WO2018228161A1

WO2018228161A1 - Rail vehicle control system, rail vehicle, rail system, and transportation system

Info

Publication number: WO2018228161A1
Application number: PCT/CN2018/088208
Authority: WO
Inventors: 杨国强
Original assignee: 湖南云辙科技有限公司
Priority date: 2017-06-13
Filing date: 2018-05-24
Publication date: 2018-12-20
Also published as: CN107168326A

Abstract

A rail vehicle control system, a rail vehicle (4), a rail system, and a transportation system. The rail vehicle control system implements positioning based on a guide rail zone (2) on the basis of a rail sensor (10), an information transmitting and receiving device (11), and a mobile control device and receives a movement requirement transmitted by a central computer (5), so as to control the rail vehicle (4) to move along the guide rail zone (2) according to the movement requirement. The rail vehicle control system has a simple structure and is mounted on an existing vehicle and then the rail vehicle (4) can be obtained by modification so that the rail vehicle control system is applied to the transportation system, the utilization rate of roads and vehicles can be greatly improved, the number of the vehicles can be reduced, the problems of traffic congestion and parking difficulty can be resolved, and the vehicle exhaust pollution can be reduced.

Description

Rail vehicle control system, rail vehicle, rail system and transportation system

Technical field

The present invention relates to the field of transportation technology, and in particular to a rail vehicle control system, a rail vehicle, a rail system, and a transportation system.

Background technique

With the development of society, the population in the city continues to increase, urban traffic has become increasingly overwhelmed, cars are driving on the road, affected by road width, traffic lights, traffic accidents, etc., traffic congestion is becoming more and more serious.

However, the existing urban transportation systems have failed to effectively solve urban traffic problems:

1. Traditional bus passenger transportation system: Although the system has the characteristics of more bicycles, the number of parking stations along the line is large, traffic lights are heavy, road traffic is crowded, vehicles are slow to travel, traffic aging is very low, and because there are fewer people, Passengers often face problems such as difficulty in driving, fewer tickets, and the need to transfer.

2, taxi transportation system: taxis are more comfortable than buses, but the cost of taxi transportation is too high, the average is 10-30 times of the bus, and due to serious traffic jams, the transportation time of taxis is also greatly reduced, rental The high altitude rate of the car also constitutes a serious waste.

3. Private cars: Private cars are convenient and comfortable. However, due to serious traffic jams on urban roads, problems such as difficulty in driving, difficulty in parking, and low utilization rate are becoming more and more serious. Moreover, private car transportation costs are high, vehicle costs, fuel costs, and maintenance. high cost.

4. Urban light rail: Although the light rail has a large capacity, the route coverage is too limited, the number of parking stations is too small, and the coverage and security of the community cannot meet the needs of the city. Moreover, the cost of light rail is expensive, and the cost performance is not advantageous.

5. Urban elevated highway traffic: Urban elevated highway traffic greatly improves traffic efficiency and alleviates traffic congestion. However, this kind of traffic has limited improvement on the overall urban traffic. On the one hand, the elevated road is very local. The huge traffic flow is often crowded at the intersection, and because of the cumbersome elevated roads, the large road area and the high construction cost, it is impossible to build on a large scale.

6. Subway: The subway has the characteristics of large capacity, comfortable ride and convenient travel. However, after all, the coverage is limited and the site is limited. The speed, timeliness and flexibility are still far from the objective requirements. Moreover, the subway is expensive. It is impossible to fill the subway underground in the city.

7. Tram is driven by electric power. It is a pollution-free environmentally-friendly vehicle with reliable operation, comfort, energy saving and environmental protection. The cost is lower than that of light rail. The shortcomings are similar to light rail: the route coverage is too limited, and the parking stations are too few. Its cell coverage capability and security flexibility cannot meet the needs of the city.

In response to urban traffic problems, various ideas have been proposed:

1. One solution is to build a city elevated rail transit system. However, the shortcoming of the elevated rail transit system is the need to build elevated rails. The investment is huge and it is not compatible with the existing road traffic system. It is not fully verified, and the effect is not in a small scope. obvious.

2. Another option is to plan a city or town center from the perspective of convenient travel, but re-planning the existing city or town center is undoubtedly a huge investment.

3. Another solution is to build a urban conveyor belt system. However, the conveyor belt system also has huge investment and is incompatible with the existing road transportation system. It is not fully verified, and the effect is not obvious in a small area.

In summary, the existing transportation system cannot solve the problem of traffic congestion, and the new investment is huge, and the feasibility is questionable.

