KR101473408B1 - The control method of advance and entry using railway platform for personal rapid transit - Google Patents

Abstract

The present invention relates to a method to control the advance and entry of a personal rapid transit using a platform for a personal rapid transit, wherein the platform for a personal rapid transit where passengers using a personal rapid transit get on/off is connected to a main line where the personal rapid transit travels, and is formed in turn with a stop space where the personal rapid transit is stopped. According to the present invention, the advance and entry of the other personal rapid transit can be performed even if a specific personal rapid transit is delayed in departure when the personal rapid transit is stopped at a station or when the personal rapid transit has troubles forming a platform used by the passengers, and in turn a stop space where the personal rapid transit stops. In addition, the personal rapid transit can easily enter the stop space by forming the platform and the stop space to be inclined. When the personal rapid transit travels from the stop space to the main line, the operation time can be reduced since the rear portion of the personal rapid transit enters the main line. When the personal rapid transit travels from the main line to the stop space, the curve radius can be reduced.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a control method for an entry / exit control of a small tracked vehicle using a landing platform for a small tracked vehicle,

The present invention relates to a method of controlling entry and exit of a small tracked vehicle using a landing platform for a small tracked vehicle, and more particularly, to a method of controlling entry and exit of a small tracked vehicle, The present invention relates to a method of controlling entry and exit of a small tracked vehicle using a landing platform for a small tracked vehicle, which can shorten the operating time of the small-sized tracked vehicle.

Typical public transportation in the modern city is subway and car (bus, taxi). Although the subway has many advantages in terms of regularity and traffic volume, it is economically burdensome to introduce system of national and local governments due to excessive construction cost and operation cost problem. Although automobile transportation systems such as buses and taxis are economically advantageous in terms of convenient accessibility and system construction, they are disadvantageous compared with railway systems in terms of environmental pollution caused by exhaust gas and regularity due to traffic congestion. Therefore, the demand for small-scale customized transportation for the linkage between railway system and other public transport and for the weak in transportation has been increasing recently.

Therefore, a PRT (Personal Rapid Transit) system that can replace the use of a car in a downtown area is attracting attention. This can be defined as an unmanned automatic mini-track vehicle system. It is devoid of the existing mass-transit concept running on a network-type road including a plurality of loops, and four to six passengers approaching the para- It is a new traffic system that can go to desired destination without stopping. The PRT system does not have a specially designated timetable and can be moved to the destination whenever the passenger wants it.

On the other hand, in the case of a conventional train system, a straight track system in which there is no intersection permitting crossing between the trains, arrives at a predetermined station at a predetermined time and rides the passenger and moves to the next station. However, It is very important to pass the route of the network having the network structure from the departure point to the destination at irregular intervals so that it can pass effectively without interfering with the irregular operation of other small tracked vehicles existing on the route.

In addition, unlike ordinary railway vehicles, a small tracked vehicle system operates on a railway line at a short driving time, and even in the case of a service route, it has a network structure of a mesh type rather than a straight line like a route of a general railway vehicle . In a small tracked vehicle system having such a complicated network operating structure, it is very important that each small-sized tracked vehicle that travels along a track effectively crosses an intersection existing on a service route without interrupting irregular operation. A method of passing an intersection of a passing small-sized track vehicle has been proposed in Japanese Patent Laid-Open No. 10-2010-0004694.

On the other hand, the station of the existing railway system is a line-haul system in which the stopping and departure of the train is performed on the same main line. However, the reverse structure of the small tracked vehicle system makes it possible to carry out small-sized tracked vehicles irregularly, It has an off-line form.

At this time, in the off-line reverse structure, the operation algorithm for controlling the entry of the small-sized tracked vehicle and the entry to the main line plays an important role from the viewpoint of the safety operation of the vehicle and the efficiency of the operation, A method of controlling the entry and exit of a small tracked vehicle capable of controlling the vehicle to enter or advance into the station efficiently has been proposed in Patent Registration No. 10-0961491.

However, in the case of the above-mentioned Patent No. 10-0961491, when a small-sized tracked vehicle enters or exits from the main line in order to get on or off the passenger, the vehicle enters and advances into the main line. There is a problem in that a small tracked vehicle trailing when entering the station and lengthening the stopping time or failing is unable to advance even if it enters the station. This is because all of the small track vehicles passing through the trunk line are first in and first out, so that if a failure or delay occurs in any one small tracked vehicle, the trailing small track vehicle will not be moved if the preceding small track vehicle does not move This is because the advance is blocked from the source.

