WO2022000439A1 - 一种多轨道变轨系统及其变轨方法、可变轨车辆 - Google Patents

一种多轨道变轨系统及其变轨方法、可变轨车辆 Download PDF

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Publication number
WO2022000439A1
WO2022000439A1 PCT/CN2020/099999 CN2020099999W WO2022000439A1 WO 2022000439 A1 WO2022000439 A1 WO 2022000439A1 CN 2020099999 W CN2020099999 W CN 2020099999W WO 2022000439 A1 WO2022000439 A1 WO 2022000439A1
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WIPO (PCT)
Prior art keywords
track
vehicle
variable
wheel set
changing
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PCT/CN2020/099999
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English (en)
French (fr)
Inventor
曹庆恒
Original Assignee
曹庆恒
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Publication date
Application filed by 曹庆恒 filed Critical 曹庆恒
Priority to CN202080001152.7A priority Critical patent/CN114144346A/zh
Priority to PCT/CN2020/099999 priority patent/WO2022000439A1/zh
Publication of WO2022000439A1 publication Critical patent/WO2022000439A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B15/00—Combinations of railway systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
    • B61F7/00—Rail vehicles equipped for use on tracks of different width

Definitions

  • the invention relates to the technical field of rail transit, in particular to a multi-track track change system, a track change method and a track change vehicle.
  • the track change mechanism of the track turnout usually has the problem that the action is not in place (that is, it does not move to the designated position) or the track change mechanism fails.
  • the vehicle when passing the fork, the vehicle is very easy to deviate, and it is very prone to derailment accidents.
  • the main purpose of the present invention is to provide a multi-track track change system, its track change method, and a track-changeable vehicle, which can improve track operation efficiency, save time, prevent derailment, and increase safety through rapid track change between different tracks. , In addition, it can also reduce the difficulty of construction and improve the economy.
  • the present invention provides a multi-track track change system, the system includes: a first track, a second track and a variable track vehicle, the variable track vehicle includes a vehicle body and a a first track wheel set for running on a first track and a second track wheel set for running on said second track;
  • variable track vehicle travels on the first track through the first track wheel set; when the track needs to be changed, the second track wheel set of the variable track vehicle is guided into the second track , the variable track vehicle travels on the first track and the second track at the same time; after that, the first track wheel set is separated from the first track, and the variable track vehicle travels on the second track track, complete the track change.
  • variable track vehicle in the system may further include a variable track track cabin, the variable track track cabin includes a cabin, and the cabin further includes a fixing device for It is fixed in the cabin of ordinary vehicles.
  • the first track or the second track further comprises a guide section, and the guide section is provided with a guide device for guiding the first track wheel set or the second track wheel set into the first track or the second track.
  • variable rail vehicle further comprises a rail wheel adjusting device, and the rail wheel adjusting device can adjust the position of the first rail wheel group or the second rail wheel group, which is convenient for Import tracks.
  • the first track and the second track are shared tracks.
  • system further comprises a hoisting device for changing the track of the track-changeable vehicle from one track to another track.
  • the multi-track track change system as described above, the system further includes a track moving device for moving the variable track vehicle parked on the moving track from one track through the movement of a section of the movable track and the docking with the new track. Change track to another track.
  • the present invention also provides a variable track vehicle, the variable track vehicle comprising: a vehicle body and two or more sets of track wheels, each track wheel set corresponding to one track of the above-mentioned multi-track track change system .
  • variable-rail vehicle further comprises a connecting and fixing device for connecting with other vehicles or cargo compartments and fixing it on the variable-rail vehicle.
  • variable track vehicle as described above, the variable track vehicle can establish a shared automatic driving mode with other variable track vehicles to realize the joint driving of the vehicle, and the joint driving vehicle performs automatic driving according to the shared automatic driving scheme or Assist or guide the driver to drive.
  • the present invention also provides a track change method of the above-mentioned multi-track track change system, the method comprising:
  • variable track vehicle travels on the first track through the first track wheel set
  • variable track vehicle travels on the first track and the second track simultaneously;
  • the first track wheel set is separated from the first track, and the variable track vehicle travels on the second track to complete track change.
  • the present invention provides a multi-track track change system, its track change method, and a variable track vehicle.
  • the multi-track track change system includes: a first track, a second track, and a variable track vehicle.
  • the variable track vehicle includes a vehicle body and a vehicle. For the first track wheel set running on the first track and the second track wheel set for running on the second track, during normal driving, the variable track vehicle runs on the first track through the first track wheel set; it is necessary to change the track When the second track wheel set of the variable track vehicle is guided into the second track, the variable track vehicle runs on the first track and the second track at the same time; after that, the first track wheel set is separated from the first track, and the variable track vehicle runs On the second track, complete the track change.
  • the track changing method and the track changing vehicle of the present invention Through the multi-track track changing system, the track changing method and the track changing vehicle of the present invention, rapid track change between different tracks is realized, the track operation efficiency is improved, time is saved, derailment is prevented, and safety is increased. It can reduce the difficulty of construction and improve the economy.
  • FIG. 1 is a schematic structural diagram of a multi-track track changing system according to a first embodiment of the present invention.
  • FIG. 2 is a schematic structural diagram of a variable track vehicle according to a second embodiment of the present invention.
  • FIG. 3 is a flow chart of a track changing method of a multi-track track changing system according to a third embodiment of the present invention.
  • FIG. 1 is a schematic structural diagram of a multi-track track changing system according to the first embodiment of the present invention.
  • the multi-track track change system of the present invention includes: a first track 10 , a second track 20 and a variable track vehicle 30 .
  • the variable track vehicle 30 includes a vehicle body and a first track for running on the first track 10 .
  • first rail 10 and the second rail 20 are rails suitable for the variable-track vehicle 30 to travel, which can be ground or underground rails, hanging rails or side rails, and the rails can be monorail or is double track.
  • variable-track vehicle 30 can be a large-capacity public transportation vehicle group, including a locomotive and a multi-section carriage; it can also be a personal rapid transportation vehicle, with a small cabin space, suitable for private transportation for single or several people.
  • the second rail wheel set for rail travel further includes a fixing device in the cabin, which is used for fixing it when a common vehicle drives into the cabin. Ordinary vehicles can either drive on the road or drive into the variable-track track cabin, which is fixed in the cabin by the fixing device, and the variable-track track cabin is driven on the track with it.
