between the boom 20 and the railcar 4 Limit the device.
  • the boom 20 is connected to the top of the railcar 4 by a turntable. When the railcar 1 makes a small radius turn, the boom 20 and the railcar 4 can rotate at a certain angle.
  • Figure 4 shows the internal structure of the rail car.
  • the seat is provided with a seat 9, a folding work platform 10, and a car screen monitoring device, an air conditioner, an illumination, a network and a radio device, an emergency call device and a manual control button are arranged at an appropriate position of the car, and a rail car is arranged at the front of the car.
  • the signal receiving and transmitting device 30 and the rail car ranging device are provided with a baggage storage place at the rear of the car.
  • FIG. 5-7 are schematic views of a railcar power platform 27 of the railcar 1.
  • 5 is a plan view of the railcar power platform 27
  • FIG. 6 is a side elevational view of the railcar power platform 27
  • FIG. 7 is a front and rear elevational view of the railcar power platform 27.
  • the railcar power platform 27 is composed of two metal structure equipment platforms, which are a left equipment platform 16 and a right equipment platform 17, respectively.
  • a front drive wheel 11 and a driven wheel 13 are respectively mounted on the front and rear of the left equipment platform 16, and a brake member 15 is mounted on the front drive wheel 11.
  • a battery 21, a distribution box 24, a power receiving contact 23, an in-vehicle computer, and the like are also mounted on the left device platform 16.
  • the front drive wheel 12 and the rear driven wheel 14 are also mounted on the front and rear of the right equipment platform 17, and the brake member 15 is mounted on the front drive wheel 12.
  • the right side equipment platform 17 achieves an overall up and down reciprocating motion relative to the left side equipment platform 16 by the right side equipment platform lifting device 18.
  • the power platform 27 is connected by the boom 20 car 4.
  • the track 8 consists of a left straight track 29 and a right turn track 28.
  • Each of the side rails is composed of an inverted L-shaped rail steel plate 25 and a rail supporting member 26, and the rail supporting member 26 is firmly welded to the rail steel plate, and the other end is welded to the horizontal truss 2 firmly.
  • the carriage hanger 20 is provided with an eccentric moment support wheel 19 above the bottom of the inverted L-shaped rail 8, and the eccentric moment support wheel 19 is in contact with the side edges of the inverted L-shaped rails on the left and right sides to resist the eccentricity generated between the suspension rod 20 and the two side rails. Moment.
  • the left side equipment platform 16 of the railcar power platform 27 is above the left straight track 29 and the right side equipment platform 17 is above the right turn track 28.
  • the top level of the left straight track 29 is lower than the top level of the straight section of the right turn track 28.
  • the right turn track 28 turns in an arc, and the distance from the left straight track 29 gradually increases; the right turn track 28 turns to the stop site to enable the rail car to stop, right
  • the side turn track 28 is connected to the intersecting or parallel line right turn track 28 to enable turn, bounce or track change of the line.
  • 11-12 and 18 show a schematic diagram of the rail car 1 in parallel and straight.
  • the railcar signal transmitting and receiving device 30 scans the signal when passing through the track signal device, and the onboard computer receives the signal and initiates the bucking procedure.
  • the front left driving wheel 11 of the equipment platform 16 on the left side of the railcar power platform 27 is activated
  • the right equipment platform lifting device 18 is activated
  • the right equipment platform 17 is up
  • the front left driving wheel 11 and the rear left driven wheel 13 are in contact with the left side.
  • the straight track 29 drives the rail car forward, and the front right driving wheel 12 and the rear right driven wheel 14 stop running.
  • Figure 18, 1-1 sectional view, 2-2 sectional view, and 3-3 sectional view illustrate the process in which the railcar 1 is gradually approached from the right turn track 28 to the left straight track 29; 4-4 sectional view, left
  • the side equipment platform 16 contacts the left straight track 29 to activate the driving wheel 11 of the left equipment platform 16; the 5-5 section demonstrates that the right equipment platform lifting device 18 is activated, and the right equipment platform 17 is lifted off the right turning track 28, the track
  • the car 1 is driven by the left side equipment platform 16 to perform a straight motion on the left straight track 29.
  • Figures 13, 14, and 19 show a schematic view of a turning of a railcar.
  • the railcar signal transmitting and receiving device 30 scans the signal transmitted by the track signal recognizing device disposed at the turn, and starts the turning procedure when the on-board computer calculates the determined turning point.
  • the railcar power platform 27 activates the right equipment platform lifting device 18, the right equipment platform 17 descends, the front right driving wheel 12 and the rear right driving wheel 14 contact the right turning track 28, and the front right driving wheel 12 is activated and along the right side.
  • the railcar power platform 27 is lifted and drives the left equipment platform 16 out of the left track, and the front left drive wheel 11 stops operating.
  • the right turn track 28 arc turns gradually away from the left straight track 29, and the railcar 1 turns along the right turn track 28 away from the left straight track 29, and the turning process is completed.
  • a section 1-1 is shown in a straight state of the railcar power platform 27, with the left equipment platform 16 attached to the left straight rail 29, and the right equipment platform 17 raised by the right equipment platform lifting device 18, and There is a certain gap between the right turning rails 28;
  • the 2-2 section shows that the right equipment platform 17 is integrally lowered by the right equipment platform lifting device 18, and the right equipment platform 17 is in contact with the right turning rail 28,
  • the front right drive wheel 12 of the right equipment platform 17 is activated;
  • the 3-3 section is shown with the top surface elevation of the right turn track 28 relative to the top surface of the left straight track 29 as the railcar power platform 27 moves forward.
  • the elevation is gradually increased, and the right equipment platform 17 is lifted with the railcar power platform 27 as a whole, so that the left equipment platform 16 is lifted and disengaged from the left straight rail 29, and the front left driving wheel 11 stops working; 4-4 section, 5-5
  • the profile is shown as the right device platform 17 traveling on the right turn track 28, and the distance between the right turn track 28 arc turn and the left straight track 29 is gradually increased, thereby causing the rail car 1 to escape the straight track and enter the turning track. .
  • Figures 15, 16, and 20 show a schematic diagram of a rail car. More than two parallel lines will be set up on busy roads.
  • the railcar 1 runs on one of the parallel rails A, B, C, and can be run from the rail B to the left to the other rail A or to the right to the rail C by the orbiting device.
  • the orbiting device is a right-turning track, and the right-turning track is formed in an arc shape, and can be connected to the right to turn the track B to the right-turning track of the track A, or to the right to bypass the right of the track C and the track C. Side turn tracks are connected.
  • the signal transmitting and receiving device 30 scans the track signal device, and the onboard computer calculates the rail car changing program when it determines to be the set orbit point.
  • First start the rail car turn program the railcar 1 first deviates from the track B along the right turn track, then travels around the track B to the left along the orbital device to the right side of the track A and then starts the rail car's bounce program to merge into the target track. A, or follow the orbital device to the right to bypass the track C to the right side of the track C and then start the rail car's bounce program, merged into the target track C.
  • the orbital program is completed.
  • Figure 20, 1-1 section shows the straight-line state of the B-track before the railcar 1 is changed.
  • the left-side equipment platform 16 runs on the left-hand straight track 29; the 2-2 section and the 3-3 section are presented as tracks.
  • the vehicle starts the turning procedure, the right equipment platform 17 travels on the right turning track 28, and the orbiting device follows the track with the railcar bypassing the track C; the 4-4 section demonstrates the start of the bucking procedure, and the rail car is incorporated into the track C. straight.
