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WO2023214115A1 - A rapid transit system and a method for exchanging an energy module - Google Patents

A rapid transit system and a method for exchanging an energy module Download PDF

Info

Publication number
WO2023214115A1
WO2023214115A1 PCT/FI2023/050235 FI2023050235W WO2023214115A1 WO 2023214115 A1 WO2023214115 A1 WO 2023214115A1 FI 2023050235 W FI2023050235 W FI 2023050235W WO 2023214115 A1 WO2023214115 A1 WO 2023214115A1
Authority
WO
WIPO (PCT)
Prior art keywords
energy module
transferring
unit
energy
vehicle
Prior art date
Application number
PCT/FI2023/050235
Other languages
French (fr)
Inventor
Jussi Niemioja
Original Assignee
Udt Technologies Oy
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Udt Technologies Oy filed Critical Udt Technologies Oy
Publication of WO2023214115A1 publication Critical patent/WO2023214115A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B3/00—Elevated railway systems with suspended vehicles
    • B61B3/02—Elevated railway systems with suspended vehicles with self-propelled vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61C—LOCOMOTIVES; MOTOR RAILCARS
    • B61C3/00—Electric locomotives or railcars
    • B61C3/02—Electric locomotives or railcars with electric accumulators
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B25/00—Tracks for special kinds of railways
    • E01B25/22—Tracks for railways with the vehicle suspended from rigid supporting rails
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M10/00—Secondary cells; Manufacture thereof
    • H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
    • H01M10/44—Methods for charging or discharging
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M50/00—Constructional details or processes of manufacture of the non-active parts of electrochemical cells other than fuel cells, e.g. hybrid cells
    • H01M50/20—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders
    • H01M50/204—Racks, modules or packs for multiple batteries or multiple cells
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M2220/00—Batteries for particular applications
    • H01M2220/20—Batteries in motive systems, e.g. vehicle, ship, plane
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M2250/00—Fuel cells for particular applications; Specific features of fuel cell system
    • H01M2250/20—Fuel cells in motive systems, e.g. vehicle, ship, plane

Definitions

  • the present invention relates to a rapid transit system and a method for exchanging an energy module.
  • Rapid transit systems powered by an electrified track comprise a high cost, maintenance and reliability challenges with moving power connections and multiple safety issues.
  • Rapid transit systems having vehicles powered by batteries suffer from separate charging stations because charging of the vehicles takes much time leading to a low utilization percentage, i.e. the vehicles stand idle in the charging station instead of carrying people or goods.
  • Document US 7921782 discloses an individual transportation system that includes a track system, a plurality of carriages supported by the track system and a plurality of passenger vehicles to be engaged to the carriages.
  • the transportation system includes a storage facility for storing the vehicles when they are disengaged from the carriage.
  • An object of the present invention is to provide a system and a method to overcome the above problems.
  • the objects of the invention are achieved by a system and a method which are characterized by what is stated in the independent claims.
  • the preferred embodiments of the invention are disclosed in the dependent claims.
  • the invention is based on the idea of using energy module powered vehicles that do not require separate charging stations.
  • the energy modules may be e.g. batteries, or fuel cells, such as hydrogen fuel cells.
  • a rapid transit [RT] system is for moving people and/or goods to desired destinations.
  • the rapid transit system [RT] may be a personal rapid transit system [PRT] for people, or it may be for delivering goods, or it may act in both above-mentioned fields.
  • the rapid transit system comprises a suspended track provided with platforms for loading or unloading people or goods.
  • the suspended track comprises a main track and side tracks for entering and exiting the platforms.
  • the suspended track is above the ground level and the platforms are elevated.
  • the platforms are typically at least in a height of 1.6 meters above the ground level.
  • the platforms may also be integrated in buildings.
  • the rapid transit system described in this text may be a part of a rapid transit ecosystem (RTE).
  • the rapid transit ecosystem means a transit system that interlinks various transit systems, e.g. the rapid transit system, trams, and buses.
  • At least one driverless energy module driven vehicle is arranged to move along the suspended track although typically more than one vehicle is arranged to move along the suspended track.
  • the driverless vehicles hang from the suspended track.
  • the vehicles have a drive and braking system, at least one sensing system and a programmable control, such as a programmable logic control.
  • the vehicle is driven by using a control system of the vehicle and a control system of the suspended track.
  • the control system of the vehicle is arranged to control the vehicle to move timely and at a right speed.
  • the control system of the suspended track is arranged to control switches of the track and group vehicles e.g. into an appropriate parking order.
  • the vehicles comprise a cabin for passengers or goods.
  • the cabin may be provided with transparent doors.
  • a passenger may get on the vehicle on one platform and get off the vehicle on another platform.
  • the vehicle may typically carry one to four people.
  • the vehicle can also be utilized in delivering goods.
  • a supplier may put a package on a vehicle and a buyer may pick up the package from the vehicle on a platform near the buyer's home, for example.
