CN105292189B - Micro-rail intelligent traffic control system and control method - Google Patents
Micro-rail intelligent traffic control system and control method Download PDFInfo
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- CN105292189B CN105292189B CN201510870108.0A CN201510870108A CN105292189B CN 105292189 B CN105292189 B CN 105292189B CN 201510870108 A CN201510870108 A CN 201510870108A CN 105292189 B CN105292189 B CN 105292189B
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Abstract
The invention discloses a micro-rail intelligent traffic control system and a control method, belonging to the technical field of rail traffic control, and comprising a plurality of intelligent trolleys arranged on a micro-rail, wherein the intelligent trolleys keep safe inter-vehicle distance running; a plurality of RFID modules are arranged on the micro rail or on the edge of the micro rail, and the RFID modules are separated by a certain distance; the intelligent trolley exchanges data with each RFID module when passing through the RFID module; the plurality of RFID modules are connected through at least one CAN bus, so that the RFID modules exchange data through the CAN bus. The intelligent vehicle control system realizes the control of the safe driving distance between the intelligent vehicles on the track by combining the RFID module with the CAN bus for communication, has simple structure and lower manufacturing cost, and is suitable for the application of micro-track intelligent traffic.
Description
Technical Field
The invention belongs to the technical field of rail traffic control, and particularly relates to a micro-rail intelligent traffic control system and a control method.
Background
The rail transit plays an important role in the life of people, the characteristics of large transportation volume, long journey and punctuality are deeply favored by people, but the micro-rail transit is different from the rail transit in the common meaning. The intelligent vehicle running on the micro-rail is equivalent to a taxi or a cable car in size, a plurality of intelligent vehicles run densely on the micro-rail and are used for meeting the rapid traffic requirements of individuals or small groups of people in an area, and any station in the micro-rail area can be rapidly reached by riding the intelligent vehicles.
The conventional rail transit controls the safe running distance of the front train and the rear train through a fixed block system, and a system cannot know the specific position of the train in a subarea, so that the starting point and the end point of train braking are always positioned on the boundary of a certain subarea. In order to fully ensure the safety, a protection section must be added in two rows of workshops, so that the safety interval of the workshops is larger, and the use efficiency of a line is influenced.
The improved quasi-moving block is one step more advanced than the fixed block in controlling the safety interval of the train. The method adopts a message type track circuit to assist a loop wire or a responder to judge the occupation of a subarea and transmit a large amount of information; the distance that the follow-up train continues to move ahead can be informed, the follow-up train can reasonably adopt deceleration or braking according to the distance, and the starting point of train braking can extend to the place where the safe braking of the train is guaranteed, so that the speed control of the train can be improved, the safe interval of the train is shortened, and the utilization efficiency of the route is improved. However, the maximum target brake point of the following train in the quasi-moving block still has to be outside the occupied partition of the preceding train, so that the limitation of the track circuit is not completely broken through.
The further improved moving block technology further improves the safety interval control of the train. The maximum braking distance of the train can be dynamically calculated according to the real-time speed and position of the train through the vehicle-mounted equipment and the trackside equipment uninterrupted bidirectional communication control center. The safe distance between the front and the rear of the train is ensured, and two adjacent moving block subareas can move forwards at a small interval at the same time, so that the train can run at a higher speed and a smaller interval, and the operation efficiency is improved.
The line of the mobile block cancels the partition division on the physical level, but divides the line into a plurality of line units which are predefined by a database, the length of each unit is between several meters and dozens of meters, the mobile block partition is composed of a certain number of units, the number of the units can change along with the speed and the position of the train, and the length of the partition also changes dynamically.
The train and trackside equipment in a mobile occlusion system must maintain continuous two-way communication. The train continuously transmits the identification, the position, the direction and the speed of the train to the trackside controller, the trackside controller calculates and determines the safe driving interval of the train according to the information from the train, and transmits related information (such as the position of a preceding train, movement authorization and the like) to the train to control the train to operate.
