CN107700293A - Automatic running transit system - Google Patents
Automatic running transit system Download PDFInfo
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- CN107700293A CN107700293A CN201710773704.6A CN201710773704A CN107700293A CN 107700293 A CN107700293 A CN 107700293A CN 201710773704 A CN201710773704 A CN 201710773704A CN 107700293 A CN107700293 A CN 107700293A
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- 230000009183 running Effects 0.000 title claims abstract description 331
- 238000012546 transfer Methods 0.000 claims abstract description 14
- 238000004891 communication Methods 0.000 claims abstract description 9
- 230000006698 induction Effects 0.000 claims description 27
- 238000009434 installation Methods 0.000 claims description 26
- 230000008676 import Effects 0.000 claims description 19
- 238000005096 rolling process Methods 0.000 claims description 13
- 238000013519 translation Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims 1
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- 230000006872 improvement Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 230000033228 biological regulation Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 210000004204 blood vessel Anatomy 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
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- 231100000225 lethality Toxicity 0.000 description 1
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- 230000008054 signal transmission Effects 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C1/00—Design or layout of roads, e.g. for noise abatement, for gas absorption
- E01C1/002—Design or lay-out of roads, e.g. street systems, cross-sections ; Design for noise abatement, e.g. sunken road
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of automatic running transit system, including automatic running automobile, designated lane and remote scheduling center, connected between remote scheduling center and automatic running automobile by wireless network, the designated lane includes two side walls and roof, it is provided with automatic running automobile along wall mobile devices, it is described to include the first distance sensing device and transfer along wall mobile devices, Vehicle Controller is provided with automatic running automobile, Vehicle Controller connects with the first distance sensing device and transfer communication respectively, Vehicle Controller prevents automatic running automobile from being collided with designated lane side wall and enables automatic running automobile along designated lane side wall traveling by controlling transfer running, the positioner for being provided from dynamic running automobile positioning is provided between designated lane and the automatic running automobile.Automatic running transit system provided by the invention, it is more safely, conveniently and economical compared with for conventional traffic system, facilitate the life of people.
Description
Technical field
The present invention relates to a kind of automatic running transit system.
Background technology
With human society science and technology development, the mankind obtain information method from earliest period, listen, contact letter pass
Pass, then to telephone, then to radio, until developing into present internet and Internet of Things.Present we not only can be with
Propagate language, word and video, it might even be possible to any place control various terminal equipment for having the network coverage on earth, network
The corner of each life has been deep into for a certainty.It is if the entire society's metaphor being made up of the mankind is high into one kind
Biology, we are exactly cell, and network is exactly nerve, and communications and transportation is exactly blood vessel.According to statistics, China in 2015 because traffic
The number of unexpected death just reaches people more than 90,000, cause injury, disabled person it is even more countless.How many families is therefore incoherent, more
Few people leaves smears the pain of injury do not gone all one's life.But the death tolls of railway traffic that the same year orbits but are only
1034 people.Apparently not because the distance travelled of railway lethality is little in other words less, nor because the brake of railway transportation
More sensitive, reason of searching to the bottom is because railway transportation can be avoided always according to line operation in way is travelled as far as possible
Pedestrian and vehicle, therefore the probability that accident occurs is less.If we can make and a set of can realize as blood vessel now
The traffic system of automatic Pilot substitute traditional mode of transportation.The generation of traffic accident not only can be effectively reduced, and
And can be to following people trip, shopping and transport, bring a kind of more convenient, economic selection.
The content of the invention
In view of the shortcomings of the prior art, the invention provides a kind of automatic running transit system, compared with conventional traffic system
Speech is more safely, conveniently and economical, facilitates the life of people.