  • the rapid transit system may also comprise an automatic loading and/or unloading for the packages.
  • each vehicle has an energy module receiving space.
  • the energy module receiving space may be accessible through the bottom of the vehicle.
  • the back up may be required in fault situations, e.g. when the main energy module is damaged.
  • the main energy module may charge the additional energy module.
  • At least one of the platforms may comprise a circulating energy module storing unit that may be e.g. a circulating battery storing unit.
  • the circulating energy module storing unit has a certain circulating direction.
  • the unit may circulate horizontally or vertically.
  • the unit may circulate in more than one layer.
  • the circulating energy module storing unit comprises sequential positions for energy modules at predetermined intervals. One or more positions are empty.
  • At least one of the platforms may comprise a stationary energy module storing unit that may be e.g. a stationary battery storing unit.
  • the stationary energy module storing unit comprises a row of positions for energy modules at predetermined intervals. One or more positions are empty.
  • the rapid transit system also comprises a transferring unit that has been arranged to transfer energy modules between the energy module storing unit and the vehicle.
  • the transferring unit may move vertically, sideways, or back and forth. It is also possible that the transferring unit moves in such a manner that the movement has different phases, e.g. one phase has a movement vertically and one phase has a movement sideways.
  • the transferring unit may comprise a gripper for gripping the energy module.
  • a change of an energy module of a vehicle takes place during a stop for loading or unloading people or goods on a platform, i.e. the platform is an integrated passenger and energy module exchange station.
  • the suspended track has switches that guide the vehicle to the platform from the main track and out from the platform to the main track.
  • the vehicle is stopped on the platform to a predetermined place where the energy module is in the range of the transferring unit.
  • a first energy module in the vehicle is removed and a second energy module is transferred to the energy module receiving space in the vehicle by the transferring unit.
  • the transferring unit transfers the first energy module from the energy module receiving space of the vehicle to the empty position of the circulating energy module storing unit. Thereafter the circulating energy module storing unit is rotated in order to transfer the second energy module, i.e. a energy module that is the nearest to the transferring unit, from the circulating energy module storing unit.
  • the circulating energy module storing unit is circulated so that the next position having the charged energy module is in the range of the transferring unit.
  • the second energy module is removed from its position and transferred to the energy module receiving space.
  • the change of the energy module is repeated in the same manner every time when a vehicle requires a new energy module.
  • there may be simultaneous changes concerning the same circulating energy module storing unit if the unit serves more that one platform.
  • the empty positions shall be arranged accordingly. Further, more than one transferring unit and circulating energy module storing unit may work simultaneously on the same platform.
  • the transferring unit is movable and the energy module storing unit is stationary.
  • the energy module storing unit has no moving parts and the transferring unit may pick up or return the energy modules outside the stop period of the vehicle, i.e. there are really short stops.
  • the transferring unit comprises at least one vacant seat and at least one seat comprising an energy module that the transferring unit has picked up from the energy module storing unit.
  • the transferring unit transfers the first energy module from the energy module receiving space of the vehicle to the vacant seat of the transferring unit. Thereafter the transferring unit transfers the second energy module to an empty position of the stationary energy module storing unit.
  • the change of the energy module is repeated according to the same principle every time when a vehicle requires a new energy module. However, there may be simultaneous changes concerning the same transferring unit if the unit serves more that one platform. The empty positions shall be arranged accordingly. Further, more than one transferring unit and stationary energy module storing unit may work simultaneously on the same platform.
  • the energy modules may be charged and changed according to a need, i.e. a energy module may be charged and their charging can be optimised in view of technological or financial requirements.
  • a loading station for charging energy modules comprises a power supply, one or more independent energy module charging devices and appropriate connections.
  • Figure 1 shows a principle of a track system of a rapid transit system from above
  • Figure 2 shows a front view of a driverless vehicle
  • Figure 3 shows a front view of a suspended track, driverless vehicles and a platform
  • Figure 4 shows a schematic view of a battery storing unit from above
  • Figure 5 shows another schematic view of a battery storing unit from above
  • Figures 6 and 7 show side views of a suspended track, driverless vehicles and a platform
  • Figure 8 shows a schematic view of a battery storing unit and a transferring unit from above.
  • FIGS 1 to 8 deal with systems comprising energy modules that are batteries.
  • the energy modules may as well be fuel cells, such as hydrogen fuel cells, or any other energy module that is interchangeable.
  • a skilled person is capable of modifying the system according to the type of the energy module.
  • FIG 1 shows a principle of a track system of a rapid transit [RT] system 1 from above.
  • the RT system comprises a suspended track 2, switches 3 and platforms 4.
  • the suspended track 2 comprises a main track 2a and side tracks 2b.
  • At least one driverless vehicle 5 (see Fig. 2) moves along the suspended track 2.
  • the switches 3 guide the driverless vehicle from the main track 2a via the side track 2b to a platform 4 or via the side track 2b from the platform 4 to the main track 2a.