Summary of the invention

In view of the above problems, the present invention provides a road rail transit technical solution that is easy to implement, low in cost, stable in operation, compatible with various conventional public transportation vehicles and fast rail transit vehicles, and specifically includes the same invention concept. A rail vehicle control system, a rail vehicle, a rail system, and a transportation system. The technical solution has the advantages of light rail or subway transportation capacity, comfortable ride and convenient travel, avoiding limited light rail or subway coverage, limited site, and its speed, timeliness and flexibility are difficult to fully meet the disadvantages of objective demand; It can be realized by using existing vehicles and roads, and the modification cost and maintenance cost are low.

In a first aspect, the present invention provides a rail vehicle control system including: a navigation sensor, an information transceiver device, and a motion control device;

Wherein, the navigation sensor and the information transceiver are both communicatively connected to the mobile control device;

The navigation sensor determines a relative position of the vehicle with reference to the rail belt by acquiring a projection of the rail belt mounted on the road above the road, and transmitting the relative position of the vehicle to the movement control device;

The information transceiving device is communicably connected with a beacon disposed along the rail belt, and is communicably connected to a remotely disposed central computer via the beacon for receiving a mobile request sent by the central computer, and moving the mobile Requesting to be sent to the mobile control device;

The movement control device controls the rail vehicle to move along the rail belt according to the movement requirement according to the relative position of the vehicle in an automatic operation state.

Optionally, the navigation sensor comprises: a receiver array composed of a plurality of positioning signal receivers;

The receiver array determines a projection of the rail belt on the receiver array according to a positioning signal emitted or reflected by the rail belt, and compares the projection with a positioning reference line of the rail vehicle, and according to The comparison results determine the relative position of the vehicle with the rail belt as a reference.

Optionally, the navigation sensor comprises: at least one camera and an image processing device;

The camera is communicatively coupled to the image processing device, the camera is fixedly mounted on the top of the rail vehicle for capturing a real-time image of the rail belt, and transmitting the real-time image to the image processing device And the image processing device determines a projection of the rail belt according to the real-time image, compares the projection with a positioning reference line of the rail vehicle, and determines, according to the comparison result, the rail vehicle with the rail belt Refer to the relative position of the vehicle.

Optionally, the rail vehicle control system further includes: an obstacle detecting device disposed in front of and/or behind the rail vehicle, wherein the obstacle detecting device is communicably connected to the mobile control device for detecting Whether there is an obstacle in front of and/or behind the rail vehicle, and transmitting an obstacle detection result to the movement control device.

Optionally, the rail vehicle control system further includes: a distance detecting device disposed on a left side and/or a right side of the rail vehicle, wherein the distance detecting device is communicably connected to the mobile control device for detecting The distance of the rail vehicle from the left side, and/or the right object, and the result of the distance detection are sent to the mobile control device.

In a second aspect, the present invention provides a rail vehicle on which the rail vehicle control system provided by the present invention is disposed, and the rail vehicle is under the control of the rail vehicle control system in an automatic running state. The rail belt moves.

In a third aspect, the present invention provides a track system comprising: a track strip and a plurality of beacons;

The rail belt is erected above the road, and the height of the rail belt from the ground is greater than the height of the rail vehicle for reference to the movement of the rail vehicle running under the rail belt;

a plurality of the beacons are distributed along the rail belt, the beacon is communicatively coupled to an information transceiver disposed on the rail vehicle, and is in communication with a remotely located central computer for receiving the central computer to transmit Mobile requirements and send the mobile request to the information transceiver.

Optionally, the rail system further comprises: an isolating device that isolates the road used by the rail vehicle from the road used by other vehicles.

Optionally, the rail belt is provided with a first fork at a vehicle docking station, and a site beacon is provided at the first fork to enable the rail vehicle to enter the vehicle docking station. The first fork moves and is docked at the site beacon.

Optionally, the site beacon is further configured to receive the going information sent by the mobile terminal, and send the going information to the central computer, and receive a travel suggestion given by the central computer according to the going information. And sending the travel proposal to the mobile terminal.

Optionally, the rail belt is provided with a second fork in the emergency vehicle parking area, and an emergency beacon is provided at the second fork to enable the emergency treatment vehicle to enter the emergency vehicle docking area. The second fork moves and stops at the emergency beacon.

Optionally, the rail system further includes: a first level and a second level disposed at an intersection area of the road used by the rail vehicle and the road used by the other vehicle;

The first level is used to block or release the rail vehicle through the intersection area;

The second level is used to block or release other vehicles through the intersection area.