To achieve the above object, the invention provides a kind of automatic running transit system, including automatic running automobile, it is provided from
The designated lane of dynamic running automobile one-way traffic and remote scheduling center, lead between remote scheduling center and automatic running automobile
Wireless network connection is crossed, the designated lane includes two side walls and roof, is provided with automatic running automobile for automatic running
Automobile along designated lane side wall travel along wall mobile devices, it is described to include being used to sense automatic running vapour along wall mobile devices
The transfer of first distance sensing device of distance and control wheel steering between car and designated lane side wall, automatic running
Vehicle Controller is provided with automobile, Vehicle Controller connects with the first distance sensing device and transfer communication respectively, car
Set controller prevents automatic running automobile and the collision of designated lane side wall and makes automatic row by controlling transfer running
Sailing automobile can travel along designated lane side wall, be provided between designated lane and the automatic running automobile for automatic running vapour
The positioner of car positioning.
It is using the advantages of above-mentioned technical proposal：Automatic running transit system provided by the invention, combines conventional rails
Traffic and the advantage of highway communication, by the designated lane arranged in cities and towns township region as blood vessel and in designated lane
Special automatic running automobile is set, automatic running automobile is voluntarily travelled in designated lane, therefore is not readily susceptible to block up
The factor such as car or weather influences, and makes driving conditions more convenient, safe and effective；Due to not having pedestrian and its in designated lane
The vehicle of his non-automatic running automobile passes through, therefore can effectively prevent traffic accident, is trip, shopping and the fortune of people
It is defeated to bring a kind of more safety and easily select.Further, since along the setting of wall mobile devices on automatic running automobile so that
Automatic running automobile can travel along the side wall of designated lane all the time, so as to prevent from colliding with side wall.Cross herein
Cheng Zhong, first distance sensing device can be monitored to distance between automatic running automobile and runway side wall in real time,
And signal is passed into Vehicle Controller, Vehicle Controller by controlling transfer automatic running automobile is slightly turned to, from
And the distance between automatic running automobile and designated lane side wall are adjusted, enable side wall of the automatic running automobile along runway
Move ahead without being collided with side wall.Due to the setting of positioner between designated lane and automatic running automobile, automatic row
Itself residing designated lane position can be identified by sailing automobile, consequently facilitating automatic running automobile realizes navigation and path planning.
As a further improvement on the present invention, the designated lane includes solo running section, imports section and shunting section, imports
Section end of driving into be connected with two solo running sections, the end of rolling away from for importing section is connected with a solo running section, the remittance section by
Parallel area and Hui Che areas are formed, and the one end in parallel area is described end of driving into, and the other end in parallel area connects with the one end in Hui Che areas
Connect, the other end in Hui Che areas is described end of rolling away from, and parallel area is wide and has the width of preferably at least twice solo running section, converges
Extreme direction is tapered towards rolling away from parallel area junction from it for the width in car area, and the end of driving into of shunting section is connected with a solo running
Section, the end of rolling away from of shunting section are connected with two solo running sections, and the width of shunting section drives into end from it and rolls extreme direction away from gradually towards it
It is wide.
It is using the advantages of above-mentioned technical proposal：Quick, the safety of automatic running automobile are easy in the setting of solo running section
Traveling, but because the distribution of whole designated lane is intricate, it is therefore desirable to automatic running automobile can be in different bicycle rows
Realization is shunted or imported between sailing section；And the setting for importing section and shunting section is entered except that can play to different solo running sections
Row connection effect, additionally it is possible to be diverted to for automatic running automobile from a solo running section in two solo running sections or from
Two solo running sections are imported into a solo running section；More automatic running automobiles are might have due to importing in section simultaneously
Drive into, easily cause congestion and collision, the setting in parallel area is easy to these automatic running automobiles to arrange by oneself by order, played
Certain cushioning effect, automatic running automobile is then can be along Hui Che areas to drive into same bicycle row behind parallel area
Sail in section, whole remittance process is very quick, safety.
As a further improvement on the present invention, the designated lane includes platform, and platform is arranged at solo running section
Side, solo running section side wall correspond to the inlet and outlet for being provided with platform and being got on or off the bus for passenger or goods, and import and export is provided with
Translation door, the side of automatic running automobile are offered with importing and exporting the automatic door being engaged.