If moving block needs to be realized, the train needs to report the self position, speed and other operation parameters to the train control center in real time, the train control center needs to calculate the operation parameters for the train in real time and send the operation parameters to the train, and the realization of the mechanism needs the support of a continuous bidirectional train-ground communication system. Such a train control method is generally called Communication Based Train Control (CBTC). That is, the CBTC is a set of a series of technical means for realizing the ATC, particularly, the mobile block system ATC system. Meanwhile, an ATC system realized based on CBTC also comprises an ATP system, wherein the ATP system generally comprises a vehicle-mounted part and a ground part, the vehicle-mounted ATP system ensures the safe operation of the vehicle by receiving the operation parameters calculated by the ground ATP system, and the ground ATP system calculates the operation parameters for the vehicle by receiving the operation parameters of the whole-line train reported by the vehicle-mounted ATP and sends the operation parameters to the vehicle through a communication system. In general, terrestrial ATP systems are also called ZC (zone controller), RBC (radio block center) or TCC (train control center). The whole control system is complex and expensive, and is not suitable for micro-rail intelligent transportation.
The micro-rail intelligent transportation is applied to passenger flow transportation in an area range, the track laying range is small, the cost of the track and the locomotive running on the track is low, a control system is required to be simple, and the micro-rail intelligent transportation is suitable for area transportation.
disclosure of Invention
the invention provides a micro-rail intelligent traffic control system and a control method, which solve the problems of communication and safety control between intelligent trolleys running on micro-rails in a mode of lower manufacturing cost and safety guarantee.
In order to achieve the above technical object, the present invention provides a micro-rail intelligent traffic control system, comprising: a plurality of intelligent trolleys are arranged on the micro rail, and the intelligent trolleys keep safe driving interval running; a plurality of RFID modules are arranged on the micro rail or on the edge of the micro rail, and the RFID modules are separated by a certain distance; the intelligent trolley exchanges data with each RFID module when passing through the RFID module; the RFID modules are connected through at least one CAN bus, so that data are exchanged among the RFID modules through the CAN bus.
Optionally, the distance between every two adjacent RFID modules is between 10 meters and 100 meters.
Optionally, the plurality of RFID modules are divided into a plurality of groups, each group of RFID modules is connected by one CAN bus, and adjacent CAN buses are connected as a gateway through one common RFID module.
optionally, the plurality of RFID modules are divided into a plurality of groups, each group of RFID modules is connected by one CAN bus, and any one RFID module in each group is used as a gateway to connect the CAN bus of the group and the CAN bus of the adjacent group, so that the data in the group is forwarded to the adjacent CAN bus through the gateway.
Optionally, the length of each CAN bus is greater than the preset safe driving distance of the intelligent vehicle.
Optionally, the RFID module includes an MCU module and an RF module, wherein the RF module is used for communicating with a vehicle-mounted RF reading head of the smart car, and the MCU module is used for data processing and data transceiving in a CAN bus.
optionally, the intelligent trolley comprises a vehicle-mounted RF reading head and a vehicle-mounted controller; track data is stored in the onboard controller, the track data containing location data for each RFID module.
In order to achieve the above object, the present invention further provides a micro-rail intelligent traffic control method, including:
When the first intelligent trolley passes through the first RFID module, information including the number of the first RFID module is obtained;
The first RFID module records the number of the first intelligent trolley;
the first RFID module forms a data packet by the recorded serial number of the first intelligent trolley and the serial number of the first RFID module and transmits the data packet to other RFID modules through a CAN bus;
The CAN bus where the first RFID module is located forwards the data packet and the forwarding count to an adjacent next CAN bus through a gateway;
and the second intelligent trolley positioned behind the first intelligent trolley acquires the number of the first intelligent trolley and the number of the first RFID module through the second RFID module closest to the second intelligent trolley, calculates the distance between the first RFID module and the second RFID module, judges whether the distance is larger than the preset safe driving distance of the intelligent trolley or not, and decides whether to decelerate or brake.
Optionally, the CAN bus where the first RFID module is located sends a data packet to an adjacent CAN bus, where the forwarding included in the data packet is a preset forwarding number; and after the first CAN bus forwards the data packet to an adjacent second CAN bus through a gateway, the gateway of the second CAN bus and an adjacent third CAN bus reads the forwarding count, if the forwarding count is not 0, the forwarding count is subtracted by 1, and then the data packet of the first RFID is continuously forwarded to the third CAN bus until the gateway reads that the forwarding count is 0, and then the forwarding is stopped.