In addition, in the case of the above-mentioned Japanese Patent No. 10-0961491, there is also a problem that the structure of the inverse line and the line is complicated because a separate trunk line for the reverse entry is necessarily provided.

Reference 1: Published patent application No. 10-2010-0004694 Reference 2: Registration No. 10-0961491

Accordingly, it is an object of the present invention to provide a small-sized tracked vehicle capable of freely entering and exiting a landing gear of a small-sized tracked vehicle even when a departure delay occurs or a failure occurs in the station, And a method of controlling entry and exit of a small tracked vehicle using a landing platform for a tracked vehicle.

In addition, the present invention eliminates the need for a separate trunk line for entering a small-sized tracked vehicle traveling in the main line, thus simplifying the structure of the inverse line and the track, preventing the operation delay of the small tracked vehicle from occurring, The present invention also provides a method for controlling entry and exit of a small tracked vehicle using a landing platform for a small tracked vehicle, which can shorten the operating time of the small-sized tracked vehicle.

In order to solve such a technical problem,

The platform is used by a passenger using a small track vehicle, wherein the platform is alternately formed with a stop space where the small track vehicle is stopped and connected to a main track on which the small track vehicle is traveling .

In this case, the landing platform and the stationary space are inclined at an angle with respect to the main line.

In order to prevent the small-sized tracked vehicle from interfering with the entry into or exit from the stationary space, a curved guide portion having a curved shape is formed at the landing end.

Further, the stop space is equal to the height of the main line, and the landing space is formed higher than the stop space.

The small-sized tracked vehicle is characterized in that it is a vehicle having a bidirectional steering function capable of adjusting the steering angles of the front and rear wheels.

The small tracked vehicle is provided with first and second yaw axles on the front and rear sides of the lower portion of the vehicle body. The small-sized tracked vehicle includes a first steering device for adjusting the steering angle of the first yaw axis, A second steering device for adjusting the steering angle of the second yaw shaft; a second yaw axis controller for controlling the second steering device; and a second yaw axis controller for applying a control signal to the first and second yaw axis controllers And an on-board controller.

In addition, the present invention provides

The entry and exit control of a small tracked vehicle using a landing platform for a small tracked vehicle in which a platform used by a passenger using a small tracked vehicle and a stopping space connected to a main track on which the small tracked vehicle travels are alternately inclined The controller controls the operation of the miniature tracked vehicle by adjusting the steering angle of the first yaw axis provided at the lower side of the front body of the vehicle when the control information for guiding the vehicle to enter the designated stopping space is received from the central controller of the control center A first step of operating the first steering device to adjust the steering angle of the first yaw shaft to enter an inclined stop space; And a second steering device for adjusting a steering angle of a second yaw shaft provided at a lower side of the rear part of the body of the vehicle when the control information for guiding the vehicle to advance in the designated stopping space is received by the central controller of the control center, And a second step of adjusting the steering angle so as to advance in an inclined stop space. The present invention also provides a method of controlling entry and exit of a small tracked vehicle using a landing platform for a small tracked vehicle.

In this case, in the first step, the on-vehicle controller operates the first steering device by applying a control signal to the first wheel-shaft controller that controls the first steering device that adjusts the steering angle of the first yaw axis.

In the second step, the on-road controller operates the second steering device by applying a control signal to the second wheel-shaft controller controlling the second steering device that adjusts the steering angle of the second yaw shaft.

According to the present invention, a landing space used by a passenger in a region and a stop space in which a small-sized tracked vehicle stops are alternately formed, so that even when a certain small-sized tracked vehicle experiences a departure delay or a failure in stopping in the station, Entry and advancement can be made freely.

Further, in the present invention, the landing platform and the stopping space are inclined so that the small-sized tracked vehicle can easily enter the stationary space. When joining to the main line in the stationary space, the rear side of the vehicle becomes the front, So that the running time can be shortened and the radius of curvature can be reduced when the small tracked vehicle enters the stop space on the main line.

1 is a view showing a platform for a small-sized tracked vehicle according to the present invention.
FIG. 2 is a system control configuration diagram for operating a landing platform for a small-sized tracked vehicle according to the present invention.
3 is a view for explaining an example of use of a platform for a small-sized tracked vehicle according to the present invention.

