CN102259656A - Client/server (C/S) mode unmanned locomotive - Google Patents
Client/server (C/S) mode unmanned locomotive Download PDFInfo
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- CN102259656A CN102259656A CN2010102113345A CN201010211334A CN102259656A CN 102259656 A CN102259656 A CN 102259656A CN 2010102113345 A CN2010102113345 A CN 2010102113345A CN 201010211334 A CN201010211334 A CN 201010211334A CN 102259656 A CN102259656 A CN 102259656A
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Abstract
The invention relates to a motor vehicle unmanned technology in which a client/server (C/S) control mode is taken as a core and a deflection rail assists in automatically switching a rail. The theory core of the technology is that: the rail is taken as a resource and is shared and incompatibly used by all locomotives, and the locomotives cannot be collided as long as any two locomotives are controlled not to arrive at the same destination at the same time. The locomotive automatically switches the rail through the high-speed operation efficiency of a computer and a deflection rail device; and a safe, intelligent, environment-friendly and energy-saving unmanned vehicle is realized through the accurate control of the computer in the whole process and specially designed hardware facilities.
Description
Technical field
The present invention relates to a kind of self-propelled vehicle driverless operation technology, particularly relate to a kind of unilateral deflection track driverless operation technology of C/S master mode.
Background technology
Existing automobile is mostly based on fuel oil power, because a series of problems such as pollution that causes after the in short supply and burning of oil resources and green-house effect have been impelled emerging of battery power automobile.But the battery power automobile is faced with under power also, and charging is inconvenient, can't long-distance transport and a series of problems such as battery pollution of bringing.Two kinds of automobiles also have a common defective, and that is exactly to be subjected to artificial control, have too many uncertain critical days.Show that according to the automobile journal investigation whole world all has people more than 20,000 to die in traffic accident every year, injured people is countless especially.A kind of new transit mode of eager needs occurs.
Summary of the invention
In order to overcome energy scarcity, the environmental pollution green-house effect, logical problem such as crowded is imitated in traffic accident and city, the invention provides a kind of safe, intelligent, environmental protection, energy-conservation driverless operation technology.
The present invention is a brand-new technology scheme, has broken away from traditional autonomous vehicle pattern.Hardware facility of the present invention aspect comprises locomotive, dedicated track, resource center, control center and terminal point parking apparatus.Introduce the function and the construction features of hardware facility of the present invention below successively.
Locomotive is unique carrier of technical solution of the present invention, also is the client in the C/S master mode, mainly has following function and characteristics:
One, locomotive does not possess manual control equipment, has only a computing machine and a touch-screen to import the destination for the user.
Two, the locomotive bottom has scalable network interface.Locomotive for shrinking hidden state, has only locomotive to be in that network interface just contacts with the extraneous network equipment when static at motoring condition lower network interface.Network interface is used for transmitting information with server.
Three, locomotive up and down four direction all device wheel is arranged.The bottom wheel claims the base wheel, and its shape is similar to train wheel, is used for rail and travels, and the output wheel is used as power.The top wheel claims compacting wheel, is used to prevent gone up a slope by vibration by locomotive influencing leads to a leap cause derailing.Left and right wheels claims wheel flutter, is connected by locomotive top balance bar, and compensating bar is controlled by lifting bar.Wheel flutter has only the high two states in the high right low or left low right side, a left side.
Four, the locomotive top arrangement has the power supply contact wire, contacts with extraneous power lead all the time, obtains the railroad traction energy.Locomotive also is furnished with a small battery, is used for unusual the power failure and uses.
Five, all there is a weighting apparatus at each basic wheel place of locomotive, can add up to the locomotive total weight.Be used for calculating locomotive in process of travelling and accelerator desired power.
Six, mileage scanning device, urgent danger prevention signal receiver and emergency mobile forces stop signal receptor are arranged at the locomotive bottom.The mileage scanning device is used to scan the mileage mark, adjusts moving velocity in real time.It is unusual that urgent danger prevention is meant that the path front track occurs, and can cut in advance to send signal prompt under the situation of rail and cut rail and stop.Sudden stop then is an emergency braking under the situation that can't cut the rail parking in advance, reduces the collision with other vehicles.
Seven, the flexible system of device before and after the locomotive is used for reducing to collide country under abnormal condition.
Eight, locomotive the place ahead device has distance-sensor and left-hand rotation right-hand rotation receiver, and these devices are that locomotive uses when locomotive switches to the external control state when pulling in parking.
In order to stop locomotive and pedestrian or other types collision happens, the present invention adopts closed dedicated track.Its functional characteristics is as follows:
One, all tracks of the present invention are the one-way traffic track, and all locomotives all travel with identical speed in same rail.All locomotives have all been avoided the possibility of relative collision and rear-end impact thus.