  • the switches 3 also guide the driverless vehicle 5 to pass the platform 4 if there is not a need to stop at the platform 4.
  • Figure 2 shows a front view of a driverless vehicle 5.
  • the driverless vehicle 5 hangs from a suspended track 2.
  • the vehicle 5 has means that are compatible with the track 2 so that the vehicle 5 is capable of moving along the track 2.
  • the vehicle 5 comprises a drive and braking system 13.
  • the vehicle 5 comprises an interior 6 that is used for transporting people or goods.
  • the interior has an entrance that may comprise a transparent door system.
  • the vehicle 5 may comprise at least one sensing system 7, a programmable controller 8 and an interface 9.
  • the programmable controller 8 is arranged to read sensors of the sensing system 7 that may comprise speed sensors and/or range sensors.
  • the programmable controller 8 also controls an electric motor of the vehicle 5.
  • the interface 9 may show information about e.g. a progress of a journey, or it may be used for adjusting parameters inside a cabin, e.g. a temperature.
  • the driverless vehicle 5 is battery driven.
  • the driverless vehicle 5 comprises a space 10 for a battery 11.
  • the space 10 is preferably accessible through the bottom of the vehicle 5.
  • the access may be arranged from a side of the vehicle 5.
  • the space 10 comprises a main battery 11 and an additional battery 12.
  • the main battery 11 drives the vehicle 5 and charges the additional battery 12.
  • the additional battery 12 backs up the main battery 12 when the main battery 12 runs out of power unexpectedly.
  • Figure 3 shows a front view of a RT system comprising a suspended track 2, driverless vehicles 5 and a platform 4.
  • the driverless vehicles 5 hang from the suspended track 2 and move along it.
  • the vehicles 5 stop on the platform 4 for loading or unloading people or goods.
  • the main battery 11 is changed e.g. if the battery voltage has fallen below the normal operating voltage, or it is estimated that a low battery warning may appear during the next ride, or the price of electricity is favourable.
  • the platform 4 comprises a battery storing unit 14 that comprises multiple batteries 11.
  • the platform 4 also comprises a transferring unit (shown by a double arrow 15).
  • the vehicle 5 is stopped on the platform 4 to a predetermined place where a first battery 11 in the battery receiving space 10 is in the range of the transferring unit 15.
  • the transferring unit 15 transfers the first battery 11 from the battery receiving space 10 of the vehicle 5 to the empty position of the battery storing unit 14.
  • the battery storing unit 14 is moved in order to transfer a second battery 11 near the transferring unit 14, i.e. the unit 14 is moved so that the position having the charged battery 11 is in the range of the transferring unit 14.
  • the second battery 11 is removed from the position and transferred to the battery receiving space 10.
  • the change of the battery is repeated in the same manner every time when a vehicle 5 requires a new battery 11. However, there may be simultaneous changes concerning the same battery storing unit 14 if the unit 14 simultaneously serves more than one vehicle 5.
  • the empty positions shall be arranged accordingly.
  • Figures 4 and 5 show a schematic view of a battery storing unit 14 from above.
  • Figure 4 shows three platforms 4 that can serve three vehicles 5 simultaneously and twenty two positions 16 for batteries 11 from which six are empty positions E and sixteen positions 16 are provided with batteries (boxes with diagonals).
  • the battery storing unit rotates in a direction D.
  • a transferring unit 15 removes a battery 11 from a battery receiving space 10 and transfers it to one of the empty positions E.
  • the batteries 11 that have been placed in the empty positions E are removed from the battery storing unit 14 to a loading station. Thereafter the battery storing unit 14 rotates in such a manner that new batteries are at the range of the transferring unit 15.
  • the transferring unit 15 transfers a new battery to the battery receiving space 10. As the new batteries 11 are removed there are new empty spaces E for used batteries so that there is readiness to change batteries again.
  • Figure 5 shows multiple battery storing units 14.
  • the operating principle is the same as in connection with figure 4 but one large battery storing unit 14 is split into smaller units. The smaller units can operate separately from each other.
  • FIG. 6 shows a side view of an RT system comprising a suspended track 2, driverless vehicles 5 and a platform 4.
  • the RT system of Fig. 6 is otherwise identical to that of Fig. 3 but the battery storing unit 14 and the transferring unit 15 may be distinct from the battery storing unit 14 of Fig. 3.
  • the platform 4 comprises a circulating battery storing unit 14 that comprises multiple batteries 11.
  • the platform 4 also comprises a transferring unit (shown by an arrow 15).
  • the vehicle 5 is stopped on the platform 4 to a predetermined place where a first battery 11 in the battery receiving space 10 is in the range of the transferring unit 15.
  • the transferring unit 15 transfers the first battery 11 from the battery receiving space 10 of the vehicle 5 to the empty position of the circulating battery storing unit 14.