Optionally, the first RFID module may be any one RFID module, and another RFID module is further disposed between the second RFID module and the first RFID module; and the gateway forwards the data packet to the rear of the driving direction of the intelligent vehicle.
The micro-rail intelligent traffic control system and the method are realized by point-type communication, namely when a train passes through the RFID modules, the train is communicated with the RFID modules, a certain distance is reserved between every two RFID modules, data are received between every two adjacent RFDI modules through the CAN bus, each RFID module records the number of the intelligent trolley which passes through at last, when the intelligent trolley passes through the RFID modules, the vehicle-mounted controller of the intelligent trolley obtains the position of the front trolley through the RFID module, the safe driving strategy is determined autonomously, and when the distance between the intelligent trolley and the RFID module is larger than the safe driving distance, the CAN bus does not send the information of the previous intelligent trolley to the next CAN bus.
Drawings
FIG. 1 is a schematic structural diagram of a micro-rail intelligent traffic control system according to the present invention;
FIG. 2 is a schematic view of a CAN bus connection of the micro-rail intelligent traffic control system of the present invention;
FIG. 3 is a schematic flow chart of the method for controlling intelligent micro-rail transportation according to the present invention;
FIG. 4 is a schematic diagram of information interaction between the intelligent vehicle and the RFID module;
Fig. 5 is a schematic structural diagram of the intelligent trolley combined turnout control system.
Detailed Description
The implementation of the present invention will be described in detail by way of embodiments in conjunction with the accompanying drawings, and it should be understood that the embodiments do not limit the scope of the present invention.
example one
Referring to fig. 1, an embodiment of the present invention provides a micro-rail intelligent traffic control system, including a plurality of intelligent trolleys arranged on a micro-rail, where the intelligent trolleys keep a safe driving distance when operating; the RFID module comprises an MCU module and an RF module, the MCU module is used for processing data acquired from the intelligent trolley, and the RF module is used for transmitting data to the intelligent trolley. The RFID modules are separated by a certain distance; the intelligent trolley exchanges data with each RFID module when passing through the RFID module; the RFID modules are connected through at least one CAN bus, so that data are exchanged among the RFID modules through the CAN bus. The CAN bus CAN work in a broadcast mode, one RFID module transmits data, other RFID modules in the CAN bus receive the data at the same time, and after the data are received, the RFID modules determine that the data are not required to be processed according to respective settings.
specifically, the RFID module is composed of an MCU module and an RF module, wherein the RF module is responsible for communicating with a vehicle-mounted RF reading head of the intelligent trolley, and the MCU module is responsible for data processing and data receiving and transmitting in a CAN bus. The RFID modules, such as 1A, 1B, 1C, 1D, 1E, 2A, 2B, 2C, 2D, 2E, and 3A shown in fig. 1, respectively represent one RFID module, and the RFID modules may be equally spaced or not equally spaced; the distance between every two adjacent RFID modules is 10 meters to 100 meters, and in this embodiment, the distance between the RFID modules is preferably 30 meters. The plurality of RFID modules are divided into a plurality of groups, the number of each group is set according to actual needs, for example, in the implementation, every 5 RFID modules are in one group and are connected by one CAN bus, and adjacent CAN buses are connected by using the same RFID module as a gateway, for example, in the implementation, by combining with a figure 1, the RFID modules 2A, 2B, 2C, 2D and 2E are in one group and are connected by a first CAN bus, the RFID modules 1A, 1B, 1C, 1D and 1E are in one group and are connected by a second CAN bus, the first CAN bus and the second CAN bus have a common RFID module 2A, and the RFID module 2A is a connection gateway of the first CAN bus and the second CAN bus. The CAN bus connected by the gateway CAN realize the transmission of signals from the RFID module of the first CAN bus to the RFID module of the second CAN bus.