It is using the advantages of above-mentioned technical proposal：It is easy to passenger or goods automatic running automobile up and down.
As a further improvement on the present invention, described positioner includes being used for fixed between automatic running automobile and platform
The low coverage wireless radio frequency modules of position, the first less radio-frequency that low coverage wireless radio frequency modules include being arranged on automatic running automobile are read
Read device and be arranged at the first radio frequency card that designated lane inwall corresponds to platform inlet and outlet position.
It is using the advantages of above-mentioned technical proposal：Because positioner includes low coverage wireless radio frequency modules, which employs suitable
For wireless radio-frequency closely, by setting the first less radio-frequency reader on automatic running automobile and special
Vias inner walls correspond to platform inlet and outlet position set the first radio frequency card mode, make automatic running automobile run at a low speed in
It is easy to precise positioning of the automatic running automobile between platform, parking when near platform.
As a further improvement on the present invention, described positioner includes being provided from positioning when dynamic running automobile is run at high speed
Long distance wireless radio frequency modules, long distance wireless radio frequency modules, which include being arranged at the second less radio-frequency on automatic running automobile, reads
Device and the second radio frequency card for being arranged at designated lane inwall, the second radio frequency card are multiple and grown along designated lane
Direction is spent to be arranged at intervals.
It is using the advantages of above-mentioned technical proposal：Because positioner includes long distance wireless radio frequency modules, which employs suitable
For remote wireless radio-frequency, by setting the second less radio-frequency reader on automatic running automobile and special
Vias inner walls set the mode of the second radio frequency card, automatic running automobile is identified that itself is residing specially when running at high speed
With channel position, consequently facilitating automatic running automobile realizes navigation and path planning.
As a further improvement on the present invention, the second less radio-frequency reader is arranged at automatic running automobile top and leaned on
Designated lane roof direction is launched forward for front position and its less radio-frequency, and the second described radio frequency card is arranged at special logical
Road roof.
It is using the advantages of above-mentioned technical proposal：Because the travel speed of automatic running automobile is very fast, the second less radio-frequency
Data transfer between reader and the second radio frequency card has certain retardance.Therefore, the second less radio-frequency is read
Device is arranged at the forward position of automatic running automobile top and designated lane roof direction is launched forward, automatic running automobile is existed
It can be just identified before traveling to corresponding second radio frequency card, consequently facilitating automatic running automobile is made instead in time
Should.
As a further improvement on the present invention, it is provided with the automatic running automobile for perceiving other automatic rows of periphery
The vehicle induction installation of automobile is sailed, vehicle induction installation connects with described Vehicle Controller communication, and Vehicle Controller is in vehicle
Induction installation senses other neighbouring automatic running automobile time-controlled automatic running automobile speeds to prevent and other automatic runnings
Car collision.
It is using the advantages of above-mentioned technical proposal：Automatic running automobile either in solo running section, remittance section or divides
It is likely to that with other automatic running car collisions, vehicle induction installation surrounding can be sensed in real time when travelling in stream section
Automatic running automobile, and have around sensing and signal to be passed into Vehicle Controller in the presence of automatic running automobile, it is vehicle-mounted
Controller is prevented and other automatic running car collisions by controlling automatic running automobile speed.
As a further improvement on the present invention, described vehicle induction installation includes infrared transmitter and infrared remote receiver,
Infrared transmitter is arranged at the side of automatic running automobile, and the emitting area of the infrared transmitter is in fan-shaped and can be illuminated
Object on leave the irradiation area of strip, infrared remote receiver is respectively arranged at the rear and front end position of automatic running automobile opposite side
Put, vehicle induction installation also includes second distance induction installation, and the second distance induction installation is arranged at automatic running automobile
Front end.