In a fourth aspect, the present invention provides a transportation system comprising: a central computer, the rail vehicle provided by the present invention, and the rail system provided by the present invention;

The central computer sends a movement request to the rail vehicle that moves along the rail system in accordance with the movement request.

Optionally, the central computer is further configured to schedule the rail vehicle according to the direction information of the pedestrian or the cargo.

Optionally, the central computer is further configured to predict predicted direction information of the current pedestrian or cargo according to the history of the pedestrian or the cargo, and schedule the rail vehicle according to the predicted destination information.

Optionally, the central computer is further configured to release the vehicle state and the road state in the transportation system to the outside at set time intervals.

Optionally, the transportation system further includes: at least one of a vehicle stopping station, an emergency vehicle parking area, and an emergency handling vehicle;

The vehicle docking station is configured to dock the rail vehicle for pedestrians or cargo to enter and exit the rail vehicle;

The emergency vehicle docking area and a rail vehicle for docking the emergency handling vehicle, and/or malfunctioning;

The emergency treatment vehicle is configured to drag a failed rail vehicle into the emergency vehicle landing area when a traveling rail vehicle fails.

According to a first aspect of the present invention, the rail vehicle control system implements positioning based on a rail belt and receives a movement request transmitted by a central computer based on a track sensor, an information transceiver, and a movement control device, and further controls the rail vehicle according to the movement request Move along the rail belt. The rail vehicle control system has a simple structure and can be converted into a rail vehicle by being installed on an existing vehicle, and is further applied to the transportation system provided by the present invention, which can greatly improve the utilization rate of roads and vehicles, and reduce the number of vehicles. In order to solve traffic congestion, parking difficulties and other issues, while reducing vehicle exhaust pollution.

The rail vehicle provided by the second aspect of the present invention has the same advantageous effects as the above-described rail vehicle control system based on the same inventive concept.

The rail system provided by the third aspect of the invention is implemented in cooperation with the rail vehicle, the rail system does not need to change the existing urban planning, nor does it need to construct a special viaduct or a dedicated track, only on the existing road. By adding rail belts and beacons, the guidance of the rail vehicle can be realized, the modification is simple, the cost is low, and the application to the transportation system provided by the invention can greatly improve the utilization rate of the road and the vehicle, and reduce the number of vehicles. In order to solve traffic congestion, parking difficulties and other issues, while reducing vehicle exhaust pollution.

The transportation system proposed by the fourth aspect of the present invention utilizes the vehicles and roads of the existing road traffic system to be reconstructed, and realizes the automatic transportation along the guide rail belt under the computer scheduling, which not only has the advantages of rail transit, but also avoids its disadvantages. low cost. The vehicle of this system can run on the road for a long time, and its moving path can be adjusted according to needs, which greatly improves the utilization rate of roads and vehicles, reduces the number of vehicles, solves the problem of traffic congestion, and solves the problem of parking difficulty. The pollution caused by the vehicle is greatly reduced.

DRAWINGS

In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings to be used in the specific embodiments or the description of the prior art will be briefly described below. In all the figures, like elements or parts are generally identified by like reference numerals. In the figures, elements or parts are not necessarily drawn to scale.

FIG. 1 is a schematic diagram of a transportation system according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a receiver array-based navigation sensor according to an embodiment of the present invention for acquiring a relative position of a vehicle with a rail belt as a reference;

FIG. 3 is a schematic diagram of an isolation device according to an embodiment of the present invention;

4 is a schematic diagram of a vehicle docking station provided by an embodiment of the present invention;

FIG. 5 is a schematic diagram showing a level setting of an intersection area according to an embodiment of the present invention; FIG.

FIG. 6 is a schematic diagram of an emergency vehicle parking area according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of an emergency handling vehicle handling a faulty rail vehicle according to an embodiment of the present invention; FIG.