A method of controlling entry and exit of a small tracked vehicle using a landing platform for a small tracked vehicle according to the present invention will be described in detail with reference to the accompanying drawings.

Prior to this, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms, and the inventor should appropriately interpret the concepts of the terms appropriately It should be interpreted in accordance with the meaning and concept consistent with the technical idea of the present invention based on the principle that it can be defined.

Therefore, the embodiments described in the present specification and the configurations shown in the drawings are only the most preferred embodiments of the present invention, and not all of the technical ideas of the present invention are described. Therefore, It should be understood that various equivalents and modifications may be present.

1 to 3, the landing platform 110 for a small-sized tracked vehicle according to the present invention is configured such that when the small-sized tracked vehicle 200 stops in the stationary space 120 in the station 100, It can be used for boarding or getting off. Such a station 100 is connected to a platform 110 where a passenger rides and leaves and a plurality of stops 130 that are connected to the main road 1 on which the small tracked vehicle 200 travels, (120).

That is, the station 100 that rides or departs for the purpose of moving the destination of the passenger has a structure in which a plurality of landing platforms 110 and a stopping space 120 are alternately formed.

Accordingly, when the small-sized tracked vehicle 200 stops in any one of the plurality of stopping spaces 120, the small-sized tracked vehicle 200 trailing the remaining remaining stopping spaces 120 enters You can stop.

At this time, the platform 110 and the stop space 120 are formed to be inclined at an angle with respect to the main line 1 in order to facilitate entry and advance of the small tracked vehicle 200.

In particular, the size of the stopping space 120 and the inclination of the landing platform 110 may vary depending on the vehicle specifications of the miniature tracked vehicle 200.

The constitution of each part of the present invention will be described below.

First, the small tracked vehicle 200 can be manufactured in various sizes. For example, the size is 3,800 mm (L) x 1,800 mm (W) x 2,000 mm (H) 2,200 mm, and the maximum steering angle of the wheel is 60 [deg.].

When the small tracked vehicle 200 stops at the stopping space 120, the small tracked vehicle 200 is provided with a doorway 204 on both sides of the vehicle body, The small-sized tracked vehicle 200 can ride or get off.

The length and width of the landing space 120 and landing platform 110 are determined according to the length L and the width W of the small tracked vehicle 200. For example, the width of the stopping space 120 is 1,870 mm, and the width and length of the landing platform 110 are preferably 2,500 mm and 2,900 mm.

In addition, the small-sized tracked vehicle adopts a configuration in which a magnetic roller 202 is provided so as to enable unmanned operation, thereby recognizing a magnet 10 installed in a main line and a stationary space.

In this case, the height of the stopping space 120 is kept equal to the height of the main line 1 for distinguishing between the stopping space 120 and the landing platform 110, and the landing platform 110 is kept at a predetermined height To 30 cm). As described above, since the landing platform 110 is formed higher than the stationary space 120, it is possible for the passenger to smoothly get on and off the small-sized tracked vehicle 200.

The maximum steering angle of the wheel mounted on the small tracked vehicle 200 is related to the inclination of the stopping space 120 and the landing platform 110.

Accordingly, when the maximum steering angle of the wheel is 60 °, the stop space 120 and the landing platform 110 are formed obliquely at 60 ° with the main line 1. That is, the stationary space 120 is formed obliquely to have an inclination of a certain angle? With respect to the main line 1.

At this time, the miniature tracked vehicle 200 is a miniature tracked vehicle 200 having a bidirectional steering function capable of adjusting the steering angles of the front and rear wheels.

More specifically, the small tracked vehicle 200 is a vehicle having first and second yaw axes 210 and 220 on the front and rear sides of the lower portion of the vehicle body. The first and second yaw shafts 210 and 220 have wheels Respectively.

The small tracked vehicle 200 includes a first steering device 212 for adjusting the steering angle of the first yaw shaft 210 and a second steering device 222 for adjusting the steering angle of the second yaw shaft 220 Respectively.

In this case, the first steering apparatus 212 controls the steering angle of the first yaw axis 210 in accordance with the control signal of the first yaw axis controller 230, and the second steering apparatus 222 controls the second yaw axis controller 210 The steering angle of the second wheel shaft 220 is controlled in accordance with the control signal of the second wheel shaft 240.