  • Figure 17 shows a schematic view of the railcar entering the docking station.
  • a track signal device is provided at the inbound turn of the straight track.
  • the turning program is started after the vehicle computer confirms the turning point or the passenger controls the button after manually starting the button. If the railcar turns into the station and enters the station for maintenance, it can go directly to the maintenance area along the right turn track 28; if it is a passenger or waiter, the rail car is in the parallel section of the left straight track 29 and the right turn track 28.
  • the rail car enters the left-hand straight track, stops at the lower passenger zone, the car door automatically opens, the car door automatically closes after the passenger gets off the car, and the rail car automatically drives to the passenger area to stop, waiting for the passenger to get on the bus.
  • the rail car starts, and the turning program is started at the left straight track 29 and the right turning track 28, and the trolley exits along the right turning track 28 and is merged with the main track.

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  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
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  • Structural Engineering (AREA)
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Abstract

一种个人悬挂式双轨道双动力自动控制轻型轨道交通系统，包括轨道系统、轨道车动力系统、轨道车交通网控制系统、轨道车车厢系统、轨道车供电系统、轨道车停靠站系统。轨道系统有左侧直行和右侧转弯两个并列但顶面标高不同的轨道线路（28、29），在两个轨道上方分别设置左侧直行轨道驱动装置和右侧转弯轨道驱动装置两套动力系统。利用升降装置改变转弯轨道驱动装置与转弯轨道的相对距离，同时在直行轨道与转弯轨道相对标高的变化作用下，实现轨道车在左侧直行轨道和右侧转弯轨道的切换。该系统配套使用中央计算机控制系统，实现自动化控制，轨道车自主运行。

Description

个人悬挂式双轨道双动力自动控制轻型轨道交通系统 技术领域
本发明涉及轨道式交通系统，具体属于一种个人悬挂式双轨道双动力自动控制轻型轨道交通系统，利用设置于空中的轻型轨道和悬挂于轨道上的电动轨道车，由计算机控制自动驾驶，进行人员和货物的点到点运输。
背景技术
目前普遍使用的轨道式交通工具主要有地面轨道交通系统、地下轨道交通系统和高架轻轨轨道交通系统。这些轨道式交通工具运量大、速度快、安全可靠。但普遍存在投资规模大、建设周期长、站点间距长、占用的城市空间资源大等弊端。受此限制，轨道式交通目前仅能作为城市之间和城市内部干线交通使用。美国人上世纪50年代提出了PRT概念，即小型车辆在专用轨道网或专用道路网上自动行驶的交通系统，提出了轻型轨道和个人轨道交通工具在城市支线交通中应用的概念。但无论是在美国专利4,016,818和PCT专利WO 03/047903中公布的悬挂式独轨车转向技术方案，还是我国胡应平教授“一种自主转向悬挂式独轨车”中国发明专利，专利号CN200510007655.2的个人轨道交通方案中都没有对个人轨道车的转向、并轨、变轨、站点停靠和系统控制提供一套快速、可靠、简洁、合理的解决方案。受此限制，PRT概念在近70年的时间里无论是在国外还是国内都没有得到实际应用。
发明内容
本发明的目的是提供一种个人悬挂式双轨道双动力自动控制轻型轨道交通系统，解决现有轨道交通工具仅能作为交通干线不能作为普遍支线交通工具的应用问题，可应用于城市内部主次干道以及小街巷交通、城市与乡村之间交通、城市与城市之间交通、大型场馆的建筑内部交通，以及大型厂矿、学校、机场、公园、景点等区域内的交通。
本发明采用的技术方案如下：
个人悬挂式双轨道双动力自动控制轻型轨道交通系统，包括有轨道系统、轨道车动力系统、轨道车交通网控制系统、轨道车车厢系统、轨道车供电系统、轨道车停靠站系统；
所述轨道系统由轨道支撑系统和轨道8组成，轨道支撑系统包括竖向支撑柱3、水平支撑桁架2，轨道车1沿轨道8运行，轨道8由左侧直行轨道29和右侧转弯轨道28组成，轨道8安装于水平支撑桁架2的内侧空腔内，左侧直行轨道29安装于空腔的左侧，是一条连续布置的干线轨道；右侧转弯轨道28安装于空腔的右侧，由直行段和转弯段组成，其直行段与左侧直行轨道29平行设置并留有间距，其直行段顶部标高高于左侧直行轨道29顶部标高，由直行段进入转弯段时顶部标高逐渐抬高，在转弯处与左侧直行轨道29的顶部高差可使轨道车1的左侧设备平台16脱离左侧直行轨道29，右侧转弯轨道28在最高点处弧线转弯，与左侧直行轨道29之间间距逐步增大，右侧转弯轨道28转向停靠站可以实现轨道车进站停靠，与相交或平行线路的右侧转弯轨道28连接可实现轨道车1的转弯、并轨或变轨；