In the picture,

1 denotes a road, 2 denotes a rail belt, 3 denotes a beacon, 4 denotes a rail vehicle, 5 denotes a central computer, 6 denotes information transmission between the central computer and the beacon, and 7 denotes information transmission between the beacon and the rail vehicle, 10 Indicates a navigation sensor, 11 denotes an information transceiver, 12 denotes a road used by other vehicles, and 13 denotes an isolation device;

20 denotes a positioning signal emitted or reflected by the rail, 21 denotes a receiver that receives the positioning signal, 22 denotes a receiver that does not receive the positioning signal, 23 denotes a projection of the rail belt on the navigation sensor, and 24 denotes a positioning reference of the rail vehicle Line 25 denotes a distance detecting device, 26 denotes an obstacle detecting device in front of the vehicle, and 27 denotes an obstacle detecting device behind the vehicle;

30 denotes a first fork, 33 denotes a rail which separates the rail vehicle from the road and other areas, and 34 denotes a door;

40 denotes an intersection area, 42 denotes a first level, and 41 denotes a second level;

50 denotes an emergency handling vehicle, 51 denotes an emergency vehicle parking area, 52 denotes a second fork, and 53 denotes a faulty rail vehicle.

detailed description

The embodiments of the technical solution of the present invention will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention, and thus are merely exemplary and are not intended to limit the scope of the present invention.

It should be noted that the technical terms or scientific terms used herein should be used in the ordinary meaning as understood by those skilled in the art to which the invention belongs, unless otherwise stated.

As shown in FIG. 1, a schematic diagram of a transportation system provided by an embodiment of the present invention is shown. The transportation system includes: a central computer 5, a rail vehicle 4, and a track system; the central computer 5 can The rail vehicle 4 transmits a movement request, and the rail vehicle 4 moves along the rail system in accordance with the movement request.

Wherein, the rail vehicle 4 is configured with a rail vehicle control system, and the rail vehicle 4 can be manually driven or automatically operated under the control of the rail vehicle control system, and can be in both manual driving and automatic running states. During the switching, the rail vehicle 4 moves along the rail belt 2 under the control of the rail vehicle control system in an automatic running state.

The rail vehicle 4 can be modified based on public transportation vehicles such as existing buses and buses, and only needs to be installed on the existing vehicle to convert the rail vehicle control system into a rail vehicle 4, which has the transformation Convenient, low cost, compatible with existing public transportation tools, easy to implement and so on.

The rail vehicle control system includes: a navigation sensor 10, an information transceiver device 11 and a movement control device;

The navigation sensor 10 and the information transceiver device 11 are all communicatively connected to the mobile control device;

The navigation sensor 10 determines the relative position of the vehicle with reference to the rail belt 2 by acquiring the projection 23 of the rail belt 2 mounted above the road 1 on the navigation sensor 10, and transmits the relative position of the vehicle to the movement Control device

The information transceiving device 11 is communicably connected to a beacon 3 disposed along the rail belt 2, and is communicably connected to the remotely disposed central computer 5 via the beacon 3 for receiving the mobile request sent by the central computer 5. And transmitting the mobile request to the mobile control device;

The movement control device controls the rail vehicle 4 to move along the rail belt 2 in accordance with the movement request in accordance with the relative position of the vehicle in an automatic operation state.

The navigation sensor 10 has various embodiments, one of which can be implemented by a receiver array, as shown in FIG. 2, which shows a receiver array-based navigation sensor for acquiring a rail vehicle according to an embodiment of the present invention. Schematic diagram of the relative position of the vehicle with reference to the rail strip, the receiver array consisting of a plurality of arrayed positioning signal receivers, the rail strips 2 being disposed above the rail vehicle 4, the receiver array a positioning signal 20 for receiving or reflecting the rail belt 2, and determining a projection 23 of the rail belt 2 on the receiver array according to the positioning signal, and the projection 23 and the rail vehicle The positioning reference line 24 of 4 is compared, and the relative position of the vehicle with the rail belt 2 as a reference is determined based on the comparison result.

For example, the rail belt 2 is provided with a positioning signal transmitting device, and the positioning signal transmitting device transmits a positioning signal to the receiver array, and then some receivers in the receiver array receive the positioning signal, and some receivers receive the positioning signal. Without the positioning signal, as shown in FIG. 2, the receiver 21 that receives the positioning signal is represented by all black in the figure, thereby distinguishing from the receiver 22 that has not received the positioning signal, so that the receiver array can be based on the receiver. Whether the positioning signal is received determines the projection 23 of the guide rail 2 on the navigation sensor 10, and by comparing the projection 23 with the positioning reference line 24 of the rail vehicle 4, the rail vehicle 4 can be determined based on the comparison result. The rail belt 2 is the reference vehicle relative position (including angle, and/or position).

For another example, the guide rail belt 2 is provided with a positioning signal reflecting device, and the receiver can also emit a positioning signal upward, and then the positioning signal reflected by the rail belt 2 is received at a position where the rail belt 2 is provided. 20, the projection 23 of the guide rail 2 on the navigation sensor 10 can be determined with reference to the above example, and by comparing the projection 23 with the positioning reference line 24 of the rail vehicle 4, it can be determined according to the comparison result. The relative position of the rail vehicle 4 with the rail belt 2 as a reference.