in order to ensure that the system CAN work normally when one of the gateways fails, the gateway CAN be provided with a plurality of modules for realizing redundancy, such as an RFID module 4 and an RFID module 5 shown in FIG. 2, which CAN transmit data between the CAN1 and the CAN 2. The gateway is characterized in that two sets of CAN bus transceiver devices are arranged in the same CPU, the two sets of CAN bus transceiver devices CAN receive data in two different CAN buses, and after a data packet in one CAN bus is received, an RFID module serving as the gateway CAN confirm whether the data needs to be forwarded to the other CAN bus connected with the gateway according to a certain rule. The invention sets the forwarding count in the data packet, when the RFID module as the gateway reads the received data, the forwarding count is read, and as long as the forwarding count is not 0, the forwarding count is subtracted by 1, and then the data packet is forwarded to the adjacent CAN bus.
in order to meet the requirements of simplicity and convenience of information transmission and safety driving of the intelligent trolley, the length of each CAN bus is larger than the preset safety driving distance between the intelligent trolleys. The intelligent trolleys run on the micro-rail at the same normal speed, and when the running distance between the intelligent trolleys and the front vehicle is smaller than the preset safe running distance according to the data transmitted by the RFID module through which the front vehicle passes, the intelligent trolleys running behind need to be braked or braked to reduce the running speed.
example two
Referring to fig. 3, a second embodiment of the present invention provides a micro-rail intelligent traffic control method, where the control method is based on the control method in the first embodiment, and includes the following steps:
s1, when the first intelligent trolley passes through the first RFID module, acquiring information including the number of the first RFID module;
Specifically, the first RFID module may be any RFID module, the first smart cart may also be any cart traveling on a micro rail, when the designated first smart cart passes through the first RFID module, information including the number of the first RFID module is acquired, the number of each RFID module is a representative of a unique position coordinate of the RFID module, and acquiring the number of the RFID module is equal to acquiring the position of the RFID module, that is, acquiring the position of the first smart cart. The RFID module also collects information of the intelligent trolley, and can contain the trolley number of the first intelligent trolley, the current running speed of the trolley and the like according to needs. As shown in fig. 4, the smart car includes an on-board controller and an RF reading head, wherein the on-board controller is configured to calculate a safe driving distance to another adjacent smart car according to the acquired data and the track data stored in the on-board controller, and make an adjustment command for a driving speed of the smart car; and the RF reading head positioned on the intelligent trolley reads the information of the RFID module positioned on the micro-rail or on the edge of the micro-rail. The RFID module arranged on the micro rail or on the edge of the micro rail comprises an MCU module and an RF module, and the MCU module is responsible for data processing and data receiving and transmitting in the CAN bus.
s2, the first RFID module records the number of the first intelligent trolley;
Specifically, when the first smart car passes through the first RFID module, the first RFID module records the number of the first smart car, and may also record the speed, elapsed time, and other necessary information of the first smart car.
S3, the first RFID module forms a data packet by the recorded serial number of the first intelligent trolley and the serial number of the first RFID module and transmits the data packet to other RFID modules through a CAN bus; the CAN bus where the first RFID module is located forwards the data packet and the forwarding count to another CAN bus connected with a gateway through the gateway;
Specifically, the first RFID module forms a data packet with the self number, the first intelligent vehicle number and the optional speed and other information related to the first intelligent vehicle, and transmits the data packet and the preset forwarding count to other RFID modules on the CAN bus through the CAN bus, wherein the other RFID modules comprise gateway RFID modules on the CAN bus. And the RFID module connected with the CAN bus CAN acquire the forwarding information of the first RFID module.
S4, the second intelligent trolley located behind the first intelligent trolley obtains the serial number of the first intelligent trolley passing through the first RFID module through the closest RFID module, and the vehicle-mounted controller calculates whether the distance between the second intelligent trolley and the first intelligent trolley is larger than the safe driving distance or not and determines whether to decelerate or brake.