  • the variable track vehicle 30 includes a first track wheel set 31 and a second track wheel set 32.
  • the first track wheel set 31 is used for the variable track vehicle 30 to travel on the first track 10
  • the second track wheel set 32 is used for the variable track wheel set 32.
  • the rail vehicle 30 travels on the second rail 20 .
  • the first track wheel set 31 and the second track wheel set 32 can be installed at a position suitable for the variable track vehicle 30 to travel. For example, if the first track 10 is a ground track, the first track wheel set 31 is installed on the variable track vehicle. At the bottom of the vehicle 30 , if the second rail 20 is a hanging rail, the second rail wheel set 32 is installed on the top of the variable-rail vehicle 30 .
  • the variable track vehicle 30 may also include a track wheel adjusting device, and the track wheel adjusting device can adjust the position of the first track wheel set 31 or the second track wheel set 32 to facilitate the introduction of the track.
  • the first rail wheel set 31 and the second rail wheel set 32 are connected to the variable rail vehicle 30 through a telescopic link, and the rail wheel adjusting device controls the extension and retraction of the telescopic link.
  • part or all of the first rail wheel set 31 or the second rail wheel set 32 is received in the cabin of the variable track vehicle 30 to avoid hindering the variable track vehicle 30 from running or to avoid increasing resistance; when in use state , the first track wheel set 31 or the second track wheel set 32 protrudes outward from the vehicle body and contacts with the track.
  • the track changing process of the multi-track track changing system of the present invention may be as follows: first, the track-variable vehicle 30 normally travels on the first track 10 through the first track wheel set 31; The track wheel set 32 is guided into the second track 20, and the variable track vehicle 30 runs on the first track 10 and the second track 20 at the same time; after confirming that the second track wheel set 32 is guided into the second track 20 and runs normally, the first track The wheel set 31 is separated from the first track 10, and the variable track vehicle 30 travels on the second track 20 to complete the track change.
  • the multi-track track change system may also be a track change of the variable track vehicle 30 from the second track 20 to the first track 10 .
  • the track of the multi-track track changing system of the present invention may further include a guide section, a transition section and a protection section.
  • the guide section of the track is provided with guide means for guiding the track wheel set into the corresponding track.
  • the guiding device is first connected with the track wheel set to be guided, and then the track wheel set is introduced into the corresponding track.
  • the guiding process can be done while the variable-track vehicle 30 is stationary, at low speed, in normal driving, or in high-speed driving.
  • the guiding device may include connecting devices such as connecting cables/electromagnetic suction components to be connected to the rail wheel set, and the connecting device may have certain elasticity in angle and length to ensure the stability of the connection of the variable track vehicle 30 during the moving process.
  • the guiding device may also include a positioning device, and the positioning device is used to align the connecting device with the corresponding track wheel set of the variable-track vehicle 30 in the running process, which may be through video positioning, satellite positioning, radar positioning, electromagnetic positioning, preset
  • the location or other positioning means aligns the connecting device with the track wheel set so that the connecting device can connect with the track wheel set when the variable track vehicle 30 is traveling over.
  • the transition section of the track is equipped with an anti-derailment device to prevent the track wheel set from being separated from the corresponding track.
  • the guide device guides the track wheel set into the track.
  • a derailment prevention device is installed at the transition section of the track to prevent the track wheel set from derailing from the track.
  • the anti-derailment device can be installed with card plates on both sides of the track groove.
  • the card plate When the track wheel group is running normally on the track, the card plate does not contact and does not affect the running of the track wheel group; when the track wheel group is offset on the track, The offset track wheel set will come into contact with the clamping plate, which prevents the track wheel set from falling off the track by limiting the track wheel set from shifting on the track.
  • the multi-track track change system of the present invention determines that the track wheel set to be changed is guided into the corresponding track and can run normally, and the derailment prevention device prevents the track wheel set from derailing from the track.
  • the track wheel set of the original running track can be separated from the original running track, so that the variable track vehicle 30 can travel on the track after the track change.
  • the track after the track change is provided with a protection section to prevent the vehicle from derailing just after the track change is completed.
  • the protection section is provided with a protection device to prevent the variable track vehicle 30 from derailing.
  • the protection device can prevent major safety accidents caused by the derailment of the variable track vehicle 30 .
  • baffles can be installed on both sides of the track to prevent the variable-rail vehicle 30 from derailing and rolling over; for the aerial suspension rail, it can be in the protection section where the track has just been changed, and the height of the control track should not be too high , and install anti-fall pads below to prevent major safety accidents caused by the derailment of the variable-rail vehicle 30 .
  • the first track wheel set 31 and the second track wheel set 32 may include one or more running wheels for running on the corresponding tracks. In addition to including several traveling wheels, various other auxiliary wheels can also be included according to different tracks to help the variable track vehicle 30 to better travel on the track.
  • the first track wheel set 31 and the second track wheel set 32 may further include guide wheels for guiding the direction of the variable track vehicle 30; the first track wheel set 31 and the second track wheel set 32 may also include steering wheels , used to increase the stability of the variable track vehicle 30 when turning; the first track wheel set 31 and the second track wheel set 32 may also include a limiting device for limiting the first track wheel set 31 or the second track wheel set 32 At the position of the first rail 10 or the second rail 20, derailment is prevented.
  • the limiting device may be a limiting wheel installed on the first track wheel set 31 and the second track wheel set 32 .
  • the variable track vehicle 30 further includes a power system and a control system.
  • the power system is preferably an electric power system, and may also be a gasoline power system, a diesel power system, or a hybrid power system.
  • the control system can control the variable track vehicle 30 to move forward, stop, accelerate, decelerate, and turn, and can also control the use state of the first track wheel set 31 and the second track wheel set 32 .
  • the variable-track vehicle 30 may be controlled by the driver to drive, or the multi-track track changing system may issue a driving command to guide the driver to control the variable-track vehicle 30 to drive or drive automatically or assisted driving.
  • the multi-track track change system of the present invention may further include a cover that encloses the track-change vehicle 30 and the track.
  • the variable-rail vehicle 30 and the track are wrapped by the outer cover, and the variable-rail vehicle 30 travels in the cover, so that the influence of various weather conditions on the driving can be avoided. For example: prevent the impact of wind on vehicle driving and reduce the resistance of vehicle driving; prevent the impact of rain and snow weather on the friction force of vehicle driving and thus affect vehicle driving, while reducing the impact of rain and snow weather on the driver's line of sight, and so on.