所述轨道车动力系统包括车厢吊杆20、轨道车动力平台27、偏心矩支撑轮19，轨道车动力平台27由左侧设备平台16和右侧设备平台17组成，左侧设备平台16安装有前左驱动轮11、后左从动轮13，右侧设备平台17安装有前右驱动轮12、后右从动轮14和右侧设备平台升降装置18，车厢吊杆20下端安装有偏心矩支撑轮19，偏心矩支撑轮19辊面与轨道8底部侧面相接触；车厢吊杆20与轨道车车厢4顶部采用转盘活动连接，在轨道车1进行小半径转弯时，车厢吊杆20与轨道车车厢4之间产生转动，左侧设备平台16位于左侧直行轨道29上方，右侧设备平台17位于右侧转弯轨道28的上方，右侧设备平台17通过右侧设备平台升降装置18实现相对于左侧设备平台16整体上下往复运动；当轨道车1直行时，左侧设备平台16位于左侧直行轨道29的上方，前左驱动轮11和后左从动轮13带动轨道车1沿左侧直行轨道29向前直行，轨道车1需要转弯进站、并道、变道、发生故障需要紧急脱离左侧直行轨道29时，右侧设备平台17在右侧设备平台升降装置18的作用下整体下行与右侧转弯轨道28接触，同时启动前右驱动轮12为轨道车1提供动力，轨道车1沿右侧转弯轨道28的直行段运行到转弯段时，其顶部标高相对于左侧直行轨道29抬升，轨道车动力平台27随着右侧转弯轨道28标高 抬升而整体抬升，使左侧设备平台16与左侧直行轨道29脱离，轨道车1进入右侧转弯轨道28的转弯段，沿弧线转弯脱离左侧直行轨道29，实现轨道车1转弯，反之由转弯段并入直行段时，右侧转弯轨道28高度逐步下降，右侧转弯轨道28与左侧直行轨道29间距逐渐靠拢，到达右侧转弯轨道28的直行段时左侧设备平台16与左侧直行轨道29接触，启动左侧设备平台16的前左驱动轮11，关闭右侧设备平台17的前右驱动轮12，在右侧设备设备平台升降装置18作用下右侧设备平台17抬升高度并脱离右侧转弯轨道28，轨道车进入直行状态；
所述轨道车交通网控制系统由中央控制计算机系统、车载计算机控制系统、轨道信号标识装置、停靠站计算机控制系统组成，中央控制计算机系统由大型中央控制计算机及其辅助系统组成，中央控制计算机通过收集各轨道车1的预约和目的地信息、停靠站信息、轨道8和轨道车1的故障信息，经数据运算，对轨道车1的整体调度、运行线路设计、故障的应急处置实施自动控制，车载计算机控制系统由车载计算机、轨道车信号发射和接收装置30、车厢电脑门锁6和数据线组成，车载计算机储存有各种状态下轨道车1的控制程序，在获取使用者在车厢电脑门锁6上设置目标信息后，车载计算机上传目标信息至中央控制计算机，由中央控制计算机计算轨道车1的最佳运行线路并回传车载计算机，车载计算机通过计算处理信号发射和接收装置30收集的信号数据得出轨道车1的运行指令，车载计算机通过调节轨道车动力平台27的输入电流、电压和启闭制动件15来控制轨道车1的加速、减速和制动，通过启动右侧设备平台升降装置18实现轨道车转弯、并轨和变轨。
所述轨道车车厢系统包括有轨道车车厢4、座椅9、折叠工作台10、车门5，轨道车车厢4通过前后两个车厢吊杆20与轨道车动力平台27相连接，轨道车车厢4内安装有电脑门锁6、车厢视屏监控装置、空调、照明、轨道车重量限制装置、网络和无线电设备、紧急呼叫装置和手动控制按钮。
所述轨道车供电系统由轨道沿途设置的变电站、输电线路、轨道车内部供电系统、轨道内供电接触线网22组成，轨道车内部供电系统由受电触头23、轨道车配电箱24、蓄电池应急电源21、动力平台供电线路、车厢供电线路、弱电系统组成，轨道8沿途设置变电站，每个变电站由不少于两个城市供电线路提供不间断电源，输电线路沿水平支撑桁架2内部布置，向供电接触线网22提供电源，轨道车1的 内部供电系统通过受电触头23连接电源，通过配电箱24向蓄电池应急电源21、轨道车动力平台27、轨道车车厢4、弱电系统提供电源，蓄电池应急电源21安装于轨道车动力平台27的左侧设备平台16上。
所述前左驱动轮11、前右驱动轮12外侧分别设有制动件15，右侧设备升降装置18采用机械、电磁或液压方式作为驱动动力。
所述轨道8采用倒L形结构，轨道8由倒L形的轨道钢板25、轨道支撑构件26构成。
所述轨道车动力平台27通过前后两个车厢吊杆20连接轨道车车厢4，前后两个车厢吊杆20上分别安装有偏心矩支撑轮19，前后两个车厢吊杆20上安装的偏心矩支撑轮19的辊面分别与轨道8底部左、右侧面相接触，以抵抗车厢吊杆20与轨道8两侧之间产生的偏心矩。
轨道8在并轨处设置一个信号装置，在直行轨道的适当位置设置轨道车并轨信号接收和发射装置，当车辆经过并轨信号装置时会将车辆经过信号传输到轨道车并轨信号接收和发射装置，直行轨道车经过时扫描信号获取有轨道车并轨的信号，信号经车载计算机计算确定采取加速或是减速避让并轨车辆。
轨道车1在平行轨道A、B、C中的一条轨道B上运行，可通过变轨装置从轨道B向左运行到另一个轨道A上或向右运行到轨道C上，变轨装置是一条右侧转弯轨道，该右侧转弯轨道制作成弧线状，可向左绕过轨道B与轨道A的右侧转弯轨道相连，或向右绕过轨道C与轨道C的右侧转弯轨道相连。
所述停靠站系统由硬化场地、停靠站轨道、下客平台、上客平台、轨道车检修平台、停靠站控制中心组成，硬化场地由设置于轨道路线两侧的空地、地下室、大空间建筑的内部空间建成，停靠站轨道由一条右侧转弯轨道28和至少一条左侧直行轨道29组成，右侧转弯轨道28由轨道系统的轨道8转弯引出后高度逐步降低至轨道车1的底部，且略高于停靠站地面，右侧转弯轨道28在停靠站内沿场地的外侧转弯形成一个向外突出的圆弧，出站后高度逐步提升与轨道系统的轨道8并轨，停靠站的左侧直行轨道29分布于圆弧的内侧，左侧直行轨道29两端分别设有与右侧转弯轨道28相连接的平行段31，用于轨道车1在进站时由右侧转弯轨道28并轨到左侧直行轨道29和出站时由左侧直行轨道29变轨到右侧转弯轨道28，停靠站的左侧直行轨道29作为轨道车1上下客用，其入口处设置为下客平台，出 口处设置为上客平台，停靠站的右侧转弯轨道28的圆弧顶部设置为轨道车1的检修平台。
所述停靠站系统可分为有人值守停靠站和无人值守停靠站，也可分为露天停靠站和室内停靠站。
本发明的轨道系统有左侧直行和右侧转弯两个并列但顶面标高不同的轨道线路，在两个轨道上方分别设置左侧直行轨道驱动装置和右侧转弯轨道驱动装置两套动力系统。利用升降装置改变右侧转弯轨道驱动装置与转弯轨道的相对距离，同时在直行轨道与转弯轨道的相对标高变化的作用下，实现轨道车在左侧直行轨道和右侧转弯轨道的切换，从而以安全、简洁、快速的方式实现轨道车的转向、并轨、变轨和停靠站点。该系统配套使用中央计算机控制系统，实现自动化控制，轨道车自主运行，使PRT概念真正转化为能服务人们生活的应用技术。
附图说明
图1为轨道支撑系统示意图。
图2为轨道车在城市道路的布置示意图。
图3为轨道车外观示意图。
