WO2020042273A1 - 控制轨道车辆升降的方法及系统 - Google Patents
控制轨道车辆升降的方法及系统 Download PDFInfo
- Publication number
- WO2020042273A1 WO2020042273A1 PCT/CN2018/108720 CN2018108720W WO2020042273A1 WO 2020042273 A1 WO2020042273 A1 WO 2020042273A1 CN 2018108720 W CN2018108720 W CN 2018108720W WO 2020042273 A1 WO2020042273 A1 WO 2020042273A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- rail vehicle
- lifting
- controlling
- vehicle
- height
- Prior art date
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K13/00—Other auxiliaries or accessories for railways
- B61K13/04—Passenger-warning devices attached to vehicles; Safety devices for preventing accidents to passengers when entering or leaving vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D17/00—Construction details of vehicle bodies
- B61D17/04—Construction details of vehicle bodies with bodies of metal; with composite, e.g. metal and wood body structures
- B61D17/10—Floors
Definitions
- the present invention relates to the technical field of rail vehicles, and in particular, to a method and system for controlling the elevation of a rail vehicle.
- rail vehicles do not have an elevator control system. That is, when the height difference between the floor of the rail vehicle and the platform, the passenger often needs to carry luggage to and from the rail vehicle and the platform. In addition, people with disabilities often need help from others when riding on rail vehicles.
- the invention provides a method and a system for controlling the lifting of a rail vehicle, so as to solve the problem that a rail vehicle that has not been designed with a lifting control system in the prior art can not easily get on and off the vehicle.
- the present invention provides a method for controlling the ascent and descent of a rail vehicle, including: acquiring status information of the rail vehicle, wherein the status information includes: position information of the rail vehicle and The current speed of the rail vehicle; when the state information of the rail vehicle meets a preset condition, and when a preliminary instruction for regulating the lifting of the rail vehicle is obtained, the floor height of the rail vehicle is adjusted.
- the method further includes: obtaining a running speed of the rail vehicle; and disconnecting a power supply line of the lifting device of the rail vehicle when the running speed of the rail vehicle is greater than a first threshold.
- the preset condition is: determining that the rail vehicle enters the target platform according to the position information of the rail vehicle, and that the current speed of the rail vehicle is less than a second threshold.
- the preset condition is that the rail vehicle is in a braking state; and / or, the state information of the rail vehicle
- the preset condition is that the rail vehicle is in a non-traction state.
- adjusting the floor height of the rail vehicle according to the preparation instruction for controlling the elevation of the rail vehicle includes: after obtaining the preparation instruction for adjusting the elevation of the rail vehicle, detecting the height of the target platform and the floor height of the rail vehicle The difference between the two; adjusting the height of the floor of the rail vehicle according to the difference between the height of the target platform and the floor of the rail vehicle.
- a system for controlling the lifting of a rail vehicle is provided.
- the method for controlling the lifting of a rail vehicle according to any one of the above is applied to the system for controlling the lifting of a rail vehicle.
- the system for controlling the lifting of a rail vehicle The processor includes a processor for acquiring the status information of the rail vehicle and a preliminary instruction for regulating the lifting of the rail vehicle, and sending a regulation instruction for regulating the lifting of the rail vehicle when the status information of the rail vehicle meets a preset condition; a vehicle lifting control device,
- the processor is connected to the processor and is configured to adjust the floor height of the rail vehicle based on the control instruction after receiving the control instruction sent by the processor.
- system further includes: a power supply contactor connected to the power supply line of the vehicle lift control device for controlling a disconnected state of the power supply line of the vehicle lift control device; a vehicle speed detection device for detecting The running speed of the rail vehicle, and when the running speed is greater than a first threshold, sending an instruction to the power contactor to disconnect a power supply line of the vehicle elevating control device.
- system further comprises: a sensor provided on the bogie of the rail vehicle and connected to the processor, for detecting a difference between the height of the target platform and the floor height of the rail vehicle Value, and sends the difference to the processor; wherein the processor generates the control instruction according to a difference between the height of the target platform and the floor height of the rail vehicle.
- system further includes an on-vehicle network control system for transmitting the state information of the rail vehicle and the preparatory instructions for regulating the elevation of the rail vehicle to the processor.
- the vehicle lifting control device includes: a lifting control motor connected to the processor, for receiving a control instruction sent by the processor, and adjusting the actual power of the lifting control motor based on the control instruction. .
- a rail vehicle including any one of the above-mentioned systems for controlling the elevation of a rail vehicle.
- the status information of the rail vehicle is acquired to determine whether the rail vehicle meets the lifting standard, and when the rail vehicle meets the lifting standard (preset condition) and a preliminary instruction is obtained, the rail vehicle is safe. Lifting. Furthermore, when a rail vehicle performs a lifting operation based on a preliminary instruction, an unexpected situation may occur due to non-compliance with the lifting standards (preset conditions).
- FIG. 1 shows a flowchart of a method for controlling the lifting of a rail vehicle provided by the present invention
- FIG. 2 shows a schematic diagram of an optional method for controlling the lifting of a rail vehicle provided by the present invention
- FIG. 3 shows a schematic diagram of a system for controlling the lifting of a rail vehicle provided by the present invention.
- FIG. 4 shows a schematic diagram of an optional system for controlling the lifting of a rail vehicle provided by the present invention.
- an embodiment of the present invention provides a method for controlling the lifting of a rail vehicle, including:
- Step S101 acquiring status information of a rail vehicle, wherein the status information includes: position information of the rail vehicle and a current speed of the rail vehicle;
- Step S102 When the state information of the rail vehicle satisfies a preset condition, and when a preliminary instruction for regulating the lifting of the rail vehicle is obtained, the floor height of the rail vehicle is adjusted.
- the status information of the rail vehicle is obtained to determine whether the rail vehicle meets the lifting standards, and when the rail vehicle meets the lifting standards (preset conditions) and a preliminary instruction is obtained, The floor is safely lifted. Furthermore, when a rail vehicle performs a lifting operation based on a preliminary instruction, an unexpected situation may occur due to non-compliance with the lifting standards (preset conditions).