  • the circulating battery storing unit 14 is moved in order to transfer a second battery 11 near the transferring unit 14, i.e. the unit 14 is moved so that the position having the charged battery 11 is in the range of the transferring unit 14.
  • the second battery 11 is removed from the position and transferred to the battery receiving space 10.
  • the transferring unit 15 of Fig. 6 moves up and down and sideways. As the transferring unit 15 moves sideways a placing of the vehicle 5 and the battery storing unit 14 in respect of each other is quite free.
  • FIG. 7 shows a side view of an RT system comprising a suspended track 2, driverless vehicles 5 and a platform 4.
  • the RT system of Fig. 7 is otherwise identical to those of Figs. 3 and 6 but the battery storing unit 14 and the transferring unit 15 may be distinct from the battery storing unit 14 of Figs. 3 and 6.
  • the platform 4 comprises a circulating battery storing unit 14 that comprises multiple batteries 11.
  • the platform 4 also comprises a transferring unit (shown by an arrow 15).
  • the vehicle 5 is stopped on the platform 4 to a predetermined place where a first battery 11 in the battery receiving space 10 is in the range of the transferring unit 15.
  • the transferring unit 15 transfers the first battery 11 from the battery receiving space 10 of the vehicle 5 to the empty position of the circulating battery storing unit 14.
  • the circulating battery storing unit 14 is moved in order to transfer a second battery 11 near the transferring unit 14, i.e. the unit 14 is moved so that the next position having the charged battery 11 is in the range of the transferring unit 14.
  • the second battery 11 is removed from the position and transferred to the battery receiving space 10.
  • the transferring unit 15 of Fig. 7 moves up and down, i.e. the transferring unit has a short and quick movement for changing batteries.
  • FIG 8 shows a schematic view of two parallel battery storing units 14 and two transferring units 15 from above. There is also a passenger station P between the battery storing units 14 (the battery storing units are exaggerated in scale).
  • the battery storing unit 14 comprises stationary positions 16 for batteries. At least one of the positions 16 is empty. Each position 16 is provided with a charging unit 17.
  • An electrical circuit 18 surrounds each battery storing unit 14.
  • the transferring unit 16 comprises at least two seats 19 for batteries. One of the seats 19 is vacant so that it can receive a used battery from a vehicle 5, or it can receive a charged battery from the battery storing unit 14.
  • the transferring unit 16 comprises at least one gripper that is capable of gripping to the battery.
  • the transferring unit 16 moves back and forth between rows 20 comprising sequential positions 16 for batteries.
  • a vacant seat V receives a battery from the vehicle 5 and a seat 19 provided with a battery delivers the battery to the vehicle 5. Thereafter the transferring unit 16 moves to the side of the empty position E and delivers the battery from the vehicle 5 to the empty position E.
  • the other seat 19 receives a charged battery from one of the positions 16.
  • the electrical circuit 18 supplies energy to the battery storing unit 14. It is also possible to optimize energy consumption by monitoring the electrical circuit 18, i.e. it is possible to charge the batteries whenever it is cost-effective.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • General Chemical & Material Sciences (AREA)
  • Manufacturing & Machinery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

A rapid transit system (1) comprises a suspended track (2) provided with platforms (4) for loading or unloading people or goods and at least one driverless vehicle (5) arranged to move along the suspended track (2). The driverless vehicle is driven by an interchangeable energy module (11) and the driverless vehicle (5) has a receiving space (10) for the energy module (11). At least one of the platforms (4) comprises an energy module storing unit (14) comprising positions (16) for energy modules (11) and a transferring unit (15) for transferring energy modules (11) between the energy module storing unit (14) and the receiving space (10) of the vehicle (5). A method for exchanging an energy module (11) is also disclosed.

Description

A RAPID TRANSIT SYSTEM AND A METHOD FOR EXCHANGING AN ENERGY MODULE
FIELD OF THE INVENTION
The present invention relates to a rapid transit system and a method for exchanging an energy module.
BACKGROUND OF THE INVENTION
Problems related to rapid transit systems powered by an electrified track comprise a high cost, maintenance and reliability challenges with moving power connections and multiple safety issues. Rapid transit systems having vehicles powered by batteries suffer from separate charging stations because charging of the vehicles takes much time leading to a low utilization percentage, i.e. the vehicles stand idle in the charging station instead of carrying people or goods.
Document US 7921782 discloses an individual transportation system that includes a track system, a plurality of carriages supported by the track system and a plurality of passenger vehicles to be engaged to the carriages. The transportation system includes a storage facility for storing the vehicles when they are disengaged from the carriage.
An object of the present invention is to provide a system and a method to overcome the above problems. The objects of the invention are achieved by a system and a method which are characterized by what is stated in the independent claims. The preferred embodiments of the invention are disclosed in the dependent claims.
The invention is based on the idea of using energy module powered vehicles that do not require separate charging stations. The energy modules may be e.g. batteries, or fuel cells, such as hydrogen fuel cells.