It is using the advantages of above-mentioned technical proposal：In automatic running running car when section is imported, automatic running automobile one
The infrared transmitter of side can be irradiated to the side environs, when the infrared receiver of the opposite side of other automatic running automobiles
Device by infrared transmitter when being irradiated（I.e. the irradiation area of strip is located on the infrared remote receiver of the automatic running automobile
When）, signal passes to Vehicle Controller by infrared remote receiver, and Vehicle Controller is by controlling automatic running automobile speed to prevent
With other automatic running car collisions；In addition, during being travelled in whole designated lane, automatic running automobile is arranged at
Front end second distance induction installation when sensing that other automatic running automobiles positioned at front are close, signal is passed to
Vehicle Controller, Vehicle Controller prevent from chasing after with front automatic running automobile by controlling automatic running automobile speed
Tail；Moreover, second distance induction installation can also sense foreign matter and the children swarmed into or animal in designated lane by mistake, prevent
Only collide, improve security.
As a further improvement on the present invention, it is provided with and is used for and periphery automatic running automobile on the automatic running automobile
Between realize position and run routing information transmitting-receiving radio receiver-transmitter.
It is using the advantages of above-mentioned technical proposal：Automatic running automobile can be to peripheral region by radio receiver-transmitter
The signal with positional information and run routing information is sent with the forms of broadcasting, is easy to enter between other vehicles of peripheral region
Row allotment, scheduling, can as far as possible reduce and be met probability with other automatic running automobiles, improve designated lane diverse location
Utilization rate, while can also reduce the possibility for occurring colliding.
As a further improvement on the present invention, electrical contact net, automatic running vapour are provided with the roof of the designated lane
The pantograph for coordinating power taking with electrical contact net is provided with the top of car, designated lane includes overhead section, and overhead section of side wall includes
Interior flat board, Crashworthy plate and protection post, interior flat board are located inside sidewalls, and protection post is located at side-wall outer side, and Crashworthy plate is arranged at interior flat
Between plate and protection post, overhead section of roof includes the ceiling of arch, and ceiling is arranged at the upper end of side wall, and electrical contact net is set
In the side of the ceiling inwardly, the junction of ceiling and side wall is provided with sightseeing window, and being provided with the top of ceiling can rainwater-proof
Ventilating opening, overhead section of bottom are provided with bridge, and the bottom of bridge is provided with bridge pier, are equipped with the top of bridge and form bottom wall
Road surface, described side wall are arranged on road surface.
It is using the advantages of above-mentioned technical proposal：Pantograph and electrical contact are used between automatic running automobile and designated lane
Mode power, it is thus more environmentally-friendly, economical, it is more traditional using fuel oil as the mode of transportation of power for, it is not easy to ring
Border pollutes；The ceiling of arch is not easy to make rain water-harvesting；The ventilating opening set at the top of ceiling except can rainwater-proof enter
Beyond into designated lane, the air circulation that is also convenient in designated lane, the comfortableness of passenger is improved；The setting of sightseeing window is easy to
Passenger can view and admire landscape on the way when taking automatic running automobile；Due to the setting of interior flat board, Crashworthy plate and protection post, carry
The high crashworthiness and intensity of side wall, improves security；Due to the setting of bridge pier and bridge, make overhead section can be layed in
Road surface or the eminence in river course, city and river course traffic will not be impacted.