  • by wrapping the variable track vehicle 30 and the track by the outer cover safety accidents caused by derailment of the vehicle can also be prevented or reduced, and personal safety and property losses can be reduced.
  • the multiple tracks included in the multi-track track changing system may be separate tracks or shared tracks.
  • the first rail 10 and the second rail 20 are both double rails, the first rail 10 is a wide rail, the second rail 20 is a narrow rail, and the second rail 20 is located between the two rails of the first rail 10 .
  • the multi-track track changing system of the present invention may also include 3 or more tracks, and the track-variable vehicle 30 includes 3 or more track wheel sets, and each track wheel set corresponds to one track.
  • the variable-track vehicle 30 may further include a rail wheel assembly and disassembly device, which is used for loading and unloading different rail wheel groups.
  • the variable track vehicle 30 only includes two track wheel sets. When the track needs to be changed to the third track, one of the track wheel sets, that is, the currently unused track wheel set, can be replaced by the track wheel set and disassembly device to be suitable for the third track. Track wheel set for rail travel.
  • the loading and unloading of different track wheel sets can be automatically switched and installed by the track wheel assembly and unloading device, or it can be manually switched and installed by the driver. In the case of similar tracks, only the running wheels of the track wheel set can be replaced to realize the adaptability of the current track wheel set to running on the third track.
  • the multi-track track changing system of the present invention may further include a hoisting device for changing the track of the track-changeable vehicle from one track to another track.
  • the lifting device can be a variety of connecting devices, such as hooks, locks, gantry cranes, electromagnetic suction cups, trays, etc. After connecting and fixing the variable track vehicle, it can be lifted from one track to another track device. .
  • the hoisting device is connected with the two vehicles to hoist or hold up the vehicle, so as to realize the track change of the vehicle.
  • variable-track vehicle only includes the first track wheel set, which is used to drive on the first track of the multi-track track change system, and the second track of the multi-track track change system is equipped with a hoisting device, when the track needs to be changed.
  • the lifting device lifts/hoists the variable track vehicle to travel on the second track.
  • the lifting device places the variable track vehicle on the new first track, and the variable track vehicle runs on the new first track with its own first track wheel set.
  • the lifting device can be installed on the track to be changed, or it can be installed on the variable-rail vehicle, used to connect to the corresponding device on the track to be changed, and then lift/hoist the variable-rail vehicle itself stand up.
  • the lifting device is a grab cable installed on a variable-rail vehicle.
  • the variable-rail vehicle tightens the grab cable and tightens itself.
  • the corresponding device tightly hung on the hanging rail completes the rail change as the corresponding device travels on the hanging rail.
  • the multi-track track changing system of the present invention may further include a track moving device for changing the track of the variable track vehicle parked on the moving track from one track to the new track by moving a piece of movable track and connecting with the new track another track.
  • the lifting device and the track moving device can not only be used for changing the track of the variable track vehicle from one track to another track, but also can be used for lifting/moving/turning/turning/parking/ Inbound/Outbound, etc.
  • FIG. 2 is a schematic structural diagram of a variable track vehicle according to a second embodiment of the present invention.
  • the variable track vehicle 30 of the present invention includes: a vehicle body and two or more sets of track wheels, each track wheel set corresponding to one track of the above-mentioned multi-track track change system.
  • variable track vehicle of the present invention is based on a multi-track track change system of the present invention, and the structural features are in one-to-one correspondence. Reference can be made to the foregoing description of the multi-track track change system, which will not be repeated here.
  • variable-rail vehicle 30 may further include a connection fixing device for connecting with other vehicles or cargo spaces and fixing it on the variable-rail vehicle.
  • the variable track vehicle 30 can be used as a rail trailer or crane to connect and fix other vehicles or cargo compartments such as containers, logistics boxes, cargo boxes, etc. on the variable track vehicle, so as to realize track running or track change of other vehicles or cargo compartments.
  • the connection and fixing device can be a hook, a lock, an electromagnetic suction cup or a vacuum suction cup, etc., which can connect and fix the variable track vehicle 30 with other vehicles or cargo compartments, and have certain elasticity in angle and length to ensure that during the movement process. The stability of the connection of the changing track vehicle 30 to other vehicles or cargo spaces.
  • the connecting and fixing device may be installed on the variable-rail vehicle 30 , or may be installed on other vehicles or cargo compartments, or may be installed on both the variable-rail vehicle 30 and other vehicles or cargo compartments.
  • the connection of the variable-track vehicle 30 with other vehicles or cargo compartments may be done manually, or may be automatically connected by a connection fixing device.
  • the variable track track compartment can also be connected to other vehicles or cargo compartments as track trailers or cranes.
  • variable-track vehicle may also be a variable-track track cabin that can accommodate ordinary vehicles
  • the variable-track track cabin includes a cabin body, a first track wheel set for running on the first track, and The second track wheel set for running on the second track, or the variable-track track cabin can also only have the first track wheel set, and the track change can be realized by the lifting device in the multi-track track change system.
  • It also includes a fixing device for fixing it when the ordinary vehicle is driven into the cabin.
  • the variable orbit track cabin can be a closed cabin or an open cabin, for example, the cabin is composed of brackets and bottom/top surfaces.
  • Ordinary vehicles can either drive on the road or drive into the variable-track track cabin, which is fixed in the cabin by the fixing device, and the variable-track track cabin is driven on the track with it.
  • variable-track vehicle 30 of the present invention can also be connected with other variable-track vehicles to form a vehicle group, establish a shared automatic driving mode to realize the joint driving of the vehicles, and the joint driving vehicle performs automatic driving according to the shared automatic driving scheme. Or assist or guide the driver to drive.
  • the automatic driving scheme is obtained through analysis and calculation, and the driver is guided to control the variable-track vehicle 30 to drive or the automatic driving vehicle or the assisted driving vehicle to drive.
  • the track road information includes: track number, track width, radius of curvature, slope, track material, entrances and exits, crossings, track road environment, track road conditions and other information.
  • Road condition information includes: traffic flow, vehicle position, vehicle speed, vehicle acceleration, vehicle target and other navigation-related information, obstacle/pedestrian information, traffic accident, traffic control and other information related to road traffic conditions, as well as dynamic and Weather-related information such as climate effects, icing, snow, wind speed, visibility, etc.