Advantages of the present system are:
Maintenance costs of a track are low. There are not open power connections or powerlines. Vehicles are fully available, i.e. an energy module change does not take excess time so the whole transport capacity is available constantly. Energy modules may be charged according to a need and their charging can be optimised in view of technological or financial requirements.
A rapid transit [RT] system is for moving people and/or goods to desired destinations. The rapid transit system [RT] may be a personal rapid transit system [PRT] for people, or it may be for delivering goods, or it may act in both above-mentioned fields. The rapid transit system comprises a suspended track provided with platforms for loading or unloading people or goods. The suspended track comprises a main track and side tracks for entering and exiting the platforms. The suspended track is above the ground level and the platforms are elevated. The platforms are typically at least in a height of 1.6 meters above the ground level. The platforms may also be integrated in buildings.
The rapid transit system described in this text may be a part of a rapid transit ecosystem (RTE). The rapid transit ecosystem means a transit system that interlinks various transit systems, e.g. the rapid transit system, trams, and buses.
At least one driverless energy module driven vehicle is arranged to move along the suspended track although typically more than one vehicle is arranged to move along the suspended track. The driverless vehicles hang from the suspended track. The vehicles have a drive and braking system, at least one sensing system and a programmable control, such as a programmable logic control. The vehicle is driven by using a control system of the vehicle and a control system of the suspended track. The control system of the vehicle is arranged to control the vehicle to move timely and at a right speed. The control system of the suspended track is arranged to control switches of the track and group vehicles e.g. into an appropriate parking order.
The vehicles comprise a cabin for passengers or goods. The cabin may be provided with transparent doors.
A passenger may get on the vehicle on one platform and get off the vehicle on another platform. The vehicle may typically carry one to four people. The vehicle can also be utilized in delivering goods. A supplier may put a package on a vehicle and a buyer may pick up the package from the vehicle on a platform near the buyer's home, for example. The rapid transit system may also comprise an automatic loading and/or unloading for the packages.
As the vehicles are driven by an energy module each vehicle has an energy module receiving space. The energy module receiving space may be accessible through the bottom of the vehicle. Besides the above-mentioned energy module, i.e. the energy module that drives the vehicle, there is an additional energy module for backing up the main energy module. The back up may be required in fault situations, e.g. when the main energy module is damaged. The main energy module may charge the additional energy module.
According to a first option, at least one of the platforms may comprise a circulating energy module storing unit that may be e.g. a circulating battery storing unit. The circulating energy module storing unit has a certain circulating direction. The unit may circulate horizontally or vertically. The unit may circulate in more than one layer. The circulating energy module storing unit comprises sequential positions for energy modules at predetermined intervals. One or more positions are empty.
According to a second option, at least one of the platforms may comprise a stationary energy module storing unit that may be e.g. a stationary battery storing unit. The stationary energy module storing unit comprises a row of positions for energy modules at predetermined intervals. One or more positions are empty.
The rapid transit system also comprises a transferring unit that has been arranged to transfer energy modules between the energy module storing unit and the vehicle. Depending on the structure of the energy module storing unit the transferring unit may move vertically, sideways, or back and forth. It is also possible that the transferring unit moves in such a manner that the movement has different phases, e.g. one phase has a movement vertically and one phase has a movement sideways. The transferring unit may comprise a gripper for gripping the energy module.
A change of an energy module of a vehicle takes place during a stop for loading or unloading people or goods on a platform, i.e. the platform is an integrated passenger and energy module exchange station. The suspended track has switches that guide the vehicle to the platform from the main track and out from the platform to the main track.
The vehicle is stopped on the platform to a predetermined place where the energy module is in the range of the transferring unit. A first energy module in the vehicle is removed and a second energy module is transferred to the energy module receiving space in the vehicle by the transferring unit.
When the energy module storing unit is according to the first option the transferring unit transfers the first energy module from the energy module receiving space of the vehicle to the empty position of the circulating energy module storing unit. Thereafter the circulating energy module storing unit is rotated in order to transfer the second energy module, i.e. a energy module that is the nearest to the transferring unit, from the circulating energy module storing unit. In other words, the circulating energy module storing unit is circulated so that the next position having the charged energy module is in the range of the transferring unit. The second energy module is removed from its position and transferred to the energy module receiving space. The change of the energy module is repeated in the same manner every time when a vehicle requires a new energy module. However, there may be simultaneous changes concerning the same circulating energy module storing unit if the unit serves more that one platform. The empty positions shall be arranged accordingly. Further, more than one transferring unit and circulating energy module storing unit may work simultaneously on the same platform.
When the energy module storing unit is according to the second option the transferring unit is movable and the energy module storing unit is stationary. Particular advantages of the second option are that the energy module storing unit has no moving parts and the transferring unit may pick up or return the energy modules outside the stop period of the vehicle, i.e. there are really short stops.