图4为轨道车内部结构示意图。
图5为轨道车动力系统主视图。
图6为轨道车动力系统俯视图。
图7为轨道车动力系统侧视图。
图8为轨道车动力系统在轨道运行主视图。
图9为轨道车动力系统在轨道运行俯视图。
图10为轨道车动力系统在轨道运行侧视图。
图11为轨道车并轨俯视图。
图12为轨道车并轨侧视图。
图13为轨道车转弯俯视图。
图14为轨道车转弯侧视图。
图15为轨道车变轨俯视图。
图16为轨道车变轨侧视图。
图17为轨道车停靠站示意图。
图18为图11的轨道车并轨时五个位置的剖面图。
图19为图13的轨道车转弯时五个位置的剖面图。
图20为图15的轨道车变轨时四个位置的剖面图。
具体实施方式
参见附图，个人悬挂式双轨道双动力自动控制轻型轨道交通系统，包括有轨道系统、轨道车动力系统、轨道车交通网控制系统、轨道车车厢系统、轨道车供电系统、轨道车停靠站系统。
所述轨道系统由轨道支撑系统和轨道8组成，轨道支撑系统包括竖向支撑柱3、水平支撑桁架2，轨道车1沿轨道8运行，轨道8由左侧直行轨道29和右侧转弯轨道28组成，轨道8安装于水平支撑桁架2的内侧空腔内，左侧直行轨道29安装于空腔的左侧，是一条连续布置的干线轨道；右侧转弯轨道28安装于空腔的右侧，由直行段和转弯段组成，其直行段与左侧直行轨道29平行设置并留有间距，其直行段顶部标高高于左侧直行轨道29顶部标高，由直行段进入转弯段时顶部标高逐渐抬高，在转弯处与左侧直行轨道29的顶部高差可使轨道车1的左侧设备平台16脱离左侧直行轨道29，右侧转弯轨道28在最高点处弧线转弯，与左侧直行轨道29之间间距逐步增大，右侧转弯轨道28转向停靠站可以实现轨道车进站停靠，与相交或平行线路的右侧转弯轨道28连接可实现轨道车1的转弯、并轨或变轨。
所述轨道8采用倒L形结构，轨道8由倒L形的轨道钢板25、轨道支撑构件26构成。
所述轨竖向支撑柱3和水平支撑桁架2的间距、高度、结构形式根据轨道系统设置区域的地形、建筑物等现有存在而设计确定。轨道车1在设计时采取下列措施严格控制轨道的载荷：1、对轨道车车厢4进行轻型化设计，控制轨道车车厢4和轨道车动力平台27的重量。2、通过轨道车吊杆20上的重量限制装置对轨道车1的载荷进行限制。3、轨道车1在轨道8上的运行距离通过安装于轨道车前部的测距装置实施自动控制，控制单位距离轨道8上的轨道车1的数量。通过以上措施，轨道水平支撑桁架2的荷载可有效控制在最低范围，支撑构件的结构尺寸 可做到最小。单个交通线轨道桁架2的跨度可以做到100米以上。轨道8、水平支撑桁架2以及轨道车1仅占据宽度不大于2米，高度不大于3米，距地5～15米的一条空中通道。因此水平支撑桁架2的布置可以灵活多变，可跨越城市道路、桥梁、小型建筑物、树木等各种障碍。城市内部交通轨道线可设置在交通干道的路中绿化带上空、路边慢车道的上空、路边绿化带的上空、高架桥的底部、公园绿地的上空、小区楼房之间。城市与乡村之间交通线可设置在既有公路的两侧，农田、树林或山丘的上空。城际之间交通线可设置在城际之间既有普通公路、高速公路的两侧，可利用既有隧道穿越山脉、高地。大型厂矿、学校、机场、公园、景点的内部交通线可将轨道布置在既有公路两侧或在区域内空地上方任意穿行。大型场馆建筑物内部可在建筑设计时专门设计轨道运行路线。
所述轨道车动力系统包括车厢吊杆20、轨道车动力平台27、偏心矩支撑轮19，轨道车动力平台27由左侧设备平台16和右侧设备平台17组成，左侧设备平台16安装有前左驱动轮11、后左从动轮13，右侧设备平台17安装有前右驱动轮12、后右从动轮14和右侧设备平台升降装置18，车厢吊杆20下端安装有偏心矩支撑轮19，偏心矩支撑轮19辊面与轨道8底部侧面相接触；车厢吊杆20与轨道车车厢4顶部采用转盘活动连接，在轨道车1进行小半径转弯时，车厢吊杆20与轨道车车厢4之间产生转动，左侧设备平台16位于左侧直行轨道29上方，右侧设备平台17位于右侧转弯轨道28的上方，右侧设备平台17通过右侧设备平台升降装置18实现相对于左侧设备平台16整体上下往复运动；当轨道车1直行时，左侧设备平台16位于左侧直行轨道29的上方，前左驱动轮11和后左从动轮13带动轨道车1沿左侧直行轨道29向前直行，轨道车1需要转弯进站、并道、变道、发生故障需要紧急脱离左侧直行轨道29时，右侧设备平台17在右侧设备平台升降装置18的作用下整体下行与右侧转弯轨道28接触，同时启动前右驱动轮12为轨道车1提供动力，轨道车1沿右侧转弯轨道28的直行段运行到转弯段时，其顶部标高相对于左侧直行轨道29抬升，轨道车动力平台27随着右侧转弯轨道28标高抬升而整体抬升，使左侧设备平台16与左侧直行轨道29脱离，轨道车1进入右侧转弯轨道28的转弯段，沿弧线转弯脱离左侧直行轨道29，实现轨道车1转弯，反之由转弯段并入直行段时，右侧转弯轨道28高度逐步下降，右侧转弯轨道28与左侧直行轨道29间距逐渐靠拢，到达右侧转弯轨道28的直行段时左侧设备平 台16与左侧直行轨道29接触，启动左侧设备平台16的前左驱动轮11，关闭右侧设备平台17的前右驱动轮12，在右侧设备设备平台升降装置18作用下右侧设备平台17抬升高度并脱离右侧转弯轨道28，轨道车进入直行状态。
所述前左驱动轮11、前右驱动轮12外侧分别设有制动件15，右侧设备平台升降装置18采用机械、电磁或液压方式作为驱动动力。
所述轨道车动力平台27通过前后两个车厢吊杆20连接轨道车车厢4，前后两个车厢吊杆20上分别安装有偏心矩支撑轮19，分别与轨道8底部左、右侧面相接触，以抵抗车厢吊杆20与轨道8两侧之间产生的偏心矩。采用车厢前后设置两个吊杆20方式可有效抵抗轨道车1制动产生的扭矩，增加乘坐舒适度；采用单吊杆方案时可以使轨道车动力和控制系统更加简洁可靠，但当轨道车加速、减速或制动时，车厢会有大幅摆动影响乘坐舒适度。吊杆20内部设置钢制弹簧避震装置或空气弹簧避震装置，轨道车加速、减速或制动时弹簧装置会吸收大部分动能，增加车厢在运行过程中的稳定性和舒适度。
所述轨道车交通网控制系统由中央控制计算机系统、车载计算机控制系统、轨道信号标识装置、停靠站计算机控制系统组成，中央控制计算机系统由大型中央控制计算机及其辅助系统组成，中央控制计算机通过收集各轨道车1的预约和目的地信息、停靠站信息、轨道8和轨道车1的故障信息，经数据运算，对轨道车1的整体调度、运行线路设计、故障的应急处置实施自动控制，车载计算机控制系统由车载计算机、轨道车信号发射和接收装置30、车厢电脑门锁6和数据线组成，车载计算机储存有各种状态下轨道车1的控制程序，在获取使用者在车厢电脑门锁6上设置目标信息后，车载计算机上传目标信息至中央控制计算机，由中央控制计算机计算轨道车1的最佳运行线路并回传车载计算机，车载计算机通过计算处理信号发射和接收装置30收集的信号数据得出轨道车1的运行指令，车载计算机通过调节轨道车动力平台27的输入电流、电压和启闭制动件15来控制轨道车1的加速、减速和制动，通过启动右侧设备平台升降装置18实现轨道车转弯、并轨和变轨；