Two, this track is reduced to " people " word crossing with all branch crossings, and unidirectional " ten " word crossing then is divided into two " people " word crossings.Locomotive then only needs about control two to turn to and get final product, and the locomotive that guarantees of top turns to accuracy.
Three, the present invention cuts the rail ability in order to make locomotive have independent steering, and dedicated track both sides returning apparatus except that bottom device has basic rail has the deflection track.The wheel flutter of locomotive travels in the deflection track.Apart from increase, locomotive driving is subjected to the deflection track drawing to herein the time and the inclination vehicle body makes the opposite side wheel unsettled in the horizontal constructions of place, branch crossing deflection track and basic rail, thereby by rail vacancy, branch crossing, rail is cut in realization.
Four, the situation that occurs leaping, derails in order to prevent that locomotive from being shaken in the process of moving or the abrupt slope influences, both sides, track top device have compacting dull and stereotyped, and have only a bit gap between the compacting at the locomotive top wheel, guarantee that locomotive is close to rail running.
Five, the dedicated track top arrangement has power lead, and netting twine is equipped with in the bottom, and in addition all there is the mileage mark bottom every a segment distance, urgent danger prevention signal lamp and emergency mobile forces stop signal lamp.
Support low speed, middling speed respectively, run at high speed in three types in dedicated track Fen Shi of the present invention road, provincial highway, national highway.Technical solution of the present invention regulation city traffic bans use of provincial highway and national highway, only trans-city, just allows to use provincial highway and national highway transprovincially when transporting.The present invention is that unit sets up control center with the city, is that unit sets up provincial resource center with the province, and national highway resource center is set up in the whole nation.
Resource center mainly contains two functions:
One, provincial highway or national highway are abstracted into data structure storage in data bank, use for the visit of each city control center mutual exclusion.
Two, with time be vector units, store occupied track resources, prevent that same track resources from being caused car accident by many locomotives uses simultaneously.
Control center is a kind of resource center with control ability, and except will storing this city city road resource, most importantly will handle all present locuss is the request for data of the locomotive of this city.Its main task is for locomotive distributes a paths and time of departure, and principle is to guarantee that any two locomotives do not arrive same place at one time.Control center also has a function emergency mobile forces stop signal and urgent danger prevention signal to occur sending under the unforeseen circumstances at track exactly in addition.
In order farthest to improve the space Occupation coefficient, terminal point parking apparatus of the present invention is also through special design.
The present invention adopts redundant track parking and translation side position to stop to mix and uses.Redundant track parking has been meant that unnecessary special-purpose parking rail locomotive is parked on the parking track, does not take running rail.Stopping and be meant static that section track integral left right translation that locomotive is shared later in orbit of locomotive in translation side position, saves identical track with other one simultaneously and move to former stop position, makes the parking track revert to the cruising state.So mode can make a parking track stop ten surplus a car, solve the parking space problem.In order to support exception parking mechanism, locomotive selects parking track and parking stall to can't help control center's rule in advance, and by station chip pilot engine to idle parking stall.Chip also has a function in time to evacuate locomotive and call in locomotive when Occupied or the full sky in parking stall exactly, guarantees to have at any time the parking stall parking, and also guaranteeing has empty wagons to use for the passenger at any time.The station chip is controlled the locomotive parking by transmitting a signal to locomotive left-hand rotation right-hand rotation inductor and distance-sensor.
Technical solution of the present invention also has the core control technology except that the above hardware facility, mainly comprise the C/S program control technology, sudden stop/hedging technology, parking control technology.
Client in the C/S model is a locomotive, and server end is a control center.This mode is that client sends locus and destination to server, server end is then coordinated All Control Center and resource center according to present road conditions, dispense path and take orbit time and give client, with the path, time of departure and speed send to client, client is then according to plan time of advent of each mileage mark in this data computation outbound path, strictness was set out by the time of departure then, actual time of arrival to this mileage gauge point is adjusted moving velocity with plan the time of advent in real time, guarantees that locomotive arrives each mileage gauge point at specification error in the time.The analytical procedure of control center is as follows in this process: 1.. and testing goal ground belongs to the city, and is still inter-provincial inside the province.If inside the province or inter-provincial provincial highway or national highway resource center and the outer city control center then need coordinated, below continue analysis with city traffic.2.. determine a rectangle map according to locus and destination, by reached at selection one paths of computer data structure figure, save computing time for number, this path is not required for shortest path.3. with behind the system time one minute be the time of departure, according to the plan time of advent of each branch point in the specified speed calculating path in road, city, check the locked resource table then, if locked resource was arranged in the time then will postpone the time of departure at permissible error and recomputated in 5 seconds, till finding complete idling-resource.Lock resource sends to client with result data then.