  • Vehicle information can include: variable track vehicle type, model, vehicle length/width/height/mass/braking distance/track wheel set condition/power condition/anti-skid performance/electricity/fuel quantity and other parameters, vehicle destination, ride number of people, etc.
  • Track road information, road condition information and vehicle information can be easily obtained based on the intelligent transportation system.
  • the intelligent transportation system can obtain road information, road condition information and vehicle information through road monitoring devices and vehicle-mounted monitoring devices, as well as other monitoring devices such as high-altitude monitoring devices.
  • Road monitoring devices may include cameras, radars, inductive sensors, infrared detection devices, road or road pressure/optical/ultrasonic sensors and other devices, and multiple monitoring devices may be set at appropriate locations on the road to obtain these information.
  • information can also be obtained through on-board monitoring devices of variable-track vehicles, such as on-board cameras, on-board radars, and speedometers.
  • Orbital road information and road condition information can also be obtained through high-altitude monitoring devices such as satellites/airplanes/UAVs/high-altitude balloons. Relevant information can also be obtained by monitoring the vehicle's IoT hardware/RF card/ECT equipment. Finally, relevant information about road conditions can also be obtained by monitoring the range around the road that may affect the road conditions, such as roadside pedestrians/animals/vehicles/buildings/stations.
  • the rail road traffic model can include: rail roads, vehicles, obstacles, pedestrians, coverage, coverage time, weather conditions, special circumstances and other related road traffic. the elements of.
  • the overall autonomous driving scheme of the vehicle group is obtained through calculation and analysis. Sent to the vehicles in the vehicle group to guide the driver or autonomous or assisted driving.
  • the acquired information comes from different sources, there may be a situation where the data structure/data standard/data format/data description of the acquired information are different.
  • Efficiency requires the transformation and/or integration of different sources and types of information.
  • the conversion and/or integration of information data can be achieved through video recognition technology, audio recognition technology, 3D/4D modeling technology, virtual reality technology, augmented reality technology, translation of different languages, etc.
  • FIG. 3 is a flow chart of a method for changing tracks of a multi-track track changing system according to a third embodiment of the present invention.
  • the track changing method of the multi-track track changing system of the present invention comprises:
  • variable track vehicle runs on the first track through the first track wheel set
  • variable track vehicle runs on the first track and the second track at the same time
  • the track change method of a multi-track track change system of the present invention is based on a multi-track track change system of the present invention, and the two structural features are in one-to-one correspondence. Refer to the description of the aforementioned multi-track track change system. This will not be repeated here.
  • the multi-track rail change system includes: a first rail, a second rail, and a variable rail vehicle, and the variable rail vehicle It includes a vehicle body, a first track wheel set for running on the first track, and a second track wheel set for running on the second track. During normal driving, the variable track vehicle runs on the first track wheel set through the first track wheel set.
  • the multi-track track changing system, its track changing method, and the track changing vehicle of the present invention can realize rapid track changing between different tracks, improve track operation efficiency, save time, prevent derailment, and increase safety. It can reduce the difficulty of construction and improve the economy.

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  • Mechanical Engineering (AREA)
  • Transportation (AREA)
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Abstract

一种多轨道变轨系统及其变轨方法、可变轨车辆，多轨道变轨系统包括：第一轨道（10）、第二轨道（20）以及可变轨车辆（30），可变轨车辆（30）包括车体和用于在第一轨道（10）行驶的第一轨道轮组（31）以及用于在第二轨道（20）行驶的第二轨道轮组（32），正常行驶时，可变轨车辆（30）通过第一轨道轮组（31）行驶在第一轨道（10）；需要变轨时，可变轨车辆（30）的第二轨道轮组（32）被导入第二轨道（20），可变轨车辆（30）同时行驶在第一轨道（10）和第二轨道（20）；之后，第一轨道轮组（31）脱离第一轨道（10），可变轨车辆（30）行驶在第二轨道（20），完成变轨。通过一种多轨道变轨系统及其变轨方法、可变轨车辆，实现不同轨道间的快速变轨，提高轨道运行效率，节约时间，同时防止脱轨，增加安全性，此外，还可以降低建设施工难度，提高经济性。

Description

一种多轨道变轨系统及其变轨方法、可变轨车辆 技术领域
本发明涉及轨道交通技术领域，特别是涉及一种多轨道变轨系统及其变轨方法、可变轨车辆。
背景技术
随着技术的不断发展，人们生活水平的不断提高，由于车辆保有量的不断提高以及城市道路的供应不足，使得交通拥堵的情况越来越严重。交通拥堵导致了人们出行的时间成本增加，同时增加了油耗及对环境的污染，采用轨道交通可以很好的解决拥堵的问题。
传统的轨道交通系统在改变运行轨道时，需要通过轨道道岔的机械运动来调整轨道的状态以达到切换机车运行轨道的目的，这种轨道交通系统不但轨道的施工时间长，而且该方案存在一个弊端，就是非固定道岔变轨需要较长时间来完成操作，基于安全的原则必然会预留足够的变轨安全时间，这必然拉大轨道上运行的前后车的安全距离，严重拉低了轨道交通的运力，降低运行平均速度，浪费乘客通行时间。当轨道上运行的是大运力的火车编组时，这个弊端体现不明显，但当轨道运用于PRT(Personal Rapid Transit个人快速运输系统)时，该弊端立刻明显放大。在PRT系统中，机车转向时需要道岔的机械运动以及结构的变化，前车无法紧跟后车，机车的状态行走不改变，从而使得机车在变轨时，前后车之间需要预留数很长的安全距离前车才可以安全的转向，大大的影响了整个轨道变轨系统运行效率。
在车辆的实际运行过程中，轨道道岔的变轨机构通常存在动作未到位(即没有运动到指定位置)或变轨机构失效的问题，一方面会导致车辆失去导向，使得车辆不能按给定的路线行走，另一方面，车辆在通过岔口时非常容易跑偏，且非常容易发生脱轨事故。
因而迫切需要一种新型的多轨道变轨系统及其变轨方法、可变轨车辆，能够提高变轨效率，节约时间，同时防止脱轨，增加安全性，此外，降低建设施工难度，提高经济性。
发明内容
本发明的主要目的是：提供一种多轨道变轨系统及其变轨方法、可变轨车辆，通过不同轨道间的快速变轨，提高轨道运行效率，节约时间，同时防止脱轨，增加安全性，此外，还可以降低建设施工难度，提高经济性。
为实现上述目的，本发明提供了一种多轨道变轨系统，所述系统包括：第一轨道、第二轨道以及可变轨车辆，所述可变轨车辆包括车体和用于在所述第一轨道行驶的第一轨道轮组以及用于在所述第二轨道行驶的第二轨道轮组；
正常行驶时，所述可变轨车辆通过所述第一轨道轮组行驶在所述第一轨道；需要变轨时，所述可变轨车辆的第二轨道轮组被导入所述第二轨道，所述可变轨车辆同时行驶在所述第一轨道和所述第二轨道；之后，所述第一轨道轮组脱离所述第一轨道，所述可变轨车辆行驶在所述第二轨道，完成变轨。