所述停靠站控制系统由站点控制电脑、停靠站轨道监测系统、站点控制电脑与中央控制电脑连接并接收相关指令。各停靠站设置停靠站控制中心，负责控制停靠站轨道车的进站、乘客上下车、出站和维修管理。
所述轨道信号标识装置在轨道的转弯、并道、换轨或轨道车站点停靠处设置，轨道车通过扫描识别信号启动设定的运行程序。在轨道、桁架上设置变形和应力监测装置。所有控制和监测系统通过数据线或无线网络向中央控制计算机传输数据。
所述轨道车车厢系统包括有轨道车车厢4、座椅9、折叠工作台10、车门5，轨道车车厢4通过前后两个车厢吊杆20与轨道车动力平台27相连接，轨道车车厢4内安装有电脑门锁6、车厢视屏监控装置、空调、照明、轨道车重量限制装置、网络和无线电设备、紧急呼叫装置和手动控制按钮。轨道车车厢4由底板、钢框架结构、维护板、玻璃窗户、车厢座椅9和车门5组成，车厢高度1.2～1.5米，宽度1.0～1.5米，长度1.5～2米。轨道车有单人乘坐和双人乘坐两种型号，并设有一定空间存放随身携带物品。车门5的启闭由电脑门锁6控制。电脑门锁6是车厢外设的一个数据控制电脑，与车载计算机连接。它具有身份识别、目标设置、收费和车门5启闭等功能。乘客通过电脑门锁6完成身份识别、设定目的地和自动收费程序后，车门5自动开启，人员进入车厢4内落坐。在车厢4前方顶部设置监控系统，以记录车厢内部情况，监控系统画面与中央监控中心数据同步。轨道车设置空调系统为车厢4提供适宜的环境温度。在车厢内设置照明系统，照明亮度由乘客控制。在车厢吊杆20与车厢连接处设置车厢载荷的自动计量控制系统。车厢及其载荷总重量控制在一定范围内200～300kg，超出重量范围，系统自动报警并限制启动。重量限制装置可有效保障单个车厢的最大重量，可有效控制水平桁架的荷载范围，在确保系统安全性的前提下最大限度增加轨道8的运输能力。在轨道车1运行时为乘客提供无线网络服务和无线电服务，乘客可在车厢里办公及欣赏娱乐节目。轨道车交通系统采用全自动控制，乘客对轨道车1的运行速度、方向等不能控制，系统出现异常时，乘客可以通过紧急呼叫与总控中心联系，乘客启动紧急呼叫装置时，总控中心会展现该乘客所乘坐轨道车的所有信息，通过视屏电话与乘客交流，及时采取应对处置措施。当乘客临时改变目的地时可启动手动控制按钮，选择就近下车并重新设置运行路线。
所述轨道车供电系统由轨道沿途设置的变电站、输电线路、轨道车内部供电系统、轨道内供电接触线网22组成，轨道车内部供电系统由受电触头23、轨道车配电箱24、蓄电池应急电源21、动力平台供电线路、车厢供电线路、弱电系统组成，轨道8沿途设置变电站，每个变电站由不少于两个城市供电线路提供不间断电源， 输电线路沿水平支撑桁架2内部布置，向供电接触线网22提供电源，轨道车1的内部供电系统通过受电触头23连接电源，通过配电箱24向蓄电池应急电源21、轨道车动力平台27、轨道车车厢4、弱电系统提供电源，蓄电池应急电源21安装于轨道车动力平台27的左侧设备平台16上。
所述停靠站系统由硬化场地、停靠站轨道、下客平台、上客平台、轨道车检修平台、停靠站控制中心组成，停靠站硬化场地由设置于轨道路线两侧的空地、地下室、大空间建筑的内部空间建成，停靠站轨道由一条右侧转弯轨道28和一条或多条左侧直行轨道29组成，右侧转弯轨道28由主轨道8转弯引出后，高度逐步降低至轨道车1的底部略高于停靠站地面，右侧转弯轨道28在停靠站内沿场地的外侧转弯形成一个向外突出的圆弧，出站后高度逐步提升与主轨道8并轨，停靠站左侧直行轨道29分布在圆弧的内侧，其两端与右侧转弯轨道28设置一段平行段，用于轨道车1在进站时由右侧转弯轨道28并轨到左侧直行轨道29和出站时由左侧直行轨道29变轨到右侧转弯轨道28。停靠站的左侧直行轨道29作为轨道车1上下客用，其入口处设置为下客平台，出口处设置为上客平台，停靠站右侧转弯轨道28的圆弧顶部设置为轨道车1的检修平台。
所述停靠站系统可分为有人值守停靠站和无人值守停靠站，也可分为露天停靠站和室内停靠站。
本发明个人悬挂式双轨道双动力自动控制轻型轨道交通系统工作原理说明。
车辆预约：为实现车辆的合理调配，用户根据自己使用需求，通过手机、电脑登录车辆调度网站提前一天或几个小时预约车辆。中央控制计算机收集到用户的预约信息，经统筹计算后，在用户预约的时间和地址安排车辆等待。中央控制计算机可根据用户预约时间的长短阶梯计算费用，并安排优先乘车。对没有按照约定时间使用车辆或爽约的行为增加乘车费用或给予一定数额的处罚。
行程设定和付费：用户在约定的地点和时间乘坐约定的轨道车1，轨道车1到达时通过刷手机或IC卡识别乘客身份、启动电脑门锁6，目标站点设定可采取在电脑门锁6输入站点的数字编码、文字名称或直接语言输入站点名称，显示屏显示目标站点的名称和费用数额，经用户确认后完成扣费并打开门锁。
登车、启动运行：轨道车有单人乘坐和双人乘坐两种型号。车内有一定空间用于存放行李和随身物品。乘客及行李登车后，车载重量限制装置会自动称量重量， 当大于额定重量时会自动报警，车辆不能启动。重量在正常范围内时，轨道车1自动关上车门，车载计算机自动启动运行。轨道车动力平台27的左前驱动轮11启动，轨道车沿左侧轨道29向前运行，在与右侧转弯轨道28连接处启动转弯程序，转弯程序完成后轨道车1沿右侧转弯轨道28驶出停靠站。车厢内部广播会语音提示目的地、行驶距离、行驶时间和注意事项。
并轨：轨道车1沿右侧转弯轨道28行驶到左侧直行轨道29时，轨道车信号发射和接收装置30经过轨道信号装置时扫描信号，车载计算机收到信号后启动并轨程序。首先启动轨道车动力平台27左侧驱动轮11，启动轨道车动力平台27的右侧设备平台升降装置18，右侧设备平台17上行，左侧驱动轮11和从动轮13接触到左侧直行轨道29并驱动轨道车1前行，右侧驱动轮12和从动轮14停止运行，右侧设备平台17继续提升脱离右侧转弯轨道28，轨道车1由左侧驱动轮11驱动，沿左侧直行轨道29向前直行。
直行：轨道车1直行时由左侧驱动轮11驱动轨道车在左侧直行轨道29上运行，轨道车运行速度可设置在40～80公里/小时，运行间距控制在10-20米，轨道车运行间距通过安装于轨道车前部的测距装置实施自动控制。轨道车加速和减速可通过增减驱动轮电机电流或电压控制，紧急制动时启动制动件15紧急制动。
当直行车辆遇到有转弯轨道来车并轨时，轨道车1采取加速或减速避让措施。轨道8在并轨处设置一个信号装置，在直行轨道的适当位置设置轨道车并轨信号接收和发射装置。当车辆经过并轨信号装置时会将车辆经过信号传输到轨道车并轨信号接收和发射装置，直行轨道车经过时扫描信号获取有轨道车并轨的信号，信号经车载计算机计算确定采取加速或是减速避让并轨车辆。