The positioning signal may be any one of light wave, electromagnetic wave or ultrasonic wave.

Another embodiment of the navigation sensor 10 may be composed of at least one camera and an image processing device; wherein the camera is communicatively coupled to the image processing device, and the camera is fixedly mounted to the rail vehicle upwardly 4 is a top portion for taking a real-time image of the rail belt 2 and transmitting the real-time image to the image processing device, the image processing device determining a projection 23 of the rail belt 2 according to the real-time image, and The projection 23 is compared with the positioning reference line 24 of the rail vehicle 4, and the relative position of the rail vehicle 4 with the rail belt 2 as a reference is determined based on the comparison result.

Specifically, in the real-time image captured by the camera, the color of the rail belt is different from the color or brightness of the surrounding environment, so that the image processing apparatus can identify the real-time image by using an existing image recognition technology. a rail belt to determine a projection 23 of the rail belt on the rail vehicle 4, thereby comparing the projection 23 with a positioning reference line 24 of the rail vehicle 4, and determining the rail vehicle 4 based on the comparison result The relative position of the vehicle with reference to the rail belt 2 as a reference.

In an embodiment provided by the present invention, the rail vehicle control system further includes: an obstacle detecting device 27 disposed in front of and/or behind the rail vehicle 4, the obstacle detecting device and the moving a control device communication connection for detecting whether there is an obstacle in front of and/or behind the rail vehicle 4, and transmitting an obstacle detection result to the movement control device, so that the movement control device detects the obstacle according to the obstacle The operation of the rail vehicle 4 is controlled to avoid collision with obstacles in front or behind, and the safety of the rail vehicle 4 is improved.

In another embodiment provided by the present invention, the rail vehicle control system further includes: a distance detecting device 25 disposed on the left side and/or the right side of the rail vehicle 4, the distance detecting device 25 and the a mobile control device communication connection for detecting a distance of the rail vehicle 4 from the left side and/or the right object, and transmitting a distance detection result to the mobile control device, so that the mobile control device is The distance detection result controls the operation of the rail vehicle 4 to avoid a distance from the left or right object being less than a safe distance, thereby causing a safety accident and improving the safety of the rail vehicle 4.

In another embodiment provided by the present invention, the movement control device is coupled to a drive system of the rail vehicle 4 such that the rail vehicle 4 can be controlled to advance, retreat, turn, and stop by the drive system. The rail vehicle 4 is controlled to move in accordance with the movement request.

In another embodiment provided by the present invention, the rail vehicle control system further includes: a self-moving state monitoring device mounted on the rail vehicle 4 for detecting a moving state of the rail vehicle 4 and passing through the The information transmitting and receiving device 11 transmits to the beacon 3, and then transmits the beacon 3 to the central computer 5, so that the central computer 5 can know the moving state of the rail vehicle 4, thereby issuing more accurate, Reasonable movement requirements ensure stable and orderly operation of the entire transportation system.

The rail system includes: a rail belt 2 and a plurality of beacons 3;

The rail belt 2 is mounted above the road 1. The height of the rail belt 2 from the ground is greater than the height of the rail vehicle 4 for reference to the movement of the rail vehicle 4 running under the rail belt 2;

A plurality of the beacons 3 are distributed along the rail belt 2, the beacon 3 is communicatively coupled to the information transceiving device 11 provided on the rail vehicle 4, and communicatively coupled to a remotely located central computer 5 for The mobile request transmitted by the central computer 5 is received, and the mobile request is transmitted to the information transmitting and receiving apparatus 11.

In another embodiment provided by the present invention, the beacon 3 may be implemented by using a wireless communication device, for example, a radio frequency identification (RFID) based beacon or a Bluetooth beacon, etc., which should be Within the scope of protection of the present invention.

The beacons 3 are distributed along the rail belt 2, and on the one hand can realize wireless communication between the central computer 5 and the rail vehicle 4 as a signal forwarding device, as shown by 6 in Fig. 1 between the central computer 5 and the beacon 3. Information transmission, 7 indicates information transmission between the beacon 3 and the rail vehicle 4; on the other hand, each beacon 3 is provided with a unique identification code, and the position and order of the guide rails 2 are also clear, thus, the central The computer 5 can generate the mobile request according to the beacon sequence and the set moving path. In an embodiment provided by the present invention, the content of the mobile request includes: a beacon identification number, a next beacon identification number, and a distance. Information such as the stop permission, the turning angle, the maximum allowable speed, and the like, thereby controlling the rail vehicle 4 to move in accordance with the movement request according to the identification number of the nearby beacon 3 and the relative position of the vehicle with the rail belt 2 as a reference.