如上所述的多轨道变轨系统，所述系统中的可变轨车辆还可以包括可变轨轨道舱，所述可变轨轨道舱包括舱体，所述舱体内还包括固定装置，用于在普通车辆驶入舱体内对其固定。
如上所述的多轨道变轨系统，所述第一轨道或所述第二轨道还包括引导段，所述引导段安装有引导装置，用于将第一轨道轮组或第二轨道轮组导入所述第一轨道或所述第二轨道。
如上所述的多轨道变轨系统，所述可变轨车辆还包括轨道轮调节装置，所述轨道轮调节装置可调节所述第一轨道轮组或所述第二轨道轮组的位置，方便导入轨道。
如上所述的多轨道变轨系统，所述第一轨道和所述第二轨道为共用轨道。
如上所述的多轨道变轨系统，所述系统还包括托吊装置，用于将所述可变轨车辆从一条轨道变轨到另一条轨道。
如上所述的多轨道变轨系统，所述系统还包括轨道移动装置，用于通过一段可移动轨道的移动以及与新轨道对接，将停在移动轨道上的所述可变轨车辆从一条轨道变轨到另一条轨道。
本发明还提供一种可变轨车辆，所述可变轨车辆包括：车体和2组或以上轨道轮组，每个轨道轮组对应用于如上所述的多轨道变轨系统的一条轨道。
如上所述的一种可变轨车辆，所述可变轨车辆还包括连接固定装置，用于与其他车辆或货舱连接并将其固定在可变轨车辆上。
如上所述的一种可变轨车辆，所述可变轨车辆可与其他可变轨车辆建立共享自动驾驶模式来实现车辆的联合驾驶，联合行驶车辆按照所述共享自动驾驶方案进行自动驾驶或辅助驾驶或指引司机驾驶。
本发明还提供一种如上所述的多轨道变轨系统的变轨方法，所述方法包括：
所述可变轨车辆通过所述第一轨道轮组行驶在所述第一轨道；
所述可变轨车辆的第二轨道轮组被导入所述第二轨道；
所述可变轨车辆同时行驶在所述第一轨道和所述第二轨道；
所述第一轨道轮组脱离所述第一轨道，所述可变轨车辆行驶在所述第二轨道，完成变轨。
本发明的一种多轨道变轨系统及其变轨方法、可变轨车辆，多轨道变轨系统包括：第一轨道、第二轨道以及可变轨车辆，可变轨车辆包括车体和用于在第一轨道行驶的第一轨道轮组以及用于在第二轨道行驶的第二轨道轮组，正常行驶时，可变轨车辆通过第一轨道轮组行驶在第一轨道；需要变轨时，可变轨车辆的第二轨道轮组被导入第二轨道，可变轨车辆同时行驶在第一轨道和第二轨道；之后，第一轨道轮组脱离第一轨道，可变轨车辆行驶在第二轨道，完成变轨。通过本发明的一种多轨道变轨系统及其变轨方法、可变轨车辆，实现不同轨道间的快速变轨，提高轨道运行效率，节约时间，同时防止脱轨，增加安全性，此外，还可以降低建设施工难度，提高经济性。
附图说明
图1为本发明第一实施例多轨道变轨系统的结构示意图。
图2为本发明第二实施例可变轨车辆的结构示意图。
图3为本发明第三实施例多轨道变轨系统的变轨方法的流程图。
具体实施方式
为进一步阐述本发明达成预定目的所采取的技术手段及功效，以下结合附图及实施例，对本发明的具体实施方式，详细说明如下。
本发明第一实施例参阅图1。图1是本发明第一实施例多轨道变轨系统的结构示意图。如图所示，本发明的多轨道变轨系统包括：第一轨道10、第二轨道20以及可变轨车辆30，可变轨车辆30包括车体和用于在第一轨道10行驶的第一轨道轮组31以及用于在第二轨道20行驶的第二轨道轮组32。
在本实施例中，第一轨道10和第二轨道20为适合可变轨车辆30行驶的轨道，可以是地面或地下的轨道，也可以是吊轨或侧轨，轨道可以是单轨，也可以是双轨。
在本发明中，可变轨车辆30可以是大运力的公共交通车辆编组，包括车头和多节车箱；也可以是个人快速运输工具，舱体空间不大，适合单人或几个人乘坐的私人车辆；还可以是可容纳普通车辆的可变轨轨道舱，所述可变轨轨道舱包括舱体和用于在所述第一轨道行 驶的第一轨道轮组以及用于在所述第二轨道行驶的第二轨道轮组，所述舱体内还包括固定装置，用于在普通车辆驶入舱体内对其固定。普通车辆既可以在道路上行驶，也可驶入可变轨轨道舱，由固定装置固定在舱体内，可变轨轨道舱带着行驶在轨道上。
可变轨车辆30包括第一轨道轮组31和第二轨道轮组32，第一轨道轮组31用于可变轨车辆30在第一轨道10行驶，第二轨道轮组32用于可变轨车辆30在第二轨道20行驶。第一轨道轮组31和第二轨道轮组32可以安装在可变轨车辆30适合行驶的位置，例如：第一轨道10如果为地面轨道，则第一轨道轮组31安装在可变轨车辆30的底部，第二轨道20如果为吊轨，则第二轨道轮组32安装在可变轨车辆30的顶部。也可以是可变轨车辆30还包括轨道轮调节装置，轨道轮调节装置可调节第一轨道轮组31或第二轨道轮组32的位置，方便导入轨道。例如：第一轨道轮组31和第二轨道轮组32通过可伸缩连杆连接可变轨车辆30，轨道轮调节装置控制可伸缩连杆的伸出与收回。当处于非使用状态，第一轨道轮组31或第二轨道轮组32部分或全部收于可变轨车辆30的舱体内，避免阻碍可变轨车辆30行驶或避免增加阻力；当处于使用状态，第一轨道轮组31或第二轨道轮组32从车体内向外伸出，与轨道接触。
本发明的多轨道变轨系统的变轨过程可以是：首先，可变轨车辆30正常通过第一轨道轮组31行驶在第一轨道10；需要变轨时，可变轨车辆30的第二轨道轮组32被导入第二轨道20，可变轨车辆30同时行驶在第一轨道10和第二轨道20；确认第二轨道轮组32被导入第二轨道20且正常行驶后，第一轨道轮组31脱离第一轨道10， 可变轨车辆30行驶在第二轨道20，完成变轨。当然，多轨道变轨系统也可以是可变轨车辆30从第二轨道20变轨到第一轨道10。
为了更高效、更安全的完成变轨过程，本发明的多轨道变轨系统的轨道还可以包括引导段、过渡段和保护段。轨道的引导段安装有引导装置，用于将轨道轮组导入相应的轨道中。引导装置先与所要引导的轨道轮组连接，再将轨道轮组引入相应的轨道中。引导的过程可以在可变轨车辆30静止、低速、正常行驶或高速行驶中完成。引导装置可以包括连接索/电磁吸力部件等连接装置与轨道轮组连接，连接装置在角度和长度上又可以有一定的弹性，以保证可变轨车辆30在移动行驶的过程中连接的稳定性。引导装置还可以包括定位装置，定位装置用于将连接装置对准行驶过程中的可变轨车辆30相应的轨道轮组，可以是通过视频定位、卫星定位、雷达定位、电磁定位、预先设定位置或其他定位方式将连接装置对准轨道轮组，使连接装置能够在可变轨车辆30行驶过来时与轨道轮组连接。
轨道的过渡段安装有防脱轨装置，防止轨道轮组脱离相应的轨道。在之前的引导段，引导装置将轨道轮组导入轨道中，为了避免轨道轮组脱离轨道，在轨道的过渡段安装有防脱轨装置，用于防止轨道轮组脱离轨道。防脱轨装置可以是在轨道槽两侧安装有卡板，当轨道轮组在轨道上正常行驶时，卡板不接触也不影响轨道轮组行驶；当轨道轮组在轨道上发生偏移时，偏移的轨道轮组会接触到卡板，卡板通过限制轨道轮组在轨道上发生偏移从而避免轨道轮组脱离轨道。