- a preset condition is satisfied, specifically: when it is determined that the rail vehicle enters a target platform according to the position information of the rail vehicle, and the current speed of the rail vehicle is less than a second threshold, the rail vehicle is determined The status information meets the preset conditions.
- the target platform is the platform to which the rail vehicle stops, and after determining that the rail vehicle enters the target platform, it is determined that the rail vehicle has one of the basic conditions for lifting operations.
- determining that the current speed of the rail vehicle is less than the second threshold value indicates that the speed of the rail vehicle has reached a relatively safe low speed value, that is, the rail vehicle meets another basic condition for lifting operation.
- the second threshold may be 5 steps.
- the position information of the rail vehicle can be obtained from information that can directly confirm the position of the rail vehicle, such as positioning information (GPS information) of the rail vehicle; the position information of the rail vehicle can also be obtained from information that can indirectly confirm the position of the rail vehicle, for example,
- GPS information positioning information
- the platform height detector of the rail vehicle detects the platform, it determines that the rail vehicle has entered a station, and then determines the specific situation of the station through other information (rail vehicle route schedule), and then further determines the specific position of the rail vehicle.
- the target platform of the rail vehicle can be determined by the station information of the train broadcasting system, or it can be determined by the route schedule of the rail vehicle, which is not specifically limited here; for example, sensors are installed on each platform, and receiving is installed on the rail vehicle.
- the platform sensor sends a sensing signal to the receiving device of the rail vehicle, indicating that the rail vehicle has entered the platform to determine the specific position of the rail vehicle.
- the rail vehicle in addition to judging whether the rail vehicle meets the lifting standard (preset conditions) based on the position information of the rail vehicle and the current speed of the rail vehicle, it can also determine whether the braking state / traction state of the rail vehicle meets the lifting standard (preliminary Set conditions). Specifically, when the state information of the rail vehicle further includes a braking state of the rail vehicle, the preset condition is that the rail vehicle is in a braking state, and the state information of the rail vehicle further includes the When the rail vehicle is in a traction state, the preset condition is that the rail vehicle is in a non-traction state.
- the state information of the rail vehicle includes: position information of the rail vehicle, speed information of the rail vehicle, braking state of the rail vehicle, and traction state of the rail vehicle.
- the above-mentioned status information may be arbitrarily combined with the above-mentioned information, which is not specifically described herein.
- judging whether the preset condition is satisfied based on the state information of the rail vehicle will also make corresponding adjustments based on the content specifically contained in the state information of the rail vehicle.
- the rail vehicle in addition to the state information of the rail vehicle meeting a preset condition, the rail vehicle also needs to obtain a preliminary instruction for regulating the lifting of the rail vehicle, and the rail vehicle can regulate the height of the floor of the rail vehicle.
- the preliminary instruction here may be any direct instruction or indirect instruction that indicates that the rail vehicle needs to be lifted and lowered.
- the indirect instruction may be a door opening instruction.
- the rail vehicle detects a door opening instruction, it first starts to adjust the floor height. Open the rail vehicle door after the height adjustment is completed; the direct instruction can be a clear lift instruction.
- the rail vehicle is provided with a trigger to adjust the floor height. When the switch is triggered, the rail vehicle starts to adjust the floor height.
- the preparation instruction can also be automatically generated by the status information of the rail vehicle.
- a sensor is installed on the platform, and a receiving device is installed on the rail vehicle.
- the platform sensor detects the rail vehicle, the platform sensor is directed to the rail vehicle.
- the receiving device sends an induction signal to indicate that the rail vehicle has entered the platform and controls the rail vehicle to adjust the floor height. That is, the sensing signal received by the receiving device of the rail vehicle can not only indicate the position information of the rail vehicle, but also, when the sensing signal is received by the rail vehicle, it can also trigger the rail vehicle to adjust the floor height.
- the rail vehicle when the sensing signal received by the receiving device of the rail vehicle indicates that the floor height of the rail vehicle is not consistent with the platform height, the rail vehicle is automatically triggered to adjust the floor height.
- the state information of the rail vehicle satisfies the requirements of a preset condition and the acquisition of a preliminary instruction for regulating the elevation of the rail vehicle in no particular order. That is, the rail vehicle may obtain a preliminary instruction to regulate the elevation of the rail vehicle after the status information meets the lifting standards (preset conditions), or may obtain a preliminary instruction to regulate the elevation of the rail vehicle, and then check whether the status information of the rail vehicle Meet lifting standards (preset conditions).
- the height of the internal floor of the rail vehicle can be directly adjusted; in another optional example, the overall height of the rail vehicle can be adjusted to further adjust The height of the floor of the rail vehicle is not specifically limited herein.
- the target platform is detected.
- the method for controlling the lifting of the rail vehicle further includes: obtaining a travel speed of the rail vehicle; and when the travel speed of the rail vehicle is greater than a first threshold, Disconnect the power supply line of the lifting device of the rail vehicle.
- the power supply line of the device prevents the lifting device from directly performing the lifting operation on the rail vehicle when the rail vehicle is traveling at high speed due to various errors, and achieves the technical effect of forming a double guarantee for the safe operation of the rail vehicle.
- the method for controlling the ascent and descent of the rail vehicle may specifically include: obtaining a traveling speed of the rail vehicle; and when the traveling speed of the rail vehicle is less than a first threshold, connecting a power supply line of the elevating device of the rail vehicle The first disconnection; obtaining the state information of the rail vehicle; when the state information of the rail vehicle meets a preset condition, the second disconnection of the power supply line connecting the lifting device of the rail vehicle; When the vehicle is ready for lifting, the height of the floor of the rail vehicle is adjusted.
- the power supply line of the lifting device of the rail vehicle has a first disconnection point and a second disconnection point. When the first disconnection point and the second disconnection point of the power supply line of the rail vehicle lifting device are connected, the lifting of the rail vehicle is performed.
- the power supply line of the device can normally supply power.
- the method for controlling the ascent and descent of a rail vehicle includes: the train elevating control system acquires a door opening instruction, a non-traction instruction, a train arrival information, and a train speed signal from a vehicle-mounted network system (network signal), and judges the acquired information and Whether the instruction satisfies a preset condition, and if the condition is satisfied, the lifting motor is controlled to perform a lifting operation.