It is easy to understand that in order to ensure safety, there can be at most one rail vehicle 4 at a time between adjacent two beacons 3.

In order to ensure the rapid and orderly operation of the rail vehicle 4, and avoiding the lane-affecting travel with other vehicles, as shown in FIG. 3, in another embodiment provided by the present invention, the rail system further includes: The isolation device 13 is isolated from the road 1 used by the rail vehicle 4 and the road 12 used by other vehicles. In the figure, 1 denotes a road used by the

rail vehicle

4, 12 denotes a road 12 used by other vehicles, and 13 denotes an isolating device, and the specific isolating device 13 can be realized by a railing.

As a public transportation mode, the transportation system needs to provide a vehicle docking station for docking the rail vehicle 4 to facilitate pedestrians and goods entering and leaving the rail vehicle 4, as shown in FIG. 4, which shows the implementation of the present invention. A schematic diagram of a vehicle docking station provided with a first fork 30 at a vehicle docking station and a site beacon 3 at the first fork 30 to enable the rail vehicle 4 moves along the first fork 30 when entering the vehicle docking station and stops at the station beacon 3. In order to ensure pedestrian safety, at the vehicle docking station, there is a railing that separates the rail vehicle 4 from the road 1 and other areas. In addition, at the vehicle docking station, a door 34 for the pedestrian or cargo to enter and exit the rail vehicle 4 may be provided, and when a pedestrian or cargo needs to enter the rail vehicle 4, the door 34 is opened; otherwise, the door 34 is closed to block Pedestrians or cargo enter the rail vehicle 4.

In an embodiment provided by the present invention, the site beacon 3 is further configured to receive the going information sent by the mobile terminal, and send the going information to the central computer 5, and receive the central computer 5 according to the Dereferencing the travel advice given to the information and transmitting the travel advice to the mobile terminal.

Considering the compatibility and safety of the transportation system with the existing road 1, as shown in FIG. 5, in an embodiment provided by the present invention, the rail system further includes: a road disposed on the rail vehicle 1 first level 42 and second level 41 of the intersection area 40 of the road 12 used by other vehicles;

The first level 42 is used to block or release the rail vehicle 4 through the intersection area 40;

The second level 41 is used to block or release other vehicles through the intersection area 40.

Specifically, the first level 42 and the second level 41 may be implemented by railings, shift levers, roadblocks, etc., when the rail vehicle 4 passes through the intersection area 40, opening the first level 42 and closing the second level The level 41; when the other vehicle passes the intersection area 40, the first level 42 is closed and the second level 41 is opened.

Considering that the transportation system is equivalent to a semi-closed system, if a certain rail vehicle 4 in operation fails, the traveling of the rear rail vehicle 4 may be affected, and even a safety accident may occur, and therefore, an implementation provided by the present invention is provided. For example, the transportation system is further provided with an emergency treatment vehicle 50 and an emergency vehicle parking area 51 with a preset distance setting. Please refer to FIG. 6 and FIG. 7 , which respectively illustrate an emergency provided by an embodiment of the present invention. Schematic diagram of a vehicle docking area and a schematic diagram of an emergency handling vehicle handling a faulty rail vehicle, the emergency vehicle docking area 51 and a rail vehicle 4 for docking the emergency handling vehicle 50, and/or malfunctioning;

The emergency treatment vehicle 50 is configured to drag a failed rail vehicle 4 into the emergency vehicle landing area 51 when a traveling rail vehicle 4 fails.

The emergency treatment vehicle 50 may be provided with a manual driving function state and accepting a central computer 5 movement request to automatically operate along the rail belt 2, and the two functional states may be switched.

The emergency treatment vehicle 50 is parked in the emergency vehicle parking area when not in use, the rail belt 2 is provided with a second fork 52 in the emergency vehicle parking area 51, and an emergency beacon 3 is provided at the second fork 52 Enabling the emergency treatment vehicle 50 to move along the second fork 52 as it enters the emergency vehicle landing area 51 and to stop at the emergency beacon 3; when the failed rail vehicle 4 appears on the road 1, the The emergency treatment vehicle 50 leaves the emergency vehicle parking area, enters the road 1, and drags the failed railway vehicle 4 away from the road 1, allowing the road 1 to be used by other rail vehicles 4.