It is invalid that sudden stop/hedging technology is meant that when track breaks down control center is changed to this track in the data bank, prevents that other locomotive from reusing this track.Find out then planned locomotive by this track, and calculate the position at their present place, and send sudden stop/hedging signal in the relevant position, prevent that locomotive from assembling the expansion accident at fault track place.
The parking control technology is a kind of measure of compatible sudden stop.Locomotive can't help to underspeed immediately after locomotive is inbound on control center ruleization parking stall, travels slowly, is stopped finishing whole driverless operation process into corresponding parking stall by the guiding of station chip.
Main beneficial effect of the present invention is as follows:
One, automatic guidance, driverless operation is saved human resources.
Two, safe and intelligent, omnidistance computing machine accuracy control reduces the traffic accident possibility greatly.
Three, non-renewable resources are saved in environmental protection, the no waste gas dirt that gives up, no battery pollution.
Four, high speed is unobstructed, and omnidistance nothing is stagnated, and saves haulage time.
Five, high energy saving, cost is far below the regular fuel automobile.
Six, operation is simple and easy, touches control, the band shortcut, and child can go to school alone by bus.
Seven, do not have the puzzlement of parking, need not antitheft anti-tracking etc.
Eight, be not subjected to weather effect, ice and snow is without hindrance.
Description of drawings
Below with regard to main function components and program circuit description of drawings.
Fig. 1 is unidirectional cross roads herringbone exploded drawings.
Fig. 2 is a locomotive straight-line travelling view.
Fig. 3 is a locomotive steering state scheme drawing.
Fig. 4 is redundant parking track scheme drawing.
Fig. 5 is a translation side position parking scheme drawing.
Fig. 6 is the main diagram of circuit of server routine analyzer.
1. locomotives among the figure, 2. dedicated track, 3. compacting is dull and stereotyped, 4. compacting wheel, 5. compensating bar, 6. lifting bar, 7. fixed support, 8. wheel flutter, 9. deflection track, 10. base wheel, 11. basic rails, 12. running rails, 13. parking tracks.
The specific embodiment
Be the herringbone decomposing schematic representation of cross roads of the present invention shown in Fig. 1, wherein frame of broken lines is illustrated as the whole rail framework, and solid line is basic rail (11).Be interrupted at track bifurcation base rail, must be stressed when locomotive driving arrives herein by wheel flutter (8) and side group wheel (10), and another side group wheel (10) is unsettled, as Fig. 3 state.
At Fig. 2 is locomotive straight-line travelling view.Locomotive is all stressed by base wheel (10) in this state, and wheel flutter (8) though place in the deflection track (9) does not contact with track.The present invention alleviates tare for saving power consumption, and in order to keep the present invention of vehicle body stability to design compacting dull and stereotyped (3) and compacting wheel (4), makes locomotive be close to basic rail (11) in the process of moving and travel.The compensating bar of locomotive (5) is supported on the locomotive top by fixed support (7), only need control lifting bar (6) when locomotive is selected left-hand rotation or right-hand rotation the left side or the right wheel flutter are placed in the deflection track (9).
Fig. 3 be locomotive in steering procedure because the increase of the building distance of deflection track (9) and basic rail (11) makes wheel flutter (8) stressed, travel thereby make another side group wheel (10) are unsettled, thereby cut rail by the orbital segment realization that is interrupted.
Fig. 4 is a halting point track scheme drawing, and locomotive stops and selects parking track (13), and does not block running rail.
Fig. 5 is illustrated as side position translation docking process, and a parking stall is formed by two sections identical tracks.Translating vehicle parking position then can revert to unobstructed state with parking track (13) after stopping in the parking stall.
Fig. 6 is that server is the main diagram of circuit that client's end gauage driving path calculates the time of departure.Server at first with all resource data store in data bank, its main list structured data dictionary is as follows:
The TABLE_NODE informational table of nodes is stored all branch points, imports dot information.
The NODE_NAME nodename
The NODE_ID node serial number
NODE_TYPE node type (branch point/remittance point)
X_VAIVE node abscissa value
Y_VALUE node ordinate value
The NODE_TAG node effectively identifies (0 is effective, and 1 is invalid)
TABLE_TOUCH road section information table
The first node serial number of NODE_ID_A
The first node abscissa value of X_A
The first node ordinate value of Y_A
NODE_ID_B tail node numbering
X_B tail node abscissa value
Y_B tail node ordinate value
The TOUCH_TAG highway section effectively identifies
TABLE_LOCK_NODE locked resource table
The NODE_ID node serial number
The CAR_ID locomotive unit number
LOCK_TIME is by the lock time
Core concept of the present invention be exactly locomotive in whole transportation only as client, do not have the independent driving path ability of selecting, but travel in strict accordance with server specific time and path, server planning client driving path and the foundation of time then are to control any two locomotives by the locked resource table not appear at same place at synchronization.Wherein the moment of indication comprises an error time notion.If error time is 1 second, through the A point, then any other locomotive is not allowed at 7:59:58 to 8:00:02 time period passes A point the locomotive first at 8:00:00.Owing to be the computing machine accuracy control, along with the continuous maturation of technology, error time was controlled at 0.1 second or is all possible in shorter time.Below in conjunction with Fig. 6 a transportation is made detailed description.