Brief description of the drawings
Fig. 1 is the schematic diagram that section is imported in the embodiment of the present invention；
Fig. 2 is the schematic diagram of shunting section in the embodiment of the present invention；
Fig. 3 is the schematic diagram of solo running section in the embodiment of the present invention；
Fig. 4 is the schematic diagram of platform in the embodiment of the present invention；
Fig. 5 is the front view of automatic running automobile in the embodiment of the present invention；
Fig. 6 is the top view of automatic running automobile in the embodiment of the present invention；
Fig. 7 is the side view of automatic running automobile in the embodiment of the present invention；
Fig. 8 is the schematic diagram of automatic running automobile the first situation of meeting in parallel area in the embodiment of the present invention；
Fig. 9 is the schematic diagram of automatic running automobile second of situation of meeting in parallel area in the embodiment of the present invention；
Figure 10 is the schematic diagram of automatic running automobile the third situation of meeting in parallel area in the embodiment of the present invention；
Figure 11 is the annexation figure of Vehicle Controller in the embodiment of the present invention；
Figure 12 is along the structured flowchart of wall mobile devices in the embodiment of the present invention；
Figure 13 is the structured flowchart of positioner in the embodiment of the present invention；
Figure 14 is the structured flowchart of vehicle induction installation in the embodiment of the present invention；
Figure 15 is overhead section in the embodiment of the present invention of sectional view.
Embodiment
The embodiment of the automatic running transit system of the present invention is as shown in drawings：Including automatic running automobile 1, it is provided from dynamic row
Designated lane and the remote scheduling center of the one-way traffic of automobile 1 are sailed, is passed through between remote scheduling center and automatic running automobile 1
Wireless network connects, and the designated lane includes two side wall 2a, roof 2b and bottom wall 2c, is provided with automatic running automobile 1
Speed controller and be provided from dynamic running automobile 1 along designated lane side wall 2a travel along wall mobile devices, it is described along wall
Mobile devices include being used for the first distance sensing device for sensing distance between automatic running automobile 1 and designated lane side wall 2a
111 and the transfer of wheel steering is controlled, automatic running automobile 1 must preferably use the rear-guard of front-wheel steer and rear wheel drive
Mode, the operation principle of transfer is exactly by controlling front-wheel constantly to carry out steering adjustment, travelling automatic running automobile 1
When remain the distance between designated lane side wall 2a so that automatic running automobile 1 can be kept in the process of moving
The distance between designated lane side wall 2a is without colliding.Vehicle Controller, vehicle-mounted control are provided with automatic running automobile 1
Device processed is connected with speed controller, the communication of the first distance sensing device 111 respectively, and Vehicle Controller is sailed by controlling along wallflow
The transfer of device is operated to prevent automatic running automobile 1 and designated lane side wall 2a from colliding and make automatic running automobile 1
It can be travelled along designated lane side wall 2a, be provided between designated lane and the automatic running automobile 1 and be provided from dynamic running automobile 1
The positioner of positioning.
In actual use, user is communicated to connect by being established between the app of mobile terminal and remote scheduling center, mobile
The lattice vector figure met with real road can be shown on terminal app；User can be by wireless network to remote scheduling center
Requirement command is sent, the requirement command includes starting point, terminal, pick-up time and the current location of stroke（Shifting can be passed through
The satellite fix mode such as GPS or the Big Dipper that dynamic terminal carries, or obtained by way of neighbouring communication base station or network positions
Take）Etc. information, after requirement command is received, the priority level being pre-designed according to program is searched for automatically at remote scheduling center
Automatic running automobile 1 near initial point, and it is scheduled.Then automatic running automobile 1 can be voluntarily in designated lane
Travel and most user is sent to destination at last.Due to being provided with positioner between automatic running automobile 1 and designated lane, positioning
Data exchange is carried out by wireless network between device and control centre, remote scheduling center can grasp automatic running vapour in real time
The position for the designated lane that car 1 is presently in.Automatic running automobile 1 can also make Path selection according to itself present position,
Especially before automatic running automobile 1 judges itself to be in and imports section or shunting section, it can make along wall and select in advance, so as to
Section or shunting section realization shunting can imported or imported, reached the effect for changing traveling travel direction and route, lead in special
Travelled in road freely, without interruption.