The transferring unit comprises at least one vacant seat and at least one seat comprising an energy module that the transferring unit has picked up from the energy module storing unit. The transferring unit transfers the first energy module from the energy module receiving space of the vehicle to the vacant seat of the transferring unit. Thereafter the transferring unit transfers the second energy module to an empty position of the stationary energy module storing unit. The change of the energy module is repeated according to the same principle every time when a vehicle requires a new energy module. However, there may be simultaneous changes concerning the same transferring unit if the unit serves more that one platform. The empty positions shall be arranged accordingly. Further, more than one transferring unit and stationary energy module storing unit may work simultaneously on the same platform.
The energy modules may be charged and changed according to a need, i.e. a energy module may be charged and their charging can be optimised in view of technological or financial requirements. A loading station for charging energy modules comprises a power supply, one or more independent energy module charging devices and appropriate connections.
BRIEF DESCRIPTION OF THE DRAWINGS
In the following the invention will be described in greater detail by means of preferred embodiments with reference to the attached drawings, in which
Figure 1 shows a principle of a track system of a rapid transit system from above;
Figure 2 shows a front view of a driverless vehicle; Figure 3 shows a front view of a suspended track, driverless vehicles and a platform;
Figure 4 shows a schematic view of a battery storing unit from above;
Figure 5 shows another schematic view of a battery storing unit from above;
Figures 6 and 7 show side views of a suspended track, driverless vehicles and a platform;
Figure 8 shows a schematic view of a battery storing unit and a transferring unit from above.
DETAILED DESCRIPTION OF THE INVENTION
Figures 1 to 8 deal with systems comprising energy modules that are batteries. However, the energy modules may as well be fuel cells, such as hydrogen fuel cells, or any other energy module that is interchangeable. A skilled person is capable of modifying the system according to the type of the energy module.
Figure 1 shows a principle of a track system of a rapid transit [RT] system 1 from above. The RT system comprises a suspended track 2, switches 3 and platforms 4. The suspended track 2 comprises a main track 2a and side tracks 2b. At least one driverless vehicle 5 (see Fig. 2) moves along the suspended track 2. The switches 3 guide the driverless vehicle from the main track 2a via the side track 2b to a platform 4 or via the side track 2b from the platform 4 to the main track 2a. The switches 3 also guide the driverless vehicle 5 to pass the platform 4 if there is not a need to stop at the platform 4.
Figure 2 shows a front view of a driverless vehicle 5. The driverless vehicle 5 hangs from a suspended track 2. The vehicle 5 has means that are compatible with the track 2 so that the vehicle 5 is capable of moving along the track 2. The vehicle 5 comprises a drive and braking system 13.
The vehicle 5 comprises an interior 6 that is used for transporting people or goods. The interior has an entrance that may comprise a transparent door system. The vehicle 5 may comprise at least one sensing system 7, a programmable controller 8 and an interface 9. The programmable controller 8 is arranged to read sensors of the sensing system 7 that may comprise speed sensors and/or range sensors. The programmable controller 8 also controls an electric motor of the vehicle 5. The interface 9 may show information about e.g. a progress of a journey, or it may be used for adjusting parameters inside a cabin, e.g. a temperature. The driverless vehicle 5 is battery driven. The driverless vehicle 5 comprises a space 10 for a battery 11. The space 10 is preferably accessible through the bottom of the vehicle 5. However, the access may be arranged from a side of the vehicle 5. The space 10 comprises a main battery 11 and an additional battery 12. The main battery 11 drives the vehicle 5 and charges the additional battery 12. The additional battery 12 backs up the main battery 12 when the main battery 12 runs out of power unexpectedly.
Figure 3 shows a front view of a RT system comprising a suspended track 2, driverless vehicles 5 and a platform 4. The driverless vehicles 5 hang from the suspended track 2 and move along it. The vehicles 5 stop on the platform 4 for loading or unloading people or goods. During the loading and/or unloading period the main battery 11 is changed e.g. if the battery voltage has fallen below the normal operating voltage, or it is estimated that a low battery warning may appear during the next ride, or the price of electricity is favourable.
The platform 4 comprises a battery storing unit 14 that comprises multiple batteries 11. The platform 4 also comprises a transferring unit (shown by a double arrow 15). The vehicle 5 is stopped on the platform 4 to a predetermined place where a first battery 11 in the battery receiving space 10 is in the range of the transferring unit 15. First, the transferring unit 15 transfers the first battery 11 from the battery receiving space 10 of the vehicle 5 to the empty position of the battery storing unit 14. Thereafter the battery storing unit 14 is moved in order to transfer a second battery 11 near the transferring unit 14, i.e. the unit 14 is moved so that the position having the charged battery 11 is in the range of the transferring unit 14. The second battery 11 is removed from the position and transferred to the battery receiving space 10. The change of the battery is repeated in the same manner every time when a vehicle 5 requires a new battery 11. However, there may be simultaneous changes concerning the same battery storing unit 14 if the unit 14 simultaneously serves more than one vehicle 5. The empty positions shall be arranged accordingly.