经过过渡段后，本发明的多轨道变轨系统确定要变轨的轨道轮组被导入相应的轨道并且能够正常行驶，并且通过防脱轨装置防止 轨道轮组脱离轨道。此时，就可以将原行驶轨道的轨道轮组脱离原行驶轨道，使可变轨车辆30行驶在变轨后的轨道。脱离原行驶轨道后，变轨后的轨道设置保护段防止车辆在刚完成变轨后发生脱轨。保护段安装有保护装置，防止可变轨车辆30脱轨。在本发明中，保护装置可防止可变轨车辆30脱轨而造成的重大安全事故。例如：对于地面轨道，可以是在轨道两侧安装有挡板，防止可变轨车辆30脱轨侧翻；对于空中吊轨，可以是在刚完成变轨的保护段，控制轨道的高度不要太高，并在下方安装防摔垫，防止可变轨车辆30脱轨下落造成的重大安全事故。
在本发明中，第一轨道轮组31和第二轨道轮组32可以包括一个或多个行车轮，用于在相应的轨道上行驶。除了包括若干行车轮之外，还可以根据轨道的不同包括其他各种辅助轮来帮助可变轨车辆30更好的在轨道中行驶。例如：第一轨道轮组31和第二轨道轮组32还可以包括导向轮，用于可变轨车辆30的方向引导；第一轨道轮组31和第二轨道轮组32还可以包括转向轮，用于转弯时增加可变轨车辆30的稳定性；第一轨道轮组31和第二轨道轮组32还可以包括限位装置，用于限定第一轨道轮组31或第二轨道轮组32在第一轨道10或第二轨道20的位置，防止脱轨。在本实施例中，限位装置可以是安装在第一轨道轮组31和第二轨道轮组32的限位轮。
在本发明中，可变轨车辆30还包括动力系统和控制系统。动力系统优选电动力系统，也可以是汽油动力系统、柴油动力系统、或混合动力系统。控制系统可以控制可变轨车辆30前进、停止、加速、减速、转向，还可以控制第一轨道轮组31和第二轨道轮组32的使用状态。可以是由驾驶员自身控制可变轨车辆30行驶，也可以是多 轨道变轨系统发出行驶指令，指引司机控制可变轨车辆30行驶或自动驾驶或辅助驾驶行驶。
本发明的多轨道变轨系统还可以包括外罩，所述外罩将可变轨车辆30及轨道包裹起来。通过外罩将可变轨车辆30及轨道包裹起来，可变轨车辆30行驶在罩内，可以避免各种天气状况对行驶的影响。例如：防止风力对车辆行驶的影响并且降低车辆行驶的阻力；防止雨雪天气对车辆行驶的摩擦力的影响从而影响车辆行驶，同时降低雨雪天气对车辆驾驶员视线的影响，等等。同时，通过外罩将可变轨车辆30及轨道包裹起来，还可以防止或降低发生车辆脱轨所造成的安全事故，降低人身安全及财产损失。
在本发明中，多轨道变轨系统所包括的多条轨道如第一轨道10和第二轨道20，可以为单独的轨道，也可以是共用轨道。例如：第一轨道10和第二轨道20都为双轨，第一轨道10为宽轨，第二轨道20为窄轨，第二轨道20位于第一轨道10的两轨之间。通过共用轨道可以降低轨道建设成本，降低多轨道变轨系统占地面积。
本发明的多轨道变轨系统还可以是包括3条或以上轨道，可变轨车辆30包括3个或以上轨道轮组，每个轨道轮组对应用于一条轨道。也可以是可变轨车辆30还可以包括轨道轮组装卸装置，用于装卸不同的轨道轮组。例如：可变轨车辆30只包括两个轨道轮组，当需要变轨到第三条轨道时，可以通过轨道轮组装卸装置将其中一个轨道轮组即当前不用的更换为适合在第三条轨道行驶的轨道轮组。装卸不同的轨道轮组可以是轨道轮组装卸装置自动切换安装，也可以是由驾驶员人工来切换安装。也可以在轨道相似的情况下，只更 换轨道轮组的行车轮来实现当前轨道轮组对第三条轨道行驶的适应性。
本发明的多轨道变轨系统，还可以包括托吊装置，用于将所述可变轨车辆从一条轨道变轨到另一条轨道。托吊装置可以是各种连接设备，如挂钩、锁扣、龙门吊、电磁吸盘、托盘等，可以将可变轨车辆连接并固定后，将其从一条轨道托吊变轨到另一条轨道的装置。托吊装置连接与车俩连接后将车辆吊起或托起，以实现车辆的变轨。
也可以是可变轨车辆只包括第一轨道轮组，用于行驶在多轨道变轨系统的第一轨道，而多轨道变轨系统的第二轨道上装有托吊装置，当需要变轨时，托吊装置将可变轨车辆托起/吊起来行驶在第二轨道。直到再次变轨，托吊装置将可变轨车辆放在新的第一轨道，可变轨车辆凭自身的第一轨道轮组在新的第一轨道上行驶。托吊装置可以安装在要变轨的轨道上，也可以是安装在可变轨车辆上，用于连接在要变轨的轨道上的对应的装置，之后将可变轨车辆自身托起/吊起来。例如：托吊装置为安装在可变轨车辆上的抓索，变轨时，抓索抓住要变轨的吊轨上的对应的装置后，可变轨车辆收紧抓索，将自身紧紧挂在吊轨上的对应的装置，随着对应的装置在吊轨行驶，完成变轨。
本发明的多轨道变轨系统，还可以包括轨道移动装置，用于通过一段可移动轨道的移动并与新轨道对接，将停在移动轨道上的所述可变轨车辆从一条轨道变轨到另一条轨道。
在本发明中，托吊装置和轨道移动装置除了可以用于将可变轨车辆从一条轨道变轨到另一条轨道，还可以用于可变轨车辆的升降/移动/转向/调头/停车/入库/出库等等。
本发明第二实施例参阅图2。图2为本发明第二实施例可变轨车辆的结构示意图。如图所示，本发明的可变轨车辆30包括：车体和2组或以上轨道轮组，每个轨道轮组对应用于如上所述的多轨道变轨系统的一条轨道。
本发明的一种可变轨车辆是基于本发明的一种多轨道变轨系统，结构特征一一对应，可以参照前述一种多轨道变轨系统的说明，在此不再赘述。
在本发明中，可变轨车辆30还可以包括连接固定装置，用于与其他车辆或货舱连接并将其固定在可变轨车辆上。可变轨车辆30可以作为轨道拖车或吊车，将其他车辆或货舱如集装箱、物流箱、货箱等，连接并固定在可变轨车辆上，实现其他车辆或货舱的轨道行驶或变轨。连接固定装置可以是挂钩、锁扣、电磁吸盘或真空吸盘等可连接固定可变轨车辆30与其他车辆或货舱的装置，在角度和长度上又有一定的弹性，以保证在移动过程中可变轨车辆30与其他车辆或货舱连接的稳定性。连接固定装置可以是安装在可变轨车辆30上，也可以是安装在其他车辆或货舱上，还可以是可变轨车辆30与其他车辆或货舱上都安装有连接固定装置。可变轨车辆30与其他车辆或货舱的连接可以是人工完成，也可以是连接固定装置自动连接。在本发明中，可变轨轨道舱也可以连接其他车辆或货舱作为轨道拖车或吊车。
在本发明中，可变轨车辆还可以是可容纳普通车辆的可变轨轨道舱，所述可变轨轨道舱包括舱体和用于在所述第一轨道行驶的第一轨道轮组以及用于在所述第二轨道行驶的第二轨道轮组，或者可变轨轨道舱也可以只有第一轨道轮组而靠多轨道变轨系统中的托吊装置实现变轨，所述舱体内还包括固定装置，用于在普通车辆驶入舱体内对其固定。可变轨轨道舱舱体可以是封闭型舱体，也可以是开放型舱体，如由支架和底面/顶面构成舱体。普通车辆既可以在道路上行驶，也可驶入可变轨轨道舱，由固定装置固定在舱体内，可变轨轨道舱带着行驶在轨道上。
本发明的可变轨车辆30，还可以与其他可变轨车辆连接在一起成为一个车辆组，建立共享自动驾驶模式来实现车辆的联合驾驶，联合行驶车辆按照所述共享自动驾驶方案进行自动驾驶或辅助驾驶或指引司机驾驶。通过获取轨道道路信息、路况信息及车辆信息，分析计算得出自动驾驶方案，指引司机控制可变轨车辆30行驶或自动驾驶车辆或辅助驾驶车辆行驶。