- the method for controlling the lifting of a rail vehicle further includes: the vehicle-mounted system outputs a speed signal under certain conditions, so that the enabling relay of the hydraulic lifting control valve is connected to the lifting motor and the hydraulic lifting control pipeline.
- An embodiment of the present application further provides a system for controlling the lifting of a rail vehicle, and any of the foregoing methods for controlling the lifting of a rail vehicle is applied to the system for controlling the lifting of the rail vehicle.
- the system for controlling the lifting of the rail vehicle The processor 31 is used for obtaining the status information of the rail vehicle and the preliminary instructions for regulating the lifting of the rail vehicle, and sending a regulation instruction for regulating the lifting of the rail vehicle when the state information of the rail vehicle meets a preset condition; a vehicle lifting control device 32.
- the processor 31 is connected to the processor 31, and is configured to adjust the floor height of the rail vehicle based on the regulation instruction after receiving the regulation instruction sent by the processor 31.
- the state information of the rail vehicle and the preliminary instructions for regulating the lifting of the rail vehicle are obtained through the processor 31, and when the state information of the rail vehicle meets a preset condition, a regulation instruction for regulating the lifting of the rail vehicle is sent To instruct the vehicle lift control device 32 to adjust the floor height of the rail vehicle based on the control instruction. Furthermore, when a rail vehicle performs a lifting operation based on a preliminary instruction, an unexpected situation may occur due to non-compliance with lifting standards (pre-set conditions are not met).
- the system for controlling the lifting of the rail vehicle further includes a vehicle-mounted network control system, and the processor 31 obtains the above-mentioned status of the rail vehicle and the preparation for regulating the lifting of the rail vehicle through the vehicle-mounted network control system.
- system for controlling the lifting of a rail vehicle further includes a sensor for checking the difference between the height of the target platform and the height of the floor of the rail vehicle, so that the processor 31 can calculate the difference based on the difference.
- the value generates a regulating instruction for regulating the height of the rail vehicle floor.
- the senor is connected to the processor 31, and the connection method may be a vehicle hard-wired control circuit or a vehicle-mounted network control system.
- the above sensors may be disposed on the bogie of the rail vehicle to detect the height difference between the floor of the rail vehicle and the platform.
- the system for controlling the lifting of a rail vehicle includes four sensors provided on the bogie, wherein two sensors are provided on each side of the rail vehicle, and two sensors on each side are respectively disposed at the front of the vehicle.
- the parking space direction that is, the rail vehicle is provided with a sensor at each door orientation.
- the system for controlling the lifting of the rail vehicle includes the above-mentioned sensors for detecting the height difference between the floor and the platform, and may also include vertical vibration damping provided on the rail vehicle.
- the displacement sensor in the device can detect the lifting height of the train in real time, and then stop the lifting process when the lifting height is the same as the height difference between the floor and the platform.
- the above sensors may be devices such as an infrared camera, a video camera, a laser sensor, and an ultrasonic sensor.
- the lifting of the rail vehicle is performed based on a lifting control motor.
- the lifting control motor is connected to the processor 31, and is configured to receive a control instruction sent by the processor 31, and based on the The control instruction adjusts the actual power of the lifting control motor.
- the lifting of the rail vehicle may be performed based on a hydraulic control motor and a hydraulic control pipeline, or may be performed by a pneumatic control motor and a pneumatic control pipeline, which are not specifically limited herein.
- the method for controlling the lifting of the rail vehicle further includes a power contactor and a speed detection device, wherein the power contactor and the power supply line of the vehicle lift control device 32 Are connected to control the disconnected state of the power supply line of the vehicle lift control device 32; and the vehicle speed detection device is used to detect the traveling speed of the rail vehicle, and when the traveling speed is greater than a first threshold, The power contactor sends an instruction to disconnect the power supply line of the vehicle lift control device 32.
- a dual verification process is established, not only when the state information of the rail vehicle meets all the conditions for judging the lift, but also when the speed of the rail vehicle is greater than the first threshold, the rail vehicle is disconnected directly.
- the power supply line of the lifting device prevents the lifting device from directly performing the lifting operation on the rail vehicle when the rail vehicle is running at high speed due to various errors, and achieves the technical effect of forming a double guarantee for the safe operation of the rail vehicle.
- vehicle speed detection device that sends the instruction to disconnect the power supply line of the vehicle elevating control device 32 may also be output by other equipment with higher safety requirements.
- the system for controlling the lifting of the rail vehicle includes a train lifting control system.
- the train lift control system includes a processor for logic control.
- the train lift control system is also connected to multiple sensors to obtain the difference between the platform height and the train floor height.
- the train lift control system also Connect to the vehicle-mounted network to obtain the status information of the rail vehicle and the preparatory instructions for regulating the lifting of the rail vehicle, and pass the instruction information generated by the processor.
- the processor is connected to two power contactors, and the power contactors control the disconnection state of the power supply line of the lifting control motor.
- the processor controls the power supply contactor 1 to connect the power supply line of the lifting control motor, and when the running speed of the rail vehicle is lower than the first threshold , The processor controls the power supply contactor 2 to connect the power supply line of the lifting control motor.
- Another embodiment of the present application further provides a rail vehicle, which includes the system for controlling the lifting of a rail vehicle according to any one of the above. Based on this, the rail vehicle obtains the state information of the rail vehicle and a preliminary instruction for regulating the lifting of the rail vehicle through the processor, and sends a regulation instruction for regulating the lifting of the rail vehicle when the state information of the rail vehicle meets a preset condition to indicate The vehicle lift control device regulates the floor height of the rail vehicle based on the control instruction. Furthermore, when a rail vehicle performs a lifting operation based on a preliminary instruction, an unexpected situation may occur due to non-compliance with the lifting standards (preset conditions).
- orientation words such as “front, back, up, down, left, right", “horizontal, vertical, vertical, horizontal”, “top, bottom” and the like indicate the orientation Or the positional relationship is usually based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the present invention and simplifying the description. Unless otherwise stated, these orientation words do not indicate and imply the device or element referred to. It must have a specific orientation or be constructed and operated in a specific orientation, so it cannot be understood as a limitation on the scope of protection of the present invention; the orientation words “inside and outside” refer to the inside and outside relative to the outline of each component itself.