Of course, the first and second wheelset controllers 230 and 240 may control the first and second steering devices 212 and 222 according to the control signals of the on-board controller 250 that comprehensively monitors and controls the operation of the small- .

Meanwhile, the first and second wheelset controllers 230 and 240 output a speed sensing signal from a speed sensor (not shown) that senses the rotational speeds of the wheels provided at both ends of the first and second wheel shafts 210 and 220 Receive input.

The small tracked vehicle 200 having the bidirectional steering function is allowed to enter and travel on the main road 1 immediately after departing the stopping space 120 adjacent to the landing platform 110 without departing backward.

For example, after the small tracked vehicle 200 having the bidirectional steering function enters the stationary space 120 from the main line 1 and stops, when the passengers ride or get off and move, the rear side of the small tracked vehicle 200 The track radius can be reduced when the small tracked vehicle 200 enters the stationary space 120 from the main line 1. In this case,

In order to prevent the wheels of the small tracked vehicle 200 from touching and interfering with the end of the landing platform 110 when the small tracked vehicle 200 enters or advances into the stopping space 120, A curved guide portion 112 having a curved shape is formed.

In this case, since the curved guide 112 has a difference in steering angle when the small tracked vehicle 200 enters the stationary space 120 and when the small tracked vehicle 200 joins the main rail 1, So as to protrude.

In order to control the entrance and advance of the small tracked vehicle 200 into the station 100, the central controller 310 of the control center 300 and the inverse controller 400 and the small tracked vehicle 200 provided in the opposite direction, It is natural to use an on-board controller 250 that controls the operation of the vehicle.

At this time, the central controller 310 analyzes the state information of the miniature tracked vehicle 200 that requests permission to enter or advance into the station 100 while communicating with the reverse controller 400 and transmits the state information to the reverse controller 400 And transmits approval or disapproval of entry into and exit from the stationary in-station space 120.

In this case, the inverse controller 400 monitors whether or not a plurality of the stopping spaces 120 are occupied in the reverse station 100, and transmits the information to the central controller 310 to manage the stationing space 120.

In this case, in order to detect whether or not the small tracked vehicle 200 occupies the stopping space 120, various sensing means capable of detecting a small-sized tracked vehicle such as a limit switch, an infrared sensor, Install it.

Therefore, the detection information sensed through the sensing means is received by the inverse controller 400 and transmitted to the central controller 310, thereby performing integrated stopping management.

Meanwhile, the reverse controller 400 can directly communicate with the miniature tracked vehicle 200. That is, permission request information for entering and exiting the station 100 is generated in the on-board controller 250 of the miniature tracked vehicle 200 and transmitted to the inverse controller 400.

Hereinafter, with reference to FIG. 1 to FIG. 3, a process for controlling entry and exit of a small tracked vehicle into a landing platform for a small-sized tracked vehicle according to the present invention will be described.

When the small track vehicle 200 is stopped in the in-train stop space 120 for getting off the passengers, the central controller 310 of the control center 300 analyzes the information received from the inverse controller 400, The control information is transmitted so as to enter the stopping space 120 designated by the on-board controller 250 of the small tracked vehicle 200 by searching the stopping space 120. [

The on-board controller 250 transmits control signals to the first and second wheelset controllers 230 and 240 so that the small-sized tracked vehicle 200 enters the designated stop space 120 and stops. The first and second steering apparatuses 212, 222 to control the steering angles of the first and second axles 210, 220.

In this case, the curved guide portion 112 is formed at the end of the landing platform 110 when the small tracked vehicle 200 enters the stationary space 120, so that the small tracked vehicle 200 comes into contact with the end of the landing platform 110, .

On the other hand, when moving a small tracked vehicle 200 stopped in a specific stopping space 120 according to a destination transfer of a passenger of the boarding vehicle or a call from another station, the central controller 310 of the control center 300 controls the small track The control information is transmitted to the on-board controller 250 of the vehicle 200 so as to advance in the stopping space 120.

The onboard controller 250 transmits control signals to the first and second wheelset controllers 230 and 240 so that the small tracked vehicle 200 advances in the designated stopping space 120 and joins the main line 1, The second steering apparatuses 212 and 222 are operated to control the steering angles of the first and second axes 210 and 220.

In this case, when the small tracked vehicle 200 advances in the stopping space 120, the curved guide portion 112 is formed at the end of the landing 110 so that the small tracked vehicle 200 can smoothly move without interfering with the end of the landing 110 .