转弯：轨道车信号发射和接收装置30扫描设置在转弯处的轨道信号识别装置发射的信号，经车载计算机计算确定为设定的转弯点时启动转弯程序。轨道车动力平台27启动右侧设备平台升降装置18，右侧设备平台17下行，右前驱动轮12和右从动轮14接触到右侧转弯轨道28，右前驱动轮12启动，沿右侧转弯轨道28前行，随着右侧转弯轨道28高度相对于左侧直行轨道29逐步抬升，轨道车动力平台27整体抬升并带动左侧设备平台16脱离左侧直行轨道29，左侧驱动轮11停止运行。右侧转弯轨道28弧线转弯逐步远离左侧直行轨道29，轨道车1沿右侧转弯轨道28转弯脱离左侧直行轨道29。
变轨：在繁忙路段会设置两条以上的平行线路。轨道车1在平行轨道A、B、C中的一条轨道B上运行，可通过变轨装置从轨道B向左运行到另一个轨道A上或向右运行到轨道C上。变轨装置是一条右侧转弯轨道，该右侧转弯轨道制作成弧线状，可向左绕过轨道B与轨道A的右侧转弯轨道相连，或向右绕过轨道C与轨道C的右侧转弯轨道相连。当轨道车1经过变轨处时，信号发射和接收装置30扫描轨道信号装置，车载计算机计算确定为设定的变轨点时启动轨道车1变轨程序。具体程序为，轨道车1首先启动转弯程序，轨道车1沿右侧转弯轨道28先脱离轨道B，再沿着变轨装置向左绕过轨道B行驶到轨道A的右侧，再启动并轨程序，并入目标轨道A；或者沿着变轨装置向右绕过轨道C行驶到轨道C的右侧，再启动并轨程序并入目标轨道C。
进站：在轨道8的进站转弯处设置轨道信号装置，轨道车1经过时信号发射和接收装置30扫描轨道信号装置，经车载计算机计算确认为转弯点时或乘客启动手动控制按钮后启动转弯程序。轨道车1转弯进站后若是进站维修，可沿右侧转弯轨道28直接前往维修保养区；若是进站下客或等客，轨道车在左侧直行轨道29与右侧转弯轨道28的平行段启动并轨程序，轨道车1进入停靠站左侧直行轨道29，在下客区停靠，车门自动打开，乘客下车后车门自动关闭，轨道车1自动行驶到上客区停靠，等待乘客上车。乘客上车后轨道车1启动，在左侧直行轨道29与右侧转弯轨道28平行处启动转弯程序，轨道车沿右侧转弯轨道28出站并与主轨道并轨。
故障应急处置方法如下：
1、轨道车1机械故障的应急转弯进站：轨道车1设计采用四套独立的驱动轮动力系统，两个驱动轮位于轨道车的左侧、两个位于轨道车的右侧。当轨道车1的左侧驱动轮11有一个故障停止运行，另一个驱动轮仍然可以驱动轨道车以正常速度行驶；当两个驱动轮同时故障，轨道车会自动启动转弯程序，右侧设备平台16下行并启动，驱动轨道车转弯脱离直行线路。右侧驱动轮也是有两套独立的驱动轮驱动，当一个驱动轮故障时，另一个驱动轮可以驱动轨道车以正常速度行驶，使轨道车脱离主轨道，避免故障车辆影响直行轨道车正常行驶。
2、供电故障启动应急电源转弯进站：轨道车1安装有蓄电池21作为应急电源，当轨道车1外部供电系统停止供电时，立即启动轨道车应急电源21，并启动 转弯程序就近进站停靠。
3、轨道车运行障碍监测和行车距离控制装置：轨道车前端设置有激光扫描和测距系统，在运行过程中可自动扫描前方运行障碍和前方轨道车1，如遇障碍或前方轨道车1距离小于安全距离，会自动启动减速程序与前方轨道车1保持安全距离，或遇到障碍减速停车。
4、轨道故障的监测和应急转弯：在轨道8、轨道桁架2、桁架支撑柱3等构件上设置应力感应和变形检测系统，及时监测轨道、桁架及桁架支撑柱等构件因外力或自身原因造成的应力和变形。当应力和变形超出安全范围时，中央控制计算机会强制指令附近轨道车1应急转弯，避开危险线路。
5、轨道车故障检查和维修：轨道车1发生故障后转弯进入最近的站点，停靠在轨道车维修区等待维修。
对照说明书附图中各附图具体说明如下：
图1表示为轨道车、桁架、柱的相互关系示意图。其中轨道车1的运行轨道安装在水平支撑桁架2的内部空腔内，竖向支撑柱3支撑着桁架2。由于对轨道车1采取轻型化设计，桁架2的荷载很小，所以桁架2的跨度设计可超过100米，桁架梁的截面高度在1.5米～2.5米范围，柱的高度在5～15米，柱截面尺寸在0.8～1.5米范围。
图2表示为轨道车1在城市道路的布置示意图。轨道车1在普通城市道路上的布置可有三种基本形式。一、水平支撑桁架2和竖向支撑柱3设置在人行道，轨道车1在人行道上空行驶；二、水平支撑桁架2和竖向支撑柱3设置在道路中央绿化带上，轨道车1在绿化带上空行驶；三、采取门式支撑，轨道车1在慢车道上空行驶。
图3-4表示为轨道车外观和内部结构示意图。其中图3为轨道车的外观示意图。轨道车1的外部结构由轨道车厢体4、前挡风玻璃7、车门5、前后两个吊杆20和电脑门锁6组成，其中在吊杆20与轨道车车厢4连接处设置轨道车重量限制装置。吊杆20与轨道车车厢4顶部利用转盘连接，在轨道车1进行小半径转弯时，吊杆20与轨道车车厢4之间能产生一定角度的转动。图4为轨道车的内部结构。内部设置有座椅9、折叠式工作平台10，在车厢的适当位置设置有车厢视屏监控装置、空调、照明、网络和无线电设备、紧急呼叫装置和手动控制按钮，车厢的前 部设置有轨道车信号接收和发射装置30和轨道车测距装置，在车厢的后部设置有行李存放处。
图5-7表示为轨道车1的一个轨道车动力平台27的示意图。其中图5为轨道车动力平台27的平面图，图6为轨道车动力平台27的侧立面图，图7为轨道车动力平台27的前后立面图。轨道车动力平台27由两个金属结构设备平台组成，分别为左侧设备平台16和右侧设备平台17。左侧设备平台16前后分别安装一个前驱动轮11和一个从动轮13，在前驱动轮11上安装制动件15。左侧设备平台16上还安装有蓄电池21、配电箱24、受电触头23、车载计算机等设备。右侧设备平台17前后也分别安装前驱动轮12和后从动轮14，在前驱动轮12上安装有制动件15。右侧设备平台17通过右侧设备平台升降装置18实现相对于左侧设备平台16的整体上下往复运动。动力平台27通过吊杆20车厢4连接。
图8-10表示为轨道车的轨道8、轨道车动力平台27与轨道8相互关系示意图。轨道8由左侧直行轨道29和右侧转弯轨道28组成。每侧轨道由倒L形的轨道钢板25和轨道支撑构件26组成，轨道支撑构件26与轨道钢板焊接牢固，另一端与水平桁架2焊接牢固。车厢吊杆20在倒L形轨道8底部上方设置偏心矩支撑轮19，偏心矩支撑轮19与左右两侧倒L形轨道侧边相接触，抵抗吊杆20与两侧轨道之间产生的偏心矩。轨道车动力平台27的左侧设备平台16在左侧直行轨道29上方，右侧设备平台17在右侧转弯轨道28的上方。左侧直行轨道29顶部标高低于右侧转弯轨道28的直行段顶部标高。右侧转弯轨道28由直行段进入转弯段时，其轨道顶部标高沿轨道车1运行方向逐步提高，与左侧直行轨道29的顶部标高差可使轨道车左侧动力平台16脱离左侧直行轨道29。在右侧转弯轨道28的最高点处，右侧转弯轨道28弧线转弯，与左侧直行轨道29之间距离逐步增大；右侧转弯轨道28转向停靠站点可以实现轨道车进站停靠，右侧转弯轨道28与相交或平行线路右侧转弯轨道28连接可实现线路的转弯、并轨或变轨。