- spatially relative terms such as “above”, “above”, “above”, “above”, etc. can be used here to describe as shown in the figure Shows the spatial position relationship between one device or feature and other devices or features. It should be understood that spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation of the device as described in the figures. For example, if a device in the figure is turned over, devices described as “above” or “above” other devices or constructions will be positioned “below the other devices or constructions” or “below” Other devices or constructs. " Thus, the exemplary term “above” may include both orientations “above” and “below”. The device can also be positioned in other different ways (rotated 90 degrees or at other orientations), and the relative description of space used here is explained accordingly.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Wood Science & Technology (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
一种控制轨道车辆升降的方法及系统，控制轨道车辆升降的方法包括：获取轨道车辆的状态信息，状态信息包括：轨道车辆的位置信息和轨道车辆的当前速度；在轨道车辆的状态信息满足预设条件时，并获取到调控轨道车辆升降的预备指令时，调控轨道车辆的地板高度。通过上述技术方案，能够解决现有技术中尚未设计升降控制系统的轨道车辆导致乘车人员无法便捷地上下车辆的问题。
Description
本发明涉及轨道车辆技术领域，具体而言，涉及一种控制轨道车辆升降的方法及系统。
目前轨道车辆没有设计升降控制系统。也即，当轨道车辆的地板与站台形成高度差时，乘车人员往往需要搬动行李以往返于轨道车辆和站台之间。此外，当残疾人乘坐轨道车辆时也往往需要其他人的帮助。
针对现有技术中，尚未设计升降控制系统的轨道车辆导致乘车人员无法便捷的上下车辆的技术问题，目标尚未得到解决方案。
发明内容
本发明提供一种控制轨道车辆升降的方法及系统，以解决现有技术中尚未设计升降控制系统的轨道车辆导致乘车人员无法便捷的上下车辆的问题。
为了解决上述问题，根据本发明的一个方面，本发明提供了一种控制轨道车辆升降的方法，包括：获取轨道车辆的状态信息，其中，所述状态信息包括：所述轨道车辆的位置信息和所述轨道车辆的当前速度；在所述轨道车辆的状态信息满足预设条件时，并获取到调控轨道车辆升降的预备指令时，调控所述轨道车辆的地板高度。
进一步地，所述方法还包括：获取所述轨道车辆的行驶速度；在所述轨道车辆的行驶速度大于第一阈值时，断开所述轨道车辆的升降装置的供电线路。
进一步地，所述预设条件为：依据所述轨道车辆的位置信息确定所述轨道车辆进入目标站台，以及所述轨道车辆的当前速度小于第二阈值。
进一步地，在所述轨道车辆的状态信息还包括所述轨道车辆的制动状态时，所述预设条件为所述轨道车辆为制动状态；和/或，在所述轨道车辆的状态信息还包括所述轨道车辆的牵引状态时，所述预设条件为所述轨道车辆为非牵引状态。
进一步地，依据所述调控轨道车辆升降的预备指令调控所述轨道车辆的地板高度包括：在获取到所述调控轨道车辆升降的预备指令之后，检测目标站台的高度和所述轨道车辆的地板高度之间的差值；依据所述目标站台的高度和所述轨道车辆的地板高度之间的差值，调控所述轨道车辆的地板高度。
根据本发明的另一方面，提供了一种控制轨道车辆升降的系统，上述任一项所述的控制轨道车辆升降的方法应用于所述控制轨道车辆升降的系统，该控制轨道车辆升降的系统包括 处理器，用于获取轨道车辆的状态信息和调控轨道车辆升降的预备指令，并在所述轨道车辆的状态信息满足预设条件时，发送调控轨道车辆升降的调控指令；车辆升降控制装置，与所述处理器相连接，用于在接收到所述处理器发送的调控指令后，基于所述调控指令调控所述轨道车辆的地板高度。
进一步地，所述系统还包括：供电接触器，与所述车辆升降控制装置的供电线路相连接，用于控制所述车辆升降控制装置的供电线路的断连状态；车速检测装置，用于检测所述轨道车辆的行驶车速，并在所述行驶车速大于第一阈值时，向所述供电接触器发送断开所述车辆升降控制装置的供电线路的指令。
进一步地，所述系统还包括：传感器，设置于所述轨道车辆的转向架上，并与所述处理器相连接，用于检测目标站台的高度和所述轨道车辆的地板高度之间的差值，并将所述差值发送至所述处理器；其中，所述处理器依据所述目标站台的高度和所述轨道车辆的地板高度之间的差值生成所述调控指令。
进一步地，所述系统还包括车载网络控制系统，用于向所述处理器传输轨道车辆的状态信息和调控轨道车辆升降的预备指令。
进一步地，所述车辆升降控制装置包括：升降控制电机，与所述处理器相连接，用于接收所述处理器发送的调控指令，并基于所述调控指令调节所述升降控制电机的实际功率。
根据本发明的又一方面，提供了一种轨道车辆，包括上述任一项的控制轨道车辆升降的系统。
应用本发明的技术方案，通过获取轨道车辆的状态信息以判断轨道车辆是否满足进行升降的标准，并在轨道车辆满足升降标准(预设条件)且获取到预备指令时，以对轨道车辆进行安全升降。进而避免轨道车辆基于预备指令进行升降操作时，因不符合升降标准(预设条件)而导致意外情况发生。
构成本申请的一部分的说明书附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1示出了本发明提供的控制轨道车辆升降的方法的流程图；
图2示出了本发明提供的一种可选的控制轨道车辆升降的方法的示意图；
图3示出了本发明提供的控制轨道车辆升降的系统的示意图；以及
图4示出了本发明提供的一种可选的控制轨道车辆升降的系统的示意图。
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述。显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本发明及其应用或使用的任何限制。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