In an embodiment provided by the present invention, the central computer 5 is further configured to schedule the rail vehicle 4 according to the direction information of the pedestrian or the cargo to ensure stable, smooth and orderly operation of the transportation system.

In another embodiment provided by the present invention, the central computer 5 is further configured to predict predicted direction information of the current pedestrian or cargo according to the history of the pedestrian or the cargo, and schedule the rail vehicle according to the predicted destination information. In order to ensure the stable, smooth and orderly operation of the transportation system.

In still another embodiment provided by the present invention, the central computer 5 is further configured to release the vehicle state and the road 1 state in the transportation system to the outside at a set time interval, so that the pedestrian or other vehicle knows the real-time. The operation status of the transportation system and reasonable arrangement of travel plans.

In an embodiment provided by the present invention, the rail vehicle 4 operates in an automatic operation state as follows:

S11, the rail vehicle 4 moves according to the rail belt 2 that needs to be detected;

S12, the rail vehicle 4 detects the state of the rail 2, the state of the beacon 3, the state of the road 1, and the state of communication with the central computer 5;

S13, the rail vehicle 4 stores the status information in the vehicle or transmits it to the central computer 5 in real time.

In one embodiment provided by the present invention, the central computer 5 schedules the rail vehicle 4 and issues vehicle status and road 1 status information as follows:

S21, collecting current information of the person or the goods;

S22, predicting the current pedestrian or cargo destination demand according to the historical information;

S23, combining the current destination and the predicted destination to dispatch the vehicle;

S24, releasing vehicle status and road 1 status information to the outside world.

In another embodiment provided by the present invention, the pedestrian can obtain the travel advice given by the central computer 5 by the following steps:

S31, the pedestrian sends the information to the beacon 3 through the mobile phone;

S32, beacon 3 will send the information to the central computer 5;

S33, the central computer 5 gives a travel suggestion according to the going information;

S34, travel suggests to reach the pedestrian mobile phone via beacon 3.

The solution proposed by the invention utilizes the vehicles and roads of the existing road traffic system to be reconstructed, realizes the automatic transportation along the guide rail belt under the computer scheduling, has the advantages of the rail transit, avoids the disadvantages thereof, and has low cost. The rail vehicle of the system can run on the road for a long time, and the moving path can be adjusted according to needs, which greatly improves the utilization rate of the road and the vehicle, reduces the number of vehicles, solves the problem of traffic congestion, and solves the problem of parking difficulty. At the same time, the pollution caused by the vehicle is greatly reduced.

In the description of the present application, the terms "first", "second" and the like are used for descriptive purposes only, and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, the meaning of "a plurality" is two or more unless specifically and specifically defined.

In the present application, the terms "installation", "connected", "connected", "fixed" and the like shall be understood broadly, and may be either a fixed connection or a detachable connection, unless otherwise explicitly stated and defined. , or integrated; can be mechanical connection, or can be electrical connection; can be directly connected, or can be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction of two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.

In the present application, the first feature "on" or "below" the second feature may be the direct contact of the first and second features, or the first and second features are indirectly through the intermediate medium, unless otherwise explicitly stated and defined. contact. Moreover, the first feature "above", "above" and "above" the second feature may be that the first feature is directly above or above the second feature, or merely that the first feature level is higher than the second feature. The first feature "below", "below" and "below" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely that the first feature level is less than the second feature.

In the description of the invention, numerous specific details are illustrated. However, it is understood that the embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques are not shown in detail so as not to obscure the understanding of the description.

In the description of the present specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like means a specific feature described in connection with the embodiment or example. A structure, material or feature is included in at least one embodiment or example of the invention. In the present specification, the schematic representation of the above terms is not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, various embodiments or examples described in the specification, as well as features of various embodiments or examples, may be combined and combined.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. The scope is intended to be included within the scope of the claims and the description of the invention.

Claims

A rail vehicle control system, comprising: a navigation sensor, an information transceiver device and a movement control device;

Wherein, the navigation sensor and the information transceiver are both communicatively connected to the mobile control device;

The navigation sensor determines a relative position of the vehicle with reference to the rail belt by acquiring a projection of the rail belt mounted on the road above the road, and transmitting the relative position of the vehicle to the movement control device;

The information transceiving device is communicably connected with a beacon disposed along the rail belt, and is communicably connected to a remotely disposed central computer via the beacon for receiving a mobile request sent by the central computer, and moving the mobile Requesting to be sent to the mobile control device;