As shown in fig. 1, two intelligent dollies travel from left to right on the micro-rail, the first intelligent dolly in front passes through the RFID module 2C, the CAN bus where the RFID module 2C is located is defined as a first bus, the RFID module 2C collects the car number information and the travel speed of the first intelligent dolly, and forms a data packet in combination with the number information of the RFID module itself, and sends the data packet to other RFID modules on the CAN bus in combination with the preset forwarding count. Assuming in this example that the predetermined forwarding count value is 1, both RFID module 2A, RFID module 2B, RFID module 2D and RFID module 3A adjacent to RFID module 2C and in the same CAN bus receive the data packet transferred from RFID module 2C. The RFID module 2A is used as a gateway, reads that the forwarding count is 1 after receiving the data packet sent by the RFID module 2C, subtracts 1 from the forwarding count, and then continuously transmits the data packet to another adjacent CAN bus, and the RFID module in another adjacent CAN bus CAN receive the data packet forwarded by the RFID module 2A, wherein the RFID module 1A is used as a gateway, reads the forwarding count in the data packet after receiving the data, finds that the forwarding count is 0, and does not transmit data to other adjacent CAN buses any more. At the moment, a second intelligent trolley behind the first intelligent trolley passes through the RFID module IC, the second intelligent trolley acquires information about the position, the running speed and the like of the first intelligent trolley from the RFID module 1C, and the distance between the second intelligent trolley and the first intelligent trolley is calculated through an on-board controller of the second intelligent trolley; and judging whether the distance between the second intelligent vehicle and the first intelligent vehicle is calculated to be larger than the safe driving distance or not, and determining whether to decelerate or brake.
the calculation process specifically comprises the following steps: calculating the distance between the position of the closest RFID module 1C of the second intelligent trolley and the first RFID module 2C, namely calculating the distance between the RFID modules with the interval in the middle, and then multiplying the distance by the distance of each RFID interval to obtain the distance between the position of the RFID module 1C and the first RFID module 2C; if the distance between each RFID module is different, directly calculating the sum of the position of the RFID module 1C and the distance between the RFID modules of the first RFID module 2C; or the difference between the coordinates calculated from the position of the RFID module 1C and the coordinates of the first RFID module 2C. And comparing the distance between the position of the RFID module 1C and the first RFID module 2C with the preset safe driving distance of the intelligent trolley, if the distance is more than or equal to the preset safe driving distance, the second intelligent trolley continuously drives at the current normal driving speed, and if the distance is less than the preset safe driving distance, the second intelligent trolley brakes or decelerates to the distance between the second intelligent trolley and the first intelligent trolley, wherein the distance between the second intelligent trolley and the first intelligent trolley is more than or equal to the preset safe driving distance.
The RFID module 2A is located the handing-over department of first CAN bus and adjacent second CAN bus, RFID module 1A is located the handing-over department of second CAN bus and adjacent third CAN bus, through once forwardding, the transmission distance of information has been greater than the preset safe driving interval of adjacent dolly far away, need not continue to forward, so the retransmission count initial value of RFID module CAN set up to 1, through once forwardding the back, forwards the count and subtracts to 0.
if the length of each CAN bus is larger than the safe distance of a travelling vehicle, after one-time forwarding, the RFID modules in the two adjacent CAN buses CAN acquire the position of the front vehicle, the data transmission distance is larger than the safe distance, and the rear vehicle outside the adjacent CAN buses does not need to pay attention to the position and the state of the front vehicle. The length of the CAN bus CAN be irrelevant to the driving safety distance, and after data are forwarded for one time or multiple times, the data forwarding distance is larger than the safety distance.
When the RFID module 2C transmits data in the CAN bus, the RFID module 3A serving as a gateway also receives the data because the preceding vehicle does not need to know the position of the following vehicle, and the RFID module 3A does not need to forward the data to the CAN bus ahead.
The control method may be applied to control of a linear track or a switch.
As shown in fig. 5, data is forwarded from CAN1 to CAN2 and from CAN1 to CAN3, and the gateways 1A, 1G do only one-way message forwarding.
The intelligent trolley V2 running on the track where the CAN2 is located on the left branch and the intelligent trolley V1 running on the right branch in the CAN3 do not exchange information with each other, and trolleys on the two branches CAN detect the track distance state near the turnout but cannot detect the state of the other branch outside the turnout area. Only after one intelligent trolley enters the CAN1, the other branch CAN know the trolley position of the other branch.