Figures 4 and 5 show a schematic view of a battery storing unit 14 from above. Figure 4 shows three platforms 4 that can serve three vehicles 5 simultaneously and twenty two positions 16 for batteries 11 from which six are empty positions E and sixteen positions 16 are provided with batteries (boxes with diagonals). The battery storing unit rotates in a direction D.
There are empty positions E at platforms 4. A transferring unit 15 removes a battery 11 from a battery receiving space 10 and transfers it to one of the empty positions E. The batteries 11 that have been placed in the empty positions E are removed from the battery storing unit 14 to a loading station. Thereafter the battery storing unit 14 rotates in such a manner that new batteries are at the range of the transferring unit 15. The transferring unit 15 transfers a new battery to the battery receiving space 10. As the new batteries 11 are removed there are new empty spaces E for used batteries so that there is readiness to change batteries again.
Figure 5 shows multiple battery storing units 14. The operating principle is the same as in connection with figure 4 but one large battery storing unit 14 is split into smaller units. The smaller units can operate separately from each other.
Figure 6 shows a side view of an RT system comprising a suspended track 2, driverless vehicles 5 and a platform 4. The RT system of Fig. 6 is otherwise identical to that of Fig. 3 but the battery storing unit 14 and the transferring unit 15 may be distinct from the battery storing unit 14 of Fig. 3. The platform 4 comprises a circulating battery storing unit 14 that comprises multiple batteries 11. The platform 4 also comprises a transferring unit (shown by an arrow 15). The vehicle 5 is stopped on the platform 4 to a predetermined place where a first battery 11 in the battery receiving space 10 is in the range of the transferring unit 15. First, the transferring unit 15 transfers the first battery 11 from the battery receiving space 10 of the vehicle 5 to the empty position of the circulating battery storing unit 14. Thereafter the circulating battery storing unit 14 is moved in order to transfer a second battery 11 near the transferring unit 14, i.e. the unit 14 is moved so that the position having the charged battery 11 is in the range of the transferring unit 14. The second battery 11 is removed from the position and transferred to the battery receiving space 10. The transferring unit 15 of Fig. 6 moves up and down and sideways. As the transferring unit 15 moves sideways a placing of the vehicle 5 and the battery storing unit 14 in respect of each other is quite free.
Figure 7 shows a side view of an RT system comprising a suspended track 2, driverless vehicles 5 and a platform 4. The RT system of Fig. 7 is otherwise identical to those of Figs. 3 and 6 but the battery storing unit 14 and the transferring unit 15 may be distinct from the battery storing unit 14 of Figs. 3 and 6. The platform 4 comprises a circulating battery storing unit 14 that comprises multiple batteries 11. The platform 4 also comprises a transferring unit (shown by an arrow 15). The vehicle 5 is stopped on the platform 4 to a predetermined place where a first battery 11 in the battery receiving space 10 is in the range of the transferring unit 15. First, the transferring unit 15 transfers the first battery 11 from the battery receiving space 10 of the vehicle 5 to the empty position of the circulating battery storing unit 14. Thereafter the circulating battery storing unit 14 is moved in order to transfer a second battery 11 near the transferring unit 14, i.e. the unit 14 is moved so that the next position having the charged battery 11 is in the range of the transferring unit 14. The second battery 11 is removed from the position and transferred to the battery receiving space 10. The transferring unit 15 of Fig. 7 moves up and down, i.e. the transferring unit has a short and quick movement for changing batteries.
Figure 8 shows a schematic view of two parallel battery storing units 14 and two transferring units 15 from above. There is also a passenger station P between the battery storing units 14 (the battery storing units are exaggerated in scale). The battery storing unit 14 comprises stationary positions 16 for batteries. At least one of the positions 16 is empty. Each position 16 is provided with a charging unit 17. An electrical circuit 18 surrounds each battery storing unit 14.
The transferring unit 16 comprises at least two seats 19 for batteries. One of the seats 19 is vacant so that it can receive a used battery from a vehicle 5, or it can receive a charged battery from the battery storing unit 14. The transferring unit 16 comprises at least one gripper that is capable of gripping to the battery.
The transferring unit 16 moves back and forth between rows 20 comprising sequential positions 16 for batteries. A vacant seat V receives a battery from the vehicle 5 and a seat 19 provided with a battery delivers the battery to the vehicle 5. Thereafter the transferring unit 16 moves to the side of the empty position E and delivers the battery from the vehicle 5 to the empty position E. The other seat 19 receives a charged battery from one of the positions 16.
The electrical circuit 18 supplies energy to the battery storing unit 14. It is also possible to optimize energy consumption by monitoring the electrical circuit 18, i.e. it is possible to charge the batteries whenever it is cost-effective.