如图1所示，本发明的实施例提供了一种控制轨道车辆升降的方法，包括：
步骤S101：获取轨道车辆的状态信息，其中，所述状态信息包括：所述轨道车辆的位置信息和所述轨道车辆的当前速度；
步骤S102：在所述轨道车辆的状态信息满足预设条件时，并获取到调控轨道车辆升降的预备指令时，调控所述轨道车辆的地板高度。
应用本实施例的技术方案，通过获取轨道车辆的状态信息以判断轨道车辆是否满足进行升降的标准，并在轨道车辆满足升降标准(预设条件)且获取到预备指令时，以对轨道车辆的地板进行安全升降。进而避免轨道车辆基于预备指令进行升降操作时，因不符合升降标准(预设条件)而导致意外情况发生。
针对上述轨道车辆的状态信息满足预设条件，具体为：当依据所述轨道车辆的位置信息确定所述轨道车辆进入目标站台时，且轨道车辆的当前速度小于第二阈值时，则判定轨道车辆的状态信息满足预设条件。需要说明的是：目标站台为轨道车辆要停靠的站台，而确定轨道车辆进入目标站台后，则确定了轨道车辆具备了进行升降操作的基本条件之一。此外，确定轨道车辆的当前速度小于第二阈值，则表明轨道车辆的速度达到了一个较为安全的低速值，即轨道车辆满足了进行升降操作的另一个基本条件。
需要说明的是：一个可选的示例中，第二阈值在可以为5迈。
此外，轨道车辆的位置信息可以由能够直接确认轨道车辆位置的信息获取，例如轨道车辆的定位信息(GPS信息)；轨道车辆的位置信息也可以由能够间接确认轨道车辆位置的信息获取，例如，轨道车辆的站台高度检测仪检测到站台时，则确定轨道车辆进入某站点，再通过其他信息(轨道车辆路线时刻表)确定该站点的具体情况时，则可进一步确定轨道车辆的具体位置。此外，轨道车辆的目标站台可以由列车广播系统站点信息确定，亦可以由轨道车辆的路线时刻表确定，在此不做具体限定；例如，在各个站台上设有传感器，在轨道车辆上安装接收装置，当站台传感器感应到轨道车辆时，站台传感器则向轨道车辆的接收装置发送感应信号，表明轨道车辆已经进入站台，以确定轨道车辆的具体位置。
本实施例中，除了以轨道车辆的位置信息和轨道车辆的当前速度判断轨道车辆是否满足升降标准(预设条件)外，还可以判断轨道车辆的制动状态/牵引状态是否满足升降标准(预设条件)。具体为：在所述轨道车辆的状态信息还包括所述轨道车辆的制动状态时，所述预设条件为所述轨道车辆为制动状态，在所述轨道车辆的状态信息还包括所述轨道车辆的牵引状态时，所述预设条件为所述轨道车辆为非牵引状态。
综上所述：轨道车辆的状态信息包括：轨道车辆的位置信息、轨道车辆的速度信息、轨道车辆的制动状态、以及轨道车辆的牵引状态。而上述状态信息可以由上述信息任意组合而成，在此不做具体限定说明。相应的依据轨道车辆的状态信息判断是否满足预设条件也会基于轨道车辆的状态信息具体包含的内容进行相应的调整。
此外，在轨道车辆的状态信息满足预设条件之外，轨道车辆还需要获取到调控轨道车辆升降的预备指令，轨道车辆方可调控所述轨道车辆的地板高度。此处的预备指令可以为任意表示需要轨道车辆进行升降处理的直接指令或间接指令，其中，间接指令可以为开门指令，例如，当轨道车辆检测到开门指令时，先开始调控地板高度，在地板高度调控完毕之后再开启轨道车辆车门；直接指令可以为明确的升降指令，例如，轨道车辆设有调控地板高度的触发开关，当该开关被触发后，轨道车辆则开始调控地板高度。
进一步说明的是：该预备指令还可以由轨道车辆的状态信息自动触发生成，例如，站台上设有传感器，轨道车辆设有接收装置，当站台传感器感应到轨道车辆时，站台传感器则向轨道车辆的接收装置发送感应信号，表明轨道车辆已经进入站台，并控制轨道车辆调节地板高度。也即，轨道车辆的接收装置接收到的感应信号不仅仅可以表示轨道车辆的位置信息，此外，该感应信号被轨道车辆接收到时，也可以触发轨道车辆调控地板高度。
在一个可选的示例中，当轨道车辆的接收装置接收到的感应信号表示轨道车辆的地板高度与站台高度不一致时，自动触发轨道车辆调控地板高度。
需要说明的是：轨道车辆的状态信息满足预设条件与获取到调控轨道车辆升降的预备指令无先后顺序的要求。也即，轨道车辆可以在状态信息满足升降标准(预设条件)之后，再获取调控轨道车辆升降的预备指令，也可以先获取到调控轨道车辆升降的预备指令，进而检测轨道车辆的状态信息是否满足升降标准(预设条件)。
而针对轨道车辆的地板高度调整，在一个可选的示例中，可以为直接调整轨道车辆的内部地板的高度；在另一个可选的示例中，可以为通过调整轨道车辆的整体高度，进而调整轨道车辆的地板高度，在此不做具体限定。
而针对调控所述轨道车辆的地板高度的具体方式，可选的，在轨道车辆的状态信息满足升降标准(预设条件)，且获取到所述调控轨道车辆升降的预备指令之后，检测目标站台的高度和所述轨道车辆的地板高度之间的差值；依据所述目标站台的高度和所述轨道车辆的地板高度之间的差值，调控所述轨道车辆的地板高度。也即，在确定轨道车辆满足一切升降条件之后，进一步获取轨道车辆地板和目标站台的高度差值，并依据该差值调控轨道车辆的地板高度，以便令轨道车辆的地板高度与目标站台的高度相匹配，便于乘车人员上下车辆。
最后，为了进一步保障轨道车辆的升降安全，在另一个实施例中，控制轨道车辆升降的方法还包括：获取所述轨道车辆的行驶速度；在所述轨道车辆的行驶速度大于第一阈值时，断开所述轨道车辆的升降装置的供电线路。也即，建立双重验证流程，不仅仅在轨道车辆的状态信息满足判断一切升降条件时才对轨道车辆进行升降操作，并在轨道车辆的行驶速度大于第一阈值时，直接断开轨道车辆的升降装置的供电线路，防止因各种失误导致升降装置在 轨道车辆高速行驶时直接对轨道车辆执行升降操作的情况发生，达到了对轨道车辆的安全运行形成双重保障的技术效果。
基于该实施例，控制轨道车辆升降的方法可以具体包括：获取所述轨道车辆的行驶速度；在所述轨道车辆的行驶速度小于第一阈值时，连通所述轨道车辆的升降装置的供电线路的第一断开处；获取轨道车辆的状态信息；在所述轨道车辆的状态信息满足预设条件时，连通所述轨道车辆的升降装置的供电线路的第二断开处；在获取到调控轨道车辆升降的预备指令时，调控所述轨道车辆的地板高度。其中轨道车辆的升降装置的供电线路共有第一断开处和第二断开处，当轨道车辆的升降装置的供电线路的第一断开处和第二断开处连通时，轨道车辆的升降装置的供电线路方可正常供电。
需要说明的是，在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机系统中执行，并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。
下面结合另一种实施例对本发明做出说明。如图2所示，控制轨道车辆升降的方法包括：列车升降控制系统由车载网络系统(网络信号)获取开门指令、无牵引指令、列车到站信息以及列车速度信号，并判断上述获取的信息和指令是否满足预设条件，在条件满足的情况下，控制升降电机进行升降操作。此外，该控制轨道车辆升降的方法还包括：车载系统在一定条件下输出速度信号，以令液压升降控制阀的使能继电器连接升降电机和液压升降控制管路。
本申请实施例还提供了一种控制轨道车辆升降的系统，而上述任一项控制轨道车辆升降的方法应用于该控制轨道车辆升降的系统，如图3所示，该控制轨道车辆升降的系统包括处理器31，用于获取轨道车辆的状态信息和调控轨道车辆升降的预备指令，并在所述轨道车辆的状态信息满足预设条件时，发送调控轨道车辆升降的调控指令；车辆升降控制装置32，与所述处理器31相连接，用于在接收到所述处理器31发送的调控指令后，基于所述调控指令调控所述轨道车辆的地板高度。