图11-12、18表示轨道车1并轨和直行示意图。轨道车1沿右侧转弯轨道28行驶到左侧直行轨道29时，轨道车信号发射和接收装置30经过轨道信号装置时扫描信号，车载计算机收到信号后启动并轨程序。首先启动轨道车动力平台27左侧设备平台16的前左驱动轮11，启动右侧设备平台升降装置18，右侧设备平台17上行，前左驱动轮11和后左从动轮13接触到左侧直行轨道29并驱动轨道车 前行，前右驱动轮12和后右从动轮14停止运行，随着右侧设备平台17继续提升脱离右侧转弯轨道28，轨道车1由前左驱动轮11驱动，沿左侧直行轨道29向前直行。并轨程序完成。图18，1-1剖面图、2-2剖面图、3-3剖面图演示了轨道车1由右侧转弯轨道28向左侧直行轨道29逐步靠近的过程；4-4剖面图演示，左侧设备平台16接触到左侧直行轨道29启动左侧设备平台16的驱动轮11；5-5剖面演示右侧设备平台升降装置18启动，抬升右侧设备平台17脱离右侧转弯轨道28，轨道车1由左侧设备平台16驱动在左侧直行轨道29上做直行运动。
图13、14、19表示为轨道车转弯示意图。轨道车信号发射和接收装置30扫描设置在转弯处的轨道信号识别装置发射的信号，经车载计算机计算确定为设定的转弯点时启动转弯程序。轨道车动力平台27启动右侧设备平台升降装置18，右侧设备平台17下行，前右驱动轮12和后右从动轮14接触到右侧转弯轨道28，前右驱动轮12启动并沿右侧轨道前行，随着右侧转弯轨道28高度相对于左侧直行轨道29逐步抬升，轨道车动力平台27抬升并带动左侧设备平台16脱离左侧轨道，前左驱动轮11停止运行。右侧转弯轨道28弧线转弯逐步远离左侧直行轨道29，轨道车1沿右侧转弯轨道28转弯脱离左侧直行轨道29，转弯程序完成。图19，1-1剖面演示为轨道车动力平台27的直行状态，其左侧设备平台16附着与左侧直行轨道29上，其右侧设备平台17被右侧设备平台升降装置18抬升，与右侧转弯轨道28之间有一定的间隙；2-2剖面演示为右侧设备平台17在右侧设备平台升降装置18的作用下整体下降，右侧设备平台17与右侧转弯轨道28接触，启动右侧设备平台17的前右驱动轮12；3-3剖面演示为随着轨道车动力平台27的向前运动，右侧转弯轨道28的顶面标高相对于左侧直行轨道29的顶面标高逐步提升，右侧设备平台17带着轨道车动力平台27整体提升，使左侧设备平台16抬升并脱离左侧直行轨道29，前左驱动轮11停止工作；4-4剖面、5-5剖面演示为右侧设备平台17在右侧转弯轨道28上行驶，右侧转弯轨道28弧线转弯与左侧直行轨道29之间距离逐步加大，从而使轨道车1脱离直行轨道进入转弯轨道行驶。
图15、16、20表示为轨道车变轨示意图。在交通繁忙路段会设置两条以上的平行线路。轨道车1在平行轨道A、B、C中的一条轨道B上运行，可通过变轨装置从轨道B向左运行到另一个轨道A上或向右运行到轨道C上。变轨装置是一条右侧转弯轨道，该右侧转弯轨道制作成弧线状，可向左绕过轨道B与轨道A的右 侧转弯轨道相连，或向右绕过轨道C与轨道C的右侧转弯轨道相连。当轨道车1经过变轨处时，信号发射和接收装置30扫描轨道信号装置，车载计算机计算确定为设定的变轨点时启动轨道车变轨程序。先启动轨道车转弯程序，轨道车1沿右侧转弯轨道先脱离轨道B，再沿变轨装置向左绕过轨道B行驶到轨道A的右侧再启动轨道车的并轨程序，并入目标轨道A，或者沿着变轨装置向右绕过轨道C行驶到轨道C的右侧再启动轨道车的并轨程序，并入目标轨道C。变轨程序完成。图20，1-1剖面演示为轨道车1变轨前在B轨道的直行状态，此时左侧设备平台16在左侧直行轨道29上行驶；2-2剖面、3-3剖面演示为轨道车启动转弯程序，右侧设备平台17在右侧转弯轨道28上行驶，变轨装置沿弧线带着轨道车绕过轨道C；4-4剖面演示为启动并轨程序，轨道车并入轨道C直行。
图17表示为轨道车进入停靠站示意图。在直行轨道的进站转弯处设置轨道信号装置。轨道车信号发射和接收装置30阅读转弯信号后，经车载计算机确认为转弯点时或乘客启动就手动控制按钮后启动转弯程序。轨道车转弯进站后若是进站维修，可沿右侧转弯轨道28直接前往维修保养区；若是进站下客或等客，轨道车在左侧直行轨道29与右侧转弯轨道28的平行段启动并轨程序，轨道车进入左侧直行轨道，在下客区停靠，车门自动打开，乘客下车后车门自动关闭，轨道车自动行驶到上客区停靠，等待乘客上车。乘客上车后轨道车启动，在左侧直行轨道29与右侧转弯轨道28平行处启动转弯程序，小车沿右侧转弯轨道28出站并与主轨道并道。

Claims (9)

  1. 个人悬挂式双轨道双动力自动控制轻型轨道交通系统，包括有轨道系统、轨道车动力系统、轨道车交通网控制系统、轨道车车厢系统、轨道车供电系统、轨道车停靠站系统；其特征在于：
    所述轨道系统由轨道支撑系统和轨道(8)组成，轨道支撑系统包括竖向支撑柱(3)、水平支撑桁架(2)，轨道车(1)沿轨道(8)运行，轨道(8)由左侧直行轨道(29)和右侧转弯轨道(28)组成，轨道(8)安装于水平支撑桁架(2)的内侧空腔内，左侧直行轨道(29)安装于空腔的左侧，是一条连续布置的干线轨道；右侧转弯轨道(28)安装于空腔的右侧，由直行段和转弯段组成，其直行段与左侧直行轨道(29)平行设置并留有间距，其直行段顶部标高高于左侧直行轨道(29)顶部标高，由直行段进入转弯段时顶部标高逐渐抬高，在转弯处与左侧直行轨道(29)的顶部高差可使轨道车(1)的左侧设备平台(16)脱离左侧直行轨道(29)，右侧转弯轨道(28)在最高点处弧线转弯，与左侧直行轨道(29)之间间距逐步增大，右侧转弯轨道(28)转向停靠站可以实现轨道车进站停靠，与相交或平行线路的右侧转弯轨道(28)连接可实现轨道车(1)的转弯、并轨或变轨；