It will be obvious to a person skilled in the art that, as the technology advances, the inventive concept can be implemented in various ways. Information given in connection with one figure may be pooled with information given in connection one or more other figures. The invention and its embodiments are not limited to the examples described above but may vary within the scope of the claims.

Claims

1. A rapid transit system (1) comprising a suspended track (2) provided with platforms (4) for loading or unloading people or goods and at least one driverless vehicle (5) arranged to move along the suspended track (2), the driverless vehicle being driven by an interchangeable energy module (11), the driverless vehicle (5) having a receiving space (10) for the energy module (11), characterized in that at least one of the platforms (4) comprises an energy module storing unit
(14) comprising positions (16) for energy modules (11) and a transferring unit
(15) for transferring energy modules (11) between the energy module storing unit (14) and the receiving space (10) of the vehicle (5).
2. The rapid transit system according to claim 1, characterized in that the energy module storing unit (14) is a circulating energy module storing unit having a circulating direction (D) and comprising sequential positions (16) for the energy modules (11).
3. The rapid transit system according to claim 2, characterized in that the circulating energy module storing unit (14) is a loop provided with the positions (16).
4. The rapid transit system according to claim 1, characterized in that the energy module storing unit (14) is a stationary unit comprising a row (20) of positions (16) for the energy modules (11).
5. The rapid transit system according to claim 4, characterized in that the transferring unit (15) comprises at least two seats (19) for the energy modules (11).
6. The rapid transit system according to any preceding claim, characterized in that the transferring unit (15) comprises a gripper.
7. The rapid transit system according to any preceding claim, characterized in that the interchangeable energy module (11) is a battery.
8. The rapid transit system according to any preceding claim 1 to 6, characterized in that the interchangeable energy module (11) is a fuel cell. 9. A method for exchanging an energy module (11) of a vehicle (5) of a rapid transit system (1), the rapid transit system (1) comprises a suspended track (2) provided with platforms (4) for loading or unloading people or goods and at least one driverless vehicle (5) arranged to move along the suspended track (2 ) , the driverless vehicle (5) being driven by an interchangeable energy module (11), the driverless vehicle (5) having a receiving space (10) for the energy module (11), characterized in that at least one of the platforms (4) comprises an energy module storing unit (14) and a transferring unit (15) for transferring energy modules (11) between the energy module storing unit (14) and the receiving space (10) of the vehicle (5), the energy module storing unit (14) comprises positions (16) for energy modules (11) in such a manner that at least one of the positions (16) is empty wherein during a stop for loading or unloading people or goods the method comprises
- removing a first energy module (11) from the vehicle (5) by the transferring unit (15),
- inserting a second energy module (11) to the energy module receiving space (10) in the vehicle (5) by the transferring unit (15), and during the stop for loading or unloading people or goods or after said stop the method comprises
- transferring the first energy module (11) to the energy module storing unit (14) by the transferring unit (15).
10. The method according to claim 9, characterized in that the energy module storing unit (14) is a circulating energy module storing unit having a circulating direction (D) and comprising sequential positions (16) for energy modules (11) in such a manner that a position (16) that is the nearest to the energy module receiving space (10) is empty wherein during a stop for loading or unloading people or goods the method comprises
- removing the first energy module (11) in the vehicle (5) and transferring it to the empty position (E) in the circulating energy module storing unit (14) by the transferring unit (15),
- rotating the circulating energy storing unit (14) so that a second energy module (11) in its position (16) in the circulating energy module storing unit (14) is the nearest to the energy module receiving space (10), and
- removing the second energy module (11) from said position (16) and transferring it to the energy module receiving space (10) in the vehicle (5) by the transferring unit (15).
11. The method according to claim 9, characterized in that the energy module storing unit (14) is a stationary energy module storing unit (14) comprising a row of positions (16) for energy modules (11) in such a manner that at least one position (16) is empty and the transferring unit (15) comprises seats (19) from which at least one is vacant wherein during a stop for loading or unloading people or goods the method comprises
- removing the first energy module (11) in the vehicle (5) and transferring it to the vacant seat (V) in the transferring unit (15), and
- removing the second energy module (11) from a seat (11) of the transferring unit (15) and inserting it to the energy receiving space (10) of the vehicle (5), and during the stop for loading or unloading people or goods or after said stop the method comprises
- transferring the first energy module (11) to the empty position (E) of the energy module storing unit (14), and
- transferring a third energy module (11) from the energy module storing unit (14) to the transferring unit (15).
12. The method according to any preceding claim 9 to 11, characterized in that the transferring unit (15) moves vertically.
13. The method according to any preceding claim, characterized in that the transferring unit (15) moves sideways.
14. The method according to any preceding claim, characterized in that the transferring unit (15) moves back and forth beside the positions (16).
PCT/FI2023/050235 2022-05-04 2023-05-02 A rapid transit system and a method for exchanging an energy module WO2023214115A1 (en)

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