At first the user selects your destination by locomotive touch screen or shortcut, and locomotive sends to control center with present locus and destination by network.Control center then begins Fig. 6 flow process after receiving data.1. judge whether the destination belongs to this city.2. determine rectangle with the abscissa and the ordinate of locus and destination, the access node information table is chosen 500 meters scopes of all rectangles with interior node.3. select the reachable path of a distance according to the road section information table less than 2 times of locus to destination straight-line distances.The shortest path first of algorithm reference data structure books.With behind the system time one minute be the time of departure, calculate the time of advent that each imports point according to each section road regulation moving velocity.5. whether the test of visit locked resource table has in error time by the lock data.6. will take resource and deposit the locked resource table in.7. the feedback result data are to client.Wherein if the destination does not belong to this city then need network place, destination city control center and provincial highway resource center or national highway resource center, carry out above mutual exclusion respectively and share detecting operation, the feedback result data are given client again.When visit locked resource table finds to exist in error time other to be locked data, then will postpone the time of departure and recomputating in 5 seconds, till finding idling-resource.
Client is received and then strictly after the feedback data is set out by the time of departure, and calculate power demand according to tare and specified speed and travel, in the process of moving, locomotive is adjusted moving velocity in real time according to the plan time of advent and the actual time of arrival of mileage gauge point, guarantees to arrive in specification error each mileage gauge point.
Then travel with Ultra-Low Speed when motor supply shop stands to terminal, switch to the external control state, be subjected to the station chip to be directed to corresponding parking stall, translation track is finished whole transportation.
Claims (4)
1. a self-propelled vehicle driverless operation technology is characterized in that cutting rail automatically with deflection track and wheel flutter realization locomotive, makes locomotive share the use track resources of mutual exclusion with the C/S master mode, guarantees the safe in the process of moving collisionless of locomotive.
2. driverless operation technology according to claim 1 is characterized in that utilizing redundant track parking and side position translation stopping technical to solve the parking space problem.
3. driverless operation technology according to claim 1 is characterized in that ensureing that to suppress dull and stereotyped and to suppress wheel locomotive is stable, reduces tare and reaches energy-conservation purpose.
4. driverless operation technology according to claim 1 is characterized in that by sudden stop and urgent danger prevention technology control abnormity risk.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010102113345A CN102259656A (en) | 2010-06-29 | 2010-06-29 | Client/server (C/S) mode unmanned locomotive |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010102113345A CN102259656A (en) | 2010-06-29 | 2010-06-29 | Client/server (C/S) mode unmanned locomotive |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109765903A (en) * | 2019-02-28 | 2019-05-17 | 北京智行者科技有限公司 | A kind of automatic Pilot planing method |
| CN110689778A (en) * | 2019-09-06 | 2020-01-14 | 深圳果力智能科技有限公司 | Unmanned vehicle driving detection method and unmanned detection system |
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| EP0736441A1 (en) * | 1995-04-07 | 1996-10-09 | Honeywell Ag | Fault tolerant train platform |
| CN1429726A (en) * | 2003-01-30 | 2003-07-16 | 沈湧 | Railway communication system of small sized vehicle |
| CN101475005A (en) * | 2008-08-08 | 2009-07-08 | 刘庭驹 | Rail airplane |
| CN101480958A (en) * | 2009-03-02 | 2009-07-15 | 李林山 | Self-steering railroad car and railroad system |
-
2010
- 2010-06-29 CN CN2010102113345A patent/CN102259656A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0736441A1 (en) * | 1995-04-07 | 1996-10-09 | Honeywell Ag | Fault tolerant train platform |
| CN1429726A (en) * | 2003-01-30 | 2003-07-16 | 沈湧 | Railway communication system of small sized vehicle |
| CN101475005A (en) * | 2008-08-08 | 2009-07-08 | 刘庭驹 | Rail airplane |
| CN101480958A (en) * | 2009-03-02 | 2009-07-15 | 李林山 | Self-steering railroad car and railroad system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109765903A (en) * | 2019-02-28 | 2019-05-17 | 北京智行者科技有限公司 | A kind of automatic Pilot planing method |
| CN110689778A (en) * | 2019-09-06 | 2020-01-14 | 深圳果力智能科技有限公司 | Unmanned vehicle driving detection method and unmanned detection system |
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Application publication date: 20111130 |