    所述轨道车动力系统包括车厢吊杆(20)、轨道车动力平台(27)、偏心矩支撑轮(19)，轨道车动力平台(27)由左侧设备平台(16)和右侧设备平台(17)组成，左侧设备平台(16)安装有前左驱动轮(11)、后左从动轮(13)，右侧设备平台(17)安装有前右驱动轮(12)、后右从动轮(14)和右侧设备平台升降装置(18)，车厢吊杆(20)下端安装有偏心矩支撑轮(19)，偏心矩支撑轮(19)辊面与轨道(8)底部侧面相接触；车厢吊杆(20)与轨道车车厢(4)顶部采用转盘活动连接，在轨道车(1)进行小半径转弯时，车厢吊杆(20)与轨道车车厢(4)之间产生转动，左侧设备平台(16)位于左侧直行轨道(29)上方，右侧设备平台(17)位于右侧转弯轨道(28)的上方，右侧设备平台(17)通过右侧设备平台升降装置(18)实现相对于左侧设备平台(16)整体上下往复运动；当轨道车(1)直行时，左侧设备平台(16)位于左侧直行轨道(29)的上方，前左驱动轮(11)和后左从动轮(13)带动轨道车(1)沿左侧直行轨道(29)向前直行，轨道车(1)需要转弯进站、并道、变道、发生故障需要紧急脱离左侧直行轨道(29)时，右侧设备平台(17)在右侧设备平台升降装置(18)的作用下整 体下行与右侧转弯轨道(28)接触，同时启动前右驱动轮(12)为轨道车(1)提供动力，轨道车(1)沿右侧转弯轨道(28)的直行段运行到转弯段时，其顶部标高相对于左侧直行轨道(29)抬升，轨道车动力平台(27)随着右侧转弯轨道(28)标高抬升而整体抬升，使左侧设备平台(16)与左侧直行轨道(29)脱离，轨道车(1)进入右侧转弯轨道(28)的转弯段，沿弧线转弯脱离左侧直行轨道(29)，实现轨道车(1)转弯，反之由转弯段并入直行段时，右侧转弯轨道(28)高度逐步下降，右侧转弯轨道(28)与左侧直行轨道(29)间距逐渐靠拢，到达右侧转弯轨道(28)的直行段时左侧设备平台(16)与左侧直行轨道(29)接触，启动左侧设备平台(16)的前左驱动轮(11)，关闭右侧设备平台(17)的前右驱动轮(12)，在右侧设备设备平台升降装置(18)作用下右侧设备平台(17)抬升高度并脱离右侧转弯轨道(28)，轨道车进入直行状态；
    所述轨道车交通网控制系统由中央控制计算机系统、车载计算机控制系统、轨道信号标识装置、停靠站计算机控制系统组成，中央控制计算机系统由大型中央控制计算机及其辅助系统组成，中央控制计算机通过收集各轨道车(1)的预约和目的地信息、停靠站信息、轨道(8)和轨道车(1)的故障信息，经数据运算，对轨道车(1)的整体调度、运行线路设计、故障的应急处置实施自动控制，车载计算机控制系统由车载计算机、轨道车信号发射和接收装置(30)、车厢电脑门锁(6)和数据线组成，车载计算机储存有各种状态下轨道车(1)的控制程序，在获取使用者在车厢电脑门锁(6)上设置目标信息后，车载计算机上传目标信息至中央控制计算机，由中央控制计算机计算轨道车(1)的最佳运行线路并回传车载计算机，车载计算机通过计算处理信号发射和接收装置(30)收集的信号数据得出轨道车(1)的运行指令，车载计算机通过调节轨道车动力平台(27)的输入电流、电压和启闭制动件(15)来控制轨道车(1)的加速、减速和制动，通过启动右侧设备平台升降装置(18)实现轨道车转弯、并轨和变轨。
  2. 根据权利要求1所述的轨道交通系统，其特征在于，所述轨道车车厢系统包括有轨道车车厢(4)、座椅(9)、折叠工作台(10)、车门(5)，轨道车车厢(4)通过前后两个车厢吊杆(20)与轨道车动力平台(27)相连接，轨道车车厢(4)内安装有电脑门锁(6)、车厢视屏监控装置、空调、照明、轨道车重量限制装置、网络和无线电设备、紧急呼叫装置和手动控制按钮。
  3. 根据权利要求1所述的轨道交通系统，其特征在于，所述轨道车供电系统由轨道沿途设置的变电站、输电线路、轨道车内部供电系统、轨道内供电接触线网(22)组成，轨道车内部供电系统由受电触头(23)、轨道车配电箱(24)、蓄电池应急电源(21)、动力平台供电线路、车厢供电线路、弱电系统组成，轨道(8)沿途设置变电站，每个变电站由不少于两个城市供电线路提供不间断电源，输电线路沿水平支撑桁架(2)内部布置，向供电接触线网(22)提供电源，轨道车(1)的内部供电系统通过受电触头(23)连接电源，通过配电箱(24)向蓄电池应急电源(21)、轨道车动力平台(27)、轨道车车厢(4)、弱电系统提供电源，蓄电池应急电源(21)安装于轨道车动力平台(27)的左侧设备平台(16)上。
  4. 根据权利要求1所述的轨道交通系统，其特征在于，所述前左驱动轮(11)、前右驱动轮(12)外侧分别设有制动件(15)，右侧设备升降装置(18)采用机械、电磁或液压方式作为驱动动力。
  5. 根据权利要求1所述的轨道交通系统，其特征在于，所述轨道(8)采用倒L形结构，轨道(8)由倒L形的轨道钢板(25)、轨道支撑构件(26)构成。
  6. 根据权利要求1所述的轨道交通系统，其特征在于，所述轨道车动力平台(27)通过前后两个车厢吊杆(20)连接轨道车车厢(4)，前后两个车厢吊杆(20)上分别安装有偏心矩支撑轮(19)，前后两个车厢吊杆(20)上安装的偏心矩支撑轮(19)的辊面分别与轨道(8)底部左、右侧面相接触，以抵抗车厢吊杆(20)与轨道(8)两侧之间产生的偏心矩。
  7. 根据权利要求1所述的轨道交通系统，其特征在于，轨道(8)在并轨处设置一个信号装置，在直行轨道的适当位置设置轨道车并轨信号接收和发射装置，当车辆经过并轨信号装置时会将车辆经过信号传输到轨道车并轨信号接收和发射装置，直行轨道车经过时扫描信号获取有轨道车并轨的信号，信号经车载计算机计算确定采取加速或是减速避让并轨车辆。
  8. 根据权利要求1所述的轨道交通系统，其特征在于，轨道车(1)在平行轨道A、B、C中的一条轨道B上运行，可通过变轨装置从轨道B向左运行到另一个轨道A上或向右运行到轨道C上，变轨装置是一条右侧转弯轨道，该右侧转弯轨道制作成弧线状，可向左绕过轨道B与轨道A的右侧转弯轨道相连，或向右绕 过轨道C与轨道C的右侧转弯轨道相连。
  9. 根据权利要求1所述的轨道交通系统，其特征在于，所述停靠站系统由硬化场地、停靠站轨道、下客平台、上客平台、轨道车检修平台、停靠站控制中心组成，硬化场地由设置于轨道路线两侧的空地、地下室、大空间建筑的内部空间建成，停靠站轨道由一条右侧转弯轨道(28)和至少一条左侧直行轨道(29)组成，右侧转弯轨道(28)由轨道系统的轨道(8)转弯引出后高度逐步降低至轨道车(1)的底部，且略高于停靠站地面，右侧转弯轨道(28)在停靠站内沿场地的外侧转弯形成一个向外突出的圆弧，出站后高度逐步提升与轨道系统的轨道(8)并轨，停靠站的左侧直行轨道(29)分布于圆弧的内侧，左侧直行轨道(29)两端分别设有与右侧转弯轨道(28)相连接的平行段(31)，用于轨道车(1)在进站时由右侧转弯轨道(28)并轨到左侧直行轨道(29)和出站时由左侧直行轨道(29)变轨到右侧转弯轨道(28)，停靠站的左侧直行轨道(29)作为轨道车(1)上下客用，其入口处设置为下客平台，出口处设置为上客平台，停靠站的右侧转弯轨道(28)的圆弧顶部设置为轨道车(1)的检修平台。
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