The movement control device controls the rail vehicle to move along the rail belt according to the movement requirement according to the relative position of the vehicle in an automatic operation state.
The rail vehicle control system of claim 1 wherein said navigation sensor comprises: a receiver array comprised of a plurality of positioning signal receivers;

The receiver array determines a projection of the rail belt on the receiver array according to a positioning signal emitted or reflected by the rail belt, and compares the projection with a positioning reference line of the rail vehicle, and according to The comparison results determine the relative position of the vehicle with the rail belt as a reference.
The rail vehicle control system according to claim 1, wherein said navigation sensor comprises: at least one camera and image processing device;

The camera is communicatively coupled to the image processing device, the camera is fixedly mounted on the top of the rail vehicle for capturing a real-time image of the rail belt, and transmitting the real-time image to the image processing device And the image processing device determines a projection of the rail belt according to the real-time image, compares the projection with a positioning reference line of the rail vehicle, and determines, according to the comparison result, the rail vehicle with the rail belt Refer to the relative position of the vehicle.
The rail vehicle control system according to claim 1, further comprising: an obstacle detecting device disposed in front of and/or behind the rail vehicle, the obstacle detecting device communicating with the mobile control device The connection is for detecting whether there is an obstacle in front of the rail vehicle, and/or behind, and transmitting an obstacle detection result to the movement control device.
The rail vehicle control system according to claim 1, further comprising: distance detecting means disposed on a left side and/or a right side of said rail vehicle, said distance detecting means communicating with said mobile control means A connection for detecting a distance of the rail vehicle from the left side and/or the right object, and transmitting the distance detection result to the mobile control device.
A rail vehicle characterized in that the rail vehicle is equipped with the rail vehicle control system according to any one of claims 1 to 5, and the rail vehicle is controlled in the rail vehicle control system in an automatic running state. The lower rail moves along the rail.
A track system, comprising: a track strip and a plurality of beacons;

The rail belt is erected above the road, and the height of the rail belt from the ground is greater than the height of the rail vehicle for reference to the movement of the rail vehicle running under the rail belt;

a plurality of the beacons are distributed along the rail belt, the beacon is communicatively coupled to an information transceiver disposed on the rail vehicle, and is in communication with a remotely located central computer for receiving the central computer to transmit Mobile requirements and send the mobile request to the information transceiver.
The track system according to claim 7, further comprising: an isolating device that isolates the road used by the rail vehicle from the road used by other vehicles.
The track system according to claim 7, wherein said rail belt is provided with a first fork at a vehicle docking station, and a station beacon is provided at said first branch to cause said rail vehicle to Moving along the first fork when entering the vehicle docking station and docking at the site beacon.
The track system according to claim 9, wherein the site beacon is further configured to receive the forward direction information sent by the mobile terminal, and send the go direction information to the central computer, and receive the central computer according to the The travel advice given by the destination information is sent to the mobile terminal.
The track system according to claim 7, wherein the rail belt is provided with a second fork in the emergency vehicle parking area, and an emergency beacon is provided at the second fork to enable the emergency handling vehicle to Moving along the second fork when entering the emergency vehicle parking area, and stopping at the emergency beacon.
The track system according to claim 7, further comprising: a first level and a second level disposed at an intersection area of the road used by the rail vehicle and the road used by the other vehicle;

The first level is used to block or release the rail vehicle through the intersection area;

The second level is used to block or release other vehicles through the intersection area.
A transportation system, comprising: a central computer, the rail vehicle of claim 6, and the rail system of any one of claims 7-12;

The central computer sends a movement request to the rail vehicle that moves along the rail system in accordance with the movement request.
The transport system of claim 13 wherein said central computer is further operative to schedule said rail vehicle based on whereabouts information of a pedestrian or cargo.
The transportation system according to claim 13, wherein said central computer is further configured to predict predicted destination information of the current pedestrian or cargo based on the history of the pedestrian or the cargo, and schedule said orbit according to said predicted destination information vehicle.
The transportation system according to claim 13, wherein said central computer is further configured to issue vehicle status and road status within said transportation system to the outside at set time intervals.
The transport system of claim 13 further comprising: at least one of a vehicle docking station, an emergency vehicle docking area, and an emergency handling vehicle;

The vehicle docking station is configured to dock the rail vehicle for pedestrians or cargo to enter and exit the rail vehicle;

The emergency vehicle docking area and a rail vehicle for docking the emergency handling vehicle, and/or malfunctioning;

The emergency treatment vehicle is configured to drag a failed rail vehicle into the emergency vehicle landing area when a traveling rail vehicle fails.