应用本实施例的技术方案，通过处理器31获取轨道车辆的状态信息和调控轨道车辆升降的预备指令，并在所述轨道车辆的状态信息满足预设条件时，发送调控轨道车辆升降的调控指令，以指示车辆升降控制装置32基于所述调控指令调控所述轨道车辆的地板高度。进而避免轨道车辆基于预备指令进行升降操作时，因不符合升降标准(不满足预设条件)而导致意外情况发生。
在一个可选的示例中，该控制轨道车辆升降的系统还包括车载网络控制系统，而该处理器31则是通过该车载网络控制系统获取到上述轨道车辆的状态信息和调控轨道车辆升降的预备指令的。
在另一个可选的示例中，该控制轨道车辆升降的系统还包括传感器，该传感器是用于检查目标站台的高度和轨道车辆的地板高度之间的差值的，以便处理器31依据该差值生成调控轨道车辆地板高度的调控指令。
需要说明的是：传感器与处理器31相连接，而连接方式可以为车辆硬线控制电路，也可以为车载网络控制系统。
还需要说明的是：上述传感器可以为设置于轨道车辆的转向架上，以检测轨道车辆地板与站台的高度差。在一个优选的示例中，控制轨道车辆升降的系统包括四个设置于转向架上的传感器，其中，轨道车辆在两侧各设置两个传感器，且每侧的两个传感器分别设置于车头方向处和车位方向处，也即轨道车辆在每个车门方位处均设置一个传感器。
为了更加精准的确定轨道车辆地板和站台的高度，该控制轨道车辆升降的系统除了包括上述用于检测地板与站台间的高度差的传感器之外，还可以包括设置于轨道车辆的垂向减震器中的位移传感器，以便实时检测列车的升降高度，进而当升降高度与地板与站台间的高度差相同时，停止升降过程。上述传感器可以为红外摄像头、视频摄像头、激光传感器、超声波传感器等设备。
在本实施例中，轨道车辆的升降是基于升降控制电机进行的，具体的，该升降控制电机与所述处理器31相连接，用于接收所述处理器31发送的调控指令，并基于所述调控指令调节所述升降控制电机的实际功率。
作为一个可选的示例，轨道车辆的升降可以基于液压控制电机和液压控制管路进行，也可以由气压控制电机和气压控制管路进行，在此不做具体限定。
最后，为了进一步保障轨道车辆的升降安全，在另一个实施例中，控制轨道车辆升降的方法还包括供电接触器和车速检测装置，其中，供电接触器与所述车辆升降控制装置32的供电线路相连接，用于控制所述车辆升降控制装置32的供电线路的断连状态；而车速检测装置用于检测所述轨道车辆的行驶车速，并在所述行驶车速大于第一阈值时，向所述供电接触器发送断开所述车辆升降控制装置32的供电线路的指令。通过此种设计建立了双重验证流程，不仅仅在轨道车辆的状态信息满足判断一切升降条件时才对轨道车辆进行升降操作，并在轨道车辆的行驶速度大于第一阈值时，直接断开轨道车辆的升降装置的供电线路，防止因各种失误导致升降装置在轨道车辆高速行驶时直接对轨道车辆执行升降操作的情况发生，达到了对轨道车辆的安全运行形成双重保障的技术效果。
需要说明的是：上述发送断开所述车辆升降控制装置32的供电线路的指令的车速检测装置也可以由其他安全要求较高的设备输出。
下面结合另一种实施例对本发明做出说明。如图4所示，控制轨道车辆升降的系统包括列车升降控制系统。首先，该列车升降控制系统包含用于逻辑控制的处理器，其次，该列车升降控制系统还连接有多个传感器，以获取站台高度和列车地板高度的差值，最后，该列车升降控制系统还连接车载网络，以获取轨道车辆的状态信息和调控轨道车辆升降的预备指令，并将处理器生成的指令信息传递出去。
上述处理器连接两个供电接触器，该供电接触器控制升降控制电机的供电线路的断连状态。在轨道车辆的状态信息满足预设条件，且获取到调控轨道车辆升降的预备指令时，处理 器控制供电接触器1连接升降控制电机的供电线路，在轨道车辆的行驶速度低于第一阈值时，处理器控制供电接触器2连接升降控制电机的供电线路。
本申请的又一实施例还提供了一种轨道车辆，该轨道车辆包括上述任一项的控制轨道车辆升降的系统。基于此，该轨道车辆通过处理器获取轨道车辆的状态信息和调控轨道车辆升降的预备指令，并在所述轨道车辆的状态信息满足预设条件时，发送调控轨道车辆升降的调控指令，以指示车辆升降控制装置基于所述调控指令调控所述轨道车辆的地板高度。进而避免轨道车辆基于预备指令进行升降操作时，因不符合升降标准(预设条件)而导致意外情况发生。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。
需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本申请的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、操作、器件、组件和/或它们的组合。
除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本发明的范围。同时，应当明白，为了便于描述，附图中所示出的各个部分的尺寸并不是按照实际的比例关系绘制的。对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为授权说明书的一部分。在这里示出和讨论的所有示例中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它示例可以具有不同的值。应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
在本发明的描述中，需要理解的是，方位词如“前、后、上、下、左、右”、“横向、竖向、垂直、水平”和“顶、底”等所指示的方位或位置关系通常是基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，在未作相反说明的情况下，这些方位词并不指示和暗示所指的装置或元件必须具有特定的方位或者以特定的方位构造和操作，因此不能理解为对本发明保护范围的限制；方位词“内、外”是指相对于各部件本身的轮廓的内外。
为了便于描述，在这里可以使用空间相对术语，如“在……之上”、“在……上方”、“在……上表面”、“上面的”等，用来描述如在图中所示的一个器件或特征与其他器件或特征的空间位置关系。应当理解的是，空间相对术语旨在包含除了器件在图中所描述的方位之外的在使用或操作中的不同方位。例如，如果附图中的器件被倒置，则描述为“在其他器件或构造上方”或“在其他器件或构造之上”的器件之后将被定位为“在其他器件或构造下方”或“在其他器件或构造之下”。因而，示例性术语“在……上方”可以包括“在……上方”和“在…… 下方”两种方位。该器件也可以其他不同方式定位(旋转90度或处于其他方位)，并且对这里所使用的空间相对描述作出相应解释。
此外，需要说明的是，使用“第一”、“第二”等词语来限定零部件，仅仅是为了便于对相应零部件进行区别，如没有另行声明，上述词语并没有特殊含义，因此不能理解为对本发明保护范围的限制。
Claims (11)
- 一种控制轨道车辆升降的方法，其特征在于，包括：获取轨道车辆的状态信息，其中，所述状态信息包括：所述轨道车辆的位置信息和所述轨道车辆的当前速度；在所述轨道车辆的状态信息满足预设条件时，并获取到调控轨道车辆升降的预备指令时，调控所述轨道车辆的地板高度。