轨道道路信息包括：轨道数、轨道宽度、曲率半径、坡度、轨道材质、出入口、道口、轨道道路环境、轨道路面情况等信息。路况信息包括：车流量、车辆位置、车辆速度、车辆加速度、车辆目标等与导航有关的信息、障碍物/行人信息、交通意外、交通管制等与道路交通状况有关的信息，还包括动态的与天气有关的如气候影响、结冰、雪，风速，能见度等信息。车辆信息可以包括：可变轨车辆类型、型号、车辆的长度/宽度/高度/质量/制动距离/轨道轮组情况/动力情况/防滑性能/电量/油量等参数、车辆目的地、乘坐人数等等。
轨道道路信息、路况信息及车辆信息可以基于智能交通系统方便的获取。智能交通系统可以通过道路监测装置和车载监测装置获取道路信息、路况信息及车辆信息，也可以通过其他监测装置如高空监测装置等获取。道路监测装置可以包括摄像头、雷达、感应传感器、红外探测装置、道路或路面的压力/光学/超声波传感器等多种装置，可以在道路的合适位置设置多个监测装置用于获取这些信息。此外，也可以通过可变轨车辆的车载监测装置，如车载摄像头、车载雷达、测速仪等获取信息。还可以通过高空监测装置如卫星/飞机/无人机/高空气球等获取轨道道路信息和路况信息。也可以通过监测车辆的物联网硬件/射频卡/ECT设备等获取相关信息。最后，还可以通过监测道路周边可能影响路况的范围如路边行人/动物/车辆/建筑物/车站等来获取道路状况的相关信息。
根据轨道道路信息、路况信息和车辆信息建立轨道道路交通模型，轨道道路交通模型可以包括：轨道道路、车辆、障碍物、行人、覆盖范围、覆盖时间、天气状况、特殊情况及其他与道路交通相关的因素。建立模型之后，在模型范围内依据真实完整的信息包括：空间信息/时间信息/对象信息/其他信息如交通管制等，通过计算分析得出车辆组的整体自动驾驶方案。发送至车辆组内的车辆，指引司机行驶或自动驾驶车辆或辅助驾驶车辆行驶。
在本发明中，由于获取的信息来自不同的来源，因而可能存在获取的信息的数据结构/数据标准/数据格式/数据描述等存在差异的状况，在此状况下，为了信息使用的流畅化及高效化，需要将不同来源、类型信息的进行转换和/或整合。可以通过视频识别技术、音 频识别技术、三维/四维建模技术、虚拟现实技术、增强现实技术、不同语言的翻译等方法实现信息数据的转换和/或整合。
本发明第三实施例参阅图3。图3是本发明第三实施例多轨道变轨系统的变轨方法的流程图。如图所示，本发明的多轨道变轨系统的变轨方法包括：
S1：可变轨车辆通过第一轨道轮组行驶在第一轨道；
S2：可变轨车辆的第二轨道轮组被导入第二轨道；
S3：可变轨车辆同时行驶在第一轨道和第二轨道；
S4：第一轨道轮组脱离第一轨道，可变轨车辆行驶在第二轨道，完成变轨。
本发明的一种多轨道变轨系统的变轨方法是基于本发明的一种多轨道变轨系统的，两者结构特征一一对应，可以参照前述一种多轨道变轨系统的说明，在此不再赘述。
综上所述，本发明的一种多轨道变轨系统及其变轨方法、可变轨车辆，多轨道变轨系统包括：第一轨道、第二轨道以及可变轨车辆，可变轨车辆包括车体和用于在第一轨道行驶的第一轨道轮组以及用于在第二轨道行驶的第二轨道轮组，正常行驶时，可变轨车辆通过第一轨道轮组行驶在第一轨道；需要变轨时，可变轨车辆的第二轨道轮组被导入第二轨道，可变轨车辆同时行驶在第一轨道和第二轨道；之后，第一轨道轮组脱离第一轨道，可变轨车辆行驶在第二轨道，完成变轨。通过本发明的一种多轨道变轨系统及其变轨方法、可变轨车辆，实现不同轨道间的快速变轨，提高轨道运行效率， 节约时间，同时防止脱轨，增加安全性，此外，还可以降低建设施工难度，提高经济性。
以上所述的具体实施方式，对本发明的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施方式而已，并不用于限定本发明的保护范围，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (11)

  1. 一种多轨道变轨系统，其特征在于，所述系统包括：第一轨道、第二轨道以及可变轨车辆，所述可变轨车辆包括车体和用于在所述第一轨道行驶的第一轨道轮组以及用于在所述第二轨道行驶的第二轨道轮组；
    正常行驶时，所述可变轨车辆通过所述第一轨道轮组行驶在所述第一轨道；需要变轨时，所述可变轨车辆的第二轨道轮组被导入所述第二轨道，所述可变轨车辆同时行驶在所述第一轨道和所述第二轨道；之后，所述第一轨道轮组脱离所述第一轨道，所述可变轨车辆行驶在所述第二轨道，完成变轨。
  2. 根据权利要求1所述的多轨道变轨系统，其特征在于：所述系统中的可变轨车辆还可以包括可变轨轨道舱，所述可变轨轨道舱包括舱体和轨道轮组，所述舱体内还包括固定装置，用于在普通车辆驶入舱体内对其固定。
  3. 根据权利要求1或2所述的多轨道变轨系统，其特征在于：所述第一轨道或所述第二轨道还包括引导段，所述引导段安装有引导装置，用于将第一轨道轮组或第二轨道轮组导入所述第一轨道或所述第二轨道。
  4. 根据权利要求1或2所述的多轨道变轨系统，其特征在于：所述可变轨车辆还包括轨道轮调节装置，所述轨道轮调节装置可调节所述第一轨道轮组或所述第二轨道轮组的位置，方便导入轨道。
  5. 根据权利要求1或2所述的多轨道变轨系统，其特征在于：所述第一轨道和所述第二轨道为共用轨道。
  6. 根据权利要求1或2所述的多轨道变轨系统，其特征在于：所述系统还包括托吊装置，用于将所述可变轨车辆从一条轨道变轨到另一条轨道。
  7. 根据权利要求1或2所述的多轨道变轨系统，其特征在于：所述系统还包括轨道移动装置，用于通过一段可移动轨道的移动以及与新轨道对接，将停在移动轨道上的所述可变轨车辆从一条轨道变轨到另一条轨道。
  8. 一种可变轨车辆，其特征在于：所述可变轨车辆包括车体和2组或以上轨道轮组，每个轨道轮组对应用于如权利要求1-8所述的多轨道变轨系统的一条轨道。
  9. 根据权利要求9所述的一种可变轨车辆，其特征在于：所述可变轨车辆还包括连接固定装置，用于与其他车辆或货舱连接并将其固定在可变轨车辆上。
  10. 根据权利要求9所述的一种可变轨车辆，其特征在于：所述可变轨车辆可与其他可变轨车辆建立共享自动驾驶模式来实现车辆的联合驾驶，联合行驶车辆按照所述共享自动驾驶方案进行自动驾驶或辅助驾驶或指引司机驾驶。
  11. 一种如权利要求1-8所述的多轨道变轨系统的变轨方法，所述方法包括：
    所述可变轨车辆通过所述第一轨道轮组行驶在所述第一轨道；
    所述可变轨车辆的第二轨道轮组被导入所述第二轨道；
    所述可变轨车辆同时行驶在所述第一轨道和所述第二轨道；
    所述第一轨道轮组脱离所述第一轨道，所述可变轨车辆行驶在所述第二轨道，完成变轨。
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