The smart car V1 exchanges information with the RFID module in the CAN1, which sends the collected data and the forwarding count in the CAN1 and forwards the data to the bus CAN2, CAN 3.
The smart cars on the left and right branches may arrive at the RFID module 1A, RFID module 1G at a very close time, and at this time, if two smart cars arrive at the RFID module 1B, RFID module 1H at the same time, there is a driving risk. The two vehicles almost arrive at the RFID module 1A and the RFID module 1G at the same time, the arriving vehicle firstly maintains the normal speed, and the arriving vehicle later decelerates to ensure that the vehicle can be separated by a distance when the vehicle passes through the RFID module 1B, RFID and the module 1H. If the intelligent trolley V1 arrives at the RFID module 1G first and then arrives at the RFID module 1A through the V1, the intelligent trolley V1 runs normally, the intelligent trolley V2 decelerates, and when the intelligent trolley V2 arrives at the RFID module 1B, the normal state should ensure that the intelligent trolley V1 passes through the RFID module 1D or the RFID module 1E. The distance between the intelligent trolleys V2 and the intelligent trolleys V1 is larger than the distance between the safe driving vehicles.
When the intelligent vehicle V1 stops between the RFID module 1G and the RFID module 1H due to an accident, and when the intelligent vehicle V2 passes through the RFID module 1B, the front is detected to be empty, namely no other intelligent vehicles are arranged in front of the RFID module 1B and in front of the RFID module 1H, and the intelligent vehicle V2 accelerates to a normal speed to run.
The difference from non-turnout mainly appears in that:
RFID module 1A is equal apart from switch distance with RFID module 1G, detects smart car V1 when smart car V2 passes through smart car 1A and just passes through 1G, can adopt the scheme of speed reduction operation, because there is still certain distance from RFID module 1A or RFID module 1G arrival switch, can pass through after a period of time slows down, keeps safe distance when passing through the switch. If smart cart V2 passes through RFID module 1C, and it is found that smart cart V1 has just passed through RFID module 1I, then smart cart V2 will employ tight contention braking.
the control mode of separating the turnout is similar to that of a straight road, and the description is omitted.
According to the micro-rail intelligent traffic control system and the control method, the information is mutually transmitted among the RFID modules, so that the rear vehicle can obtain the running information of the front vehicle through the RFID modules of the road, and the distance between the front vehicles is calculated and controlled, so that the intelligent vehicles running on the micro-rail can keep safe running.
The preferred embodiments of the present invention have been described above with reference to the accompanying drawings, and are not to be construed as limiting the scope of the invention. Any modifications, equivalents and improvements which may occur to those skilled in the art without departing from the scope and spirit of the present invention are intended to be within the scope of the claims.
Claims (7)
1. A micro-rail intelligent traffic control system is characterized by comprising: a plurality of intelligent trolleys are arranged on the micro rail, and the intelligent trolleys keep safe driving interval running; a plurality of RFID modules are arranged on the micro rail or on the edge of the micro rail, and the RFID modules are separated by a certain distance; the intelligent trolley is communicated with each RFID module when passing through the RFID module and exchanges data with each other; the plurality of RFID modules are connected through at least one CAN bus, the plurality of RFID modules are divided into a plurality of groups, each group of RFID modules are connected through one CAN bus, and adjacent CAN buses are connected as a gateway through a common RFID module; the CAN bus works in a broadcast mode, one RFID module sends the signals, other RFID modules in the CAN bus receive the signals at the same time, and the signals are transmitted to the RFID module of the second CAN bus from the RFID module of the first CAN bus through the CAN bus connected by the gateway; the forwarding count is set in the data packet, when the RFID module serving as the gateway reads the received data, the forwarding count in the data packet is read, if the forwarding count is not 0, the forwarding count is subtracted by 1, and then the data packet is forwarded to the adjacent CAN bus; the RFID module comprises an MCU module and an RF module, the MCU module is used for processing data acquired from the intelligent trolley and transceiving data in the CAN bus, and the RF module is used for transmitting data to the intelligent trolley.
2. the micro-rail intelligent traffic control system according to claim 1, wherein a separation distance between every two adjacent RFID modules is between 10 meters and 100 meters.