- 根据权利要求1所述的控制轨道车辆升降的方法，其特征在于，所述方法还包括：获取所述轨道车辆的行驶速度；在所述轨道车辆的行驶速度大于第一阈值时，断开所述轨道车辆的升降装置的供电线路。
- 根据权利要求1所述的控制轨道车辆升降的方法，其特征在于，所述预设条件为：依据所述轨道车辆的位置信息确定所述轨道车辆进入目标站台，以及所述轨道车辆的当前速度小于第二阈值。
- 根据权利要求1所述的控制轨道车辆升降的方法，其特征在于，在所述轨道车辆的状态信息还包括所述轨道车辆的制动状态时，所述预设条件为所述轨道车辆为制动状态；和/或，在所述轨道车辆的状态信息还包括所述轨道车辆的牵引状态时，所述预设条件为所述轨道车辆为非牵引状态。
- 根据权利要求1所述的控制轨道车辆升降的方法，其特征在于，依据所述调控轨道车辆升降的预备指令调控所述轨道车辆的地板高度包括：在获取到所述调控轨道车辆升降的预备指令之后，检测目标站台的高度和所述轨道车辆的地板高度之间的差值；依据所述目标站台的高度和所述轨道车辆的地板高度之间的差值，调控所述轨道车辆的地板高度。
- 一种控制轨道车辆升降的系统，其特征在于，上述权利要求1至5中任一项所述的控制轨道车辆升降的方法应用于所述控制轨道车辆升降的系统，包括：处理器，用于获取轨道车辆的状态信息和调控轨道车辆升降的预备指令，并在所述轨道车辆的状态信息满足预设条件时，发送调控轨道车辆升降的调控指令；车辆升降控制装置，与所述处理器相连接，用于在接收到所述处理器发送的调控指令后，基于所述调控指令调控所述轨道车辆的地板高度。
- 根据权利要求6所述的控制轨道车辆升降的系统，其特征在于，所述系统还包括：供电接触器，与所述车辆升降控制装置的供电线路相连接，用于控制所述车辆升降控制装置的供电线路的断连状态；车速检测装置，用于检测所述轨道车辆的行驶车速，并在所述行驶车速大于第一阈值时，向所述供电接触器发送断开所述车辆升降控制装置的供电线路的指令。
- 根据权利要求6所述的控制轨道车辆升降的系统，其特征在于，所述系统还包括：传感器，设置于所述轨道车辆的转向架上，并与所述处理器相连接，用于检测目标站台的高度和所述轨道车辆的地板高度之间的差值，并将所述差值发送至所述处理器；其中，所述处理器依据所述目标站台的高度和所述轨道车辆的地板高度之间的差值生成所述调控指令。
- 根据权利要求6所述的控制轨道车辆升降的系统，其特征在于，所述系统还包括车载网络控制系统，用于向所述处理器传输轨道车辆的状态信息和调控轨道车辆升降的预备指令。
- 根据权利要求6所述的控制轨道车辆升降的系统，其特征在于，所述车辆升降控制装置包括：升降控制电机，与所述处理器相连接，用于接收所述处理器发送的调控指令，并基于所述调控指令调节所述升降控制电机的实际功率。
- 一种轨道车辆，包括控制轨道车辆升降的系统，其特征在于，所述控制轨道车辆升降的系统为权利要求6至10中任一项所述的控制轨道车辆升降的系统。
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810997947.2 | 2018-08-29 | ||
| CN201810997947.2A CN109050578B (zh) | 2018-08-29 | 2018-08-29 | 控制轨道车辆升降的方法及系统 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2020042273A1 true WO2020042273A1 (zh) | 2020-03-05 |
Family
ID=64758575
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2018/108720 WO2020042273A1 (zh) | 2018-08-29 | 2018-09-29 | 控制轨道车辆升降的方法及系统 |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109050578B (zh) |
| WO (1) | WO2020042273A1 (zh) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2915425A1 (es) * | 2020-12-22 | 2022-06-22 | Patentes Talgo S L U | Sistema de elevación de cajas de vehículos ferroviarios |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6341563B1 (en) * | 1997-06-19 | 2002-01-29 | Sensotech Ltd. | Door opening control apparatus |
| CN101537843A (zh) * | 2008-03-20 | 2009-09-23 | 阿尔斯通运输股份有限公司 | 具有可移动平台和踏板的轨道车辆 |
| CN102639381A (zh) * | 2009-09-30 | 2012-08-15 | 庞巴迪运输有限公司 | 车辆内进行水平调整的弹簧阵列 |
| CN103534161A (zh) * | 2011-02-22 | 2014-01-22 | 韦柏科技控股公司 | 调平轨道车辆及相关系统和方法 |
| JP2015006822A (ja) * | 2013-06-25 | 2015-01-15 | 日本車輌製造株式会社 | 鉄道車両 |
| CN204978672U (zh) * | 2013-01-29 | 2016-01-20 | 西门子公司 | 轨道车辆 |
| US20170174231A1 (en) * | 2015-12-17 | 2017-06-22 | Technologies Lanka Inc. | Method of adjusting a height of a car floor plane of a railroad car and height adjustment system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3765692A (en) * | 1972-06-07 | 1973-10-16 | Ltv Aerospace Corp | Leveling system |
| FR2928601B1 (fr) * | 2008-03-11 | 2011-09-09 | Alstom Transport Sa | Voiture de vehicule ferroviaire facilitant l'acces aux voyageurs a mobilite reduite |
| AT508044A1 (de) * | 2009-04-07 | 2010-10-15 | Siemens Ag Oesterreich | Verfahren zur steuerung einer luftfederanordnung eines fahrzeuges |