As described above, when the small tracked vehicle 200 enters the stopping space 120, the stopping space 120 is formed to be inclined so that the entry into the stopping space 120 is facilitated. In the stopping space 120, The rear side of the vehicle enters the main line 1 and travels along the main line 1 and travels as it is so that the travel time can be shortened and the small tracked vehicle 200 enters the stationary space 120 from the main line 1 The radius of curvature can be reduced.

The entry and advancement of the small tracked vehicle 200 described above can be operated as follows.

The onboard controller 250 controls the first and the second wheelset controller 200 to be positioned at the front of the small tracked vehicle 200 so that the small tracked vehicle 200 enters the specified stopping space 120 and stops. 230 to actuate the first steering device 212 to control only the steering angle of the first yaw axis 210 to enter the inclined stop space 120 as it is.

When the small tracked vehicle 200 is advanced, the onboard controller 250 controls the second orbiting controller 240 located at the rear of the small tracked vehicle 200 in a state where the small tracked vehicle 200 is stopped, So that the second steering device 222 is operated to control only the steering angle of the second wheel shaft 220 to advance in the inclined stopping space 120 and join the main steering line as it is.

Therefore, a method of controlling entry and exit of a small-sized tracked vehicle using a landing platform for a small-sized tracked vehicle includes a landing platform 110 used by a passenger using the small-sized tracked vehicle 200, A method of controlling entry and exit of a small tracked vehicle using a landing platform for a small tracked vehicle in which a stopping space for the tracked vehicle (200) is formed alternately inclined, the method comprising the steps of: The first steering device 210 adjusts the steering angle of the first yaw shaft 210 provided at the lower side of the front body of the vehicle when the control information for guiding the vehicle to enter the specified stopping space 120 is received by the central controller 310 of the control center 212) to adjust the steering angle of the first yaw shaft (210) to enter the inclined stop space (120); and the on-board controller (250) The second steering device 222 that adjusts the steering angle of the second yaw shaft 220 provided at the lower portion of the back of the body of the vehicle may be operated to control the steering angle of the second yaw shaft 220, And advancing from the inclined stopping space 120 by adjusting the second step.

At this time, in the first step, the on-board controller 250 applies a control signal to the first yaw control controller 230 that controls the first steering device 212 that adjusts the steering angle of the first yaw shaft 210 And controls the second steering device 222 that adjusts the steering angle of the second yaw shaft 220. The second steering device 212 controls the first steering device 212, The second steering device 222 is operated by applying a control signal to the second steering device 240.

While the present invention has been described in connection with what is presently considered to be preferred embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

1: Main Line 100: Station
110: platform 112: curved guide
120: Stopping space 200: Miniature track vehicle
210: first wheel shaft 212: first steering device
220: second wheel shaft 222: second steering device
230: first yaw axis controller 240: second yaw axis controller
250: On-board controller 300: Control center
310: central controller 400: reverse controller

Claims (9)

delete delete delete delete delete delete The entry and exit control of a small tracked vehicle using a landing platform for a small tracked vehicle in which a platform used by a passenger using a small tracked vehicle and a stopping space connected to a main track on which the small tracked vehicle travels are alternately inclined In the method,
The onboard controller for controlling the operation of the small-sized tracked vehicle receives control information for guiding the vehicle to enter a designated stopping space in the center controller of the control center. The control unit controls a steering angle of the first yaw axis To adjust the steering angle of the first yaw axis to enter the inclined stop space; And
Wherein when the control information for guiding the vehicle to advance in the designated stopping space is received from the central controller of the control center, the second on-vehicle controller operates the second steering device for adjusting the steering angle of the second yaw axis, And advancing in a tilted stationary space by adjusting the tilting position of the small-sized tracked vehicle.
8. The method of claim 7,
Wherein in the first step, the on-vehicle controller operates the first steering device by applying a control signal to the first yaw control controller for controlling the first steering device for adjusting the steering angle of the first yaw shaft A method of controlling entry and exit of a small tracked vehicle using a platform.
8. The method of claim 7,
Wherein in the second step, the on-road controller applies a control signal to a second wheel-shaft controller that controls a second steering device that adjusts the steering angle of the second yaw shaft to operate the second steering device A method of controlling entry and exit of a small tracked vehicle using a platform.

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