3. The micro-rail intelligent transportation control system according to claim 1, wherein the plurality of RFID modules are divided into a plurality of groups, each group of RFID modules is connected by one CAN bus, and any one RFID module in each group is used as a gateway to connect the CAN bus of the group with the CAN bus of an adjacent group, so that the data in the group is forwarded to the adjacent CAN bus through the gateway.
4. The micro-rail intelligent transportation control system according to claim 1, wherein the length of the CAN bus is greater than a preset safe inter-vehicle distance of the intelligent vehicle.
5. The intelligent micro-rail traffic control system according to claim 1, wherein the intelligent vehicle comprises an on-board RF read head and an on-board controller having stored therein rail data comprising position data for each RFID module.
6. A micro-rail intelligent traffic control method based on any one of the control systems of claims 1 to 5, characterized by comprising:
When the first intelligent trolley passes through the first RFID module, information including the number of the first RFID module is obtained;
The first RFID module records the number of the first intelligent trolley;
The first RFID module forms a data packet by the recorded serial number of the first intelligent trolley and the serial number of the first RFID module and transmits the data packet to other RFID modules through a CAN bus; the CAN bus where the first RFID module is located forwards the data packet and the forwarding count to another CAN bus connected with a gateway through the gateway;
The second intelligent trolley behind the first intelligent trolley obtains the number of the first intelligent trolley and the number of the first RFID module when passing through the second RFID module closest to the second intelligent trolley, calculates the distance between the first RFID module and the second RFID module, judges whether the distance is larger than the preset safe driving distance of the intelligent trolley, and determines whether to decelerate or brake;
And after the first CAN bus forwards the data packet and the forwarding count to an adjacent second CAN bus through a gateway, the gateway of a third CAN bus adjacent to the second CAN bus reads the forwarding count, if the forwarding count is not 0, the forwarding count is subtracted by 1, and then the data packet and the first RFID module are continuously forwarded to the gateways of the third CAN bus and the fourth CAN bus until the gateway reads that the forwarding count is 0, and then the forwarding is stopped.
7. The intelligent traffic control method for micro-rails according to claim 6, characterized in that: the first RFID module is any one RFID module, and other RFID modules are arranged between the second RFID module and the first RFID module; and the gateway forwards the data packet to the rear of the driving direction of the intelligent vehicle.
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| DE102017209926A1 (en) | 2017-06-13 | 2018-12-13 | Siemens Aktiengesellschaft | Method for operating a track-bound traffic system |
| CN111071303B (en) * | 2018-10-22 | 2021-12-07 | 比亚迪股份有限公司 | Train control method, device and system and computer interlocking equipment |
| CN110126887B (en) * | 2019-05-29 | 2021-06-04 | 江苏飞梭智行设备有限公司 | Method for improving vehicle turning and track combining efficiency |
| CN111806519A (en) * | 2020-07-16 | 2020-10-23 | 何秀华 | Control system and method for micro-rail vehicle |
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| CN103303339A (en) * | 2012-03-16 | 2013-09-18 | 上海协讯软件有限公司 | Small-sized rapid transit system and advance route control method thereof |
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| CN202106963U (en) * | 2011-06-14 | 2012-01-11 | 葛大力 | Personal rapid transit car and personal rapid transit |
| US9250073B2 (en) * | 2011-09-02 | 2016-02-02 | Trimble Navigation Limited | Method and system for position rail trolley using RFID devices |
| CN102653279A (en) * | 2011-09-15 | 2012-09-05 | 徐菲 | Train signal system device and train feasible distance detection method |
| CN103029726B (en) * | 2012-12-07 | 2016-06-01 | 南京弘毅电气自动化有限公司 | A kind of mine locomotive is accurately located and CAS |
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| CN1422774A (en) * | 2001-12-04 | 2003-06-11 | 株式会社日立制作所 | Train controlling method and apparatus |
| CN103303339A (en) * | 2012-03-16 | 2013-09-18 | 上海协讯软件有限公司 | Small-sized rapid transit system and advance route control method thereof |
| CN103192852A (en) * | 2013-04-18 | 2013-07-10 | 南京理工大学 | Subway train collision-avoidance early-warning device and method thereof |
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