| FR3003223B1 (fr) * | 2013-03-12 | 2015-04-10 | Alstom Transport Sa | Vehicule ferroviaire pourvu d'un dispositif d'acces |
| DE102014206184A1 (de) * | 2014-04-01 | 2015-10-15 | Siemens Aktiengesellschaft | Höhenverstellbare Trittplattform für ein Schienenfahrzeug |
-
2018
- 2018-08-29 CN CN201810997947.2A patent/CN109050578B/zh active Active
- 2018-09-29 WO PCT/CN2018/108720 patent/WO2020042273A1/zh active Application Filing
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6341563B1 (en) * | 1997-06-19 | 2002-01-29 | Sensotech Ltd. | Door opening control apparatus |
| CN101537843A (zh) * | 2008-03-20 | 2009-09-23 | 阿尔斯通运输股份有限公司 | 具有可移动平台和踏板的轨道车辆 |
| CN102639381A (zh) * | 2009-09-30 | 2012-08-15 | 庞巴迪运输有限公司 | 车辆内进行水平调整的弹簧阵列 |
| CN103534161A (zh) * | 2011-02-22 | 2014-01-22 | 韦柏科技控股公司 | 调平轨道车辆及相关系统和方法 |
| CN204978672U (zh) * | 2013-01-29 | 2016-01-20 | 西门子公司 | 轨道车辆 |
| JP2015006822A (ja) * | 2013-06-25 | 2015-01-15 | 日本車輌製造株式会社 | 鉄道車両 |
| US20170174231A1 (en) * | 2015-12-17 | 2017-06-22 | Technologies Lanka Inc. | Method of adjusting a height of a car floor plane of a railroad car and height adjustment system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2915425A1 (es) * | 2020-12-22 | 2022-06-22 | Patentes Talgo S L U | Sistema de elevación de cajas de vehículos ferroviarios |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109050578A (zh) | 2018-12-21 |
| CN109050578B (zh) | 2020-01-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107878513A (zh) | 一种无人驾驶列车失位救援方法 | |
| CN105549587B (zh) | 一种用于雨雪天的列车自动驾驶控制方法和系统 | |
| US7263415B2 (en) | Electronic drawbar | |
| US11142871B2 (en) | Vehicle management system | |
| US20200189631A1 (en) | Device, System, and Method for Monitoring a Distance between Rail Cars during Coupling | |
| US10955844B2 (en) | Server apparatus for attenuating vibration of the vehicle | |
| CN109240313A (zh) | 无人驾驶叉车的避障方法、装置及系统 | |
| CN108394318A (zh) | 车辆座椅控制系统、车辆座椅的控制方法及存储介质 | |
| US20170088396A1 (en) | Robust startup method for ropeless elevator | |
| US11794746B2 (en) | Method for ensuring that a vehicle can safely pass a traffic light | |
| CA3001893A1 (en) | Train control system and method | |
| CN108248579A (zh) | 车辆制动控制装置及方法 | |
| WO2020042273A1 (zh) | 控制轨道车辆升降的方法及系统 | |
| JP2007189769A (ja) | 交通システムの充電方法及び充電システム | |
| KR102280652B1 (ko) | 차량 정위치 정차감지 및 승강장 안전문 연동시스템 | |
| CN106004736A (zh) | 自动调节汽车电动座椅的方法及系统 | |
| CN102910193A (zh) | 基于应答器信息传输技术的轨道车运行控制系统及方法 | |
| CN110588726A (zh) | 一种基于lte-v2x的有轨电车信号优先控制系统与方法 | |
| WO2020103120A1 (zh) | 一种智能驾驶汽车自动进出站台的控制方法及系统 | |
| CN106672767A (zh) | 一种汽车电梯的汽车位置检测装置及检测方法 | |
| WO2021135238A1 (zh) | 一种救援车的牵引制动控制方法、系统及设备 | |
| WO2019061502A1 (zh) | 车辆悬挂调节方法、系统及可调悬挂的车辆 | |
| WO2020022221A1 (ja) | 車両制御システム、および車両制御装置 | |
| CN202863477U (zh) | 基于应答器信息传输技术的轨道车运行控制系统 | |
| WO2018121359A1 (zh) | 倒车控制方法 |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 18931339 Country of ref document: EP Kind code of ref document: A1 |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 18931339 Country of ref document: EP Kind code of ref document: A1 |