It is further to note that the present invention when actually implementing, can be fitted by being constructed to automatic running automobile 1
Work as modification, realize difference in functionality, such as automatic running automobile can be divided into three types according to respective function：First, passenger traffic
Automatic running automobile, it is four electric cars, 80 to 100 kilometers of F-Zero；Second, middle-long distance shipping automatic running automobile, its
With the same wheelspan of passenger traffic automatic running automobile, can 1 to 2 tons of load-carrying, F-Zero can reach 80 to 100 kilometers, and because
It is small lot transport, it is possible to realize the accurate delivery of middle-long distance；Third, small courier automatic running automobile, can be by express delivery
Part is shipped to every household, is equipped with special elevator, can reach each floor and each realized and include every building
Unit.
In the present embodiment, the designated lane includes solo running section 21, imports section 26 and shunting section 27, imports section 26
End of driving into be connected with two solo running sections 21, the end of rolling away from for importing section 26 is connected with a solo running section 21, the remittance
Section 26 is made up of parallel area 26a and Hui Che areas 26b, and end is driven into parallel area 26b one end for described, and parallel area 26a's is another
Duan Yuhuiche areas 26b one end connection, the Hui Che areas 26b other end roll end away from for described, and parallel area 26b is along its length
Width wide and with preferably at least twice solo running section 21, Hui Che areas 26b width is from itself and parallel area 26a junctions court
Roll that extreme direction is tapered away from, the end of driving into of shunting section 27 is connected with a solo running section 21, and the end of rolling away from of shunting section 27 is connected with
Two solo running sections 21, the width of shunting section 27 from it drives into end, and towards it to roll extreme direction away from gradually wide.
In the present embodiment, the designated lane includes platform 23, and platform 23 is arranged at the side of solo running section 21,
The side wall of solo running section 21 corresponds to the inlet and outlet 231 for being provided with platform and being got on or off the bus for passenger or goods, is set at inlet and outlet 231
There is translation door, the side of automatic running automobile 1 offers the automatic door 13 being engaged with inlet and outlet 231.When actually implementing,
The volume of the flow of passengers or the more situation of volume of freight are can be potentially encountered, can be import 231b and outlet 231a by 231 points of inlet and outlet, from
Dynamic running automobile 1 is first travelled to parking at outlet 231a, makes the goods or passenger getting off car on car；Then travel again to import
231b, new a collection of passenger or goods is set to get on the bus.
In the present embodiment, described positioner includes near for being positioned between automatic running automobile 1 and platform 23
Away from wireless radio frequency modules, low coverage wireless radio frequency modules include the first less radio-frequency reader being arranged on automatic running automobile 1
121 and it is arranged at designated lane inwall（Including side wall 2a, roof 2b and bottom wall 2c）Corresponding platform 23 imports and exports 231 positions
The first radio frequency card 122.The setting of low coverage wireless radio frequency modules enables automatic running automobile 1 precisely to stop after deceleration
231 are imported and exported in platform 23, is easy to the automatic door 13 of automatic running automobile 1 and imports and exports the docking between 231 translation doors.Low coverage
Wireless radio frequency modules can be arranged at the opposite side side wall and automatic running vapour of designated lane side wall platform inlet and outlet present position
Between 1 corresponding side of car, it can also be arranged between the bottom of designated lane bottom wall 2c and automatic running automobile 1, in this reality
It is preferably that first radio frequency card 122 is arranged on designated lane bottom wall 2c to apply in example, and first less radio-frequency is read
Device 121 is arranged at the bottom of automatic running automobile 1
In the present embodiment, the long distance that described positioner includes being provided from positioning when dynamic running automobile 1 is run at high speed wirelessly is penetrated
Frequency module, long distance wireless radio frequency modules include the second less radio-frequency reader 131 being arranged on automatic running automobile 1 and set
It is placed in designated lane inwall（Including side wall 2a, roof 2b and bottom wall 2c）Second radio frequency card 132 of relevant position, second
Radio frequency card 132 is multiple and is arranged at intervals along designated lane length direction.Due to the length of some solo running sections 21
Longer, automatic running automobile 1 need not frequently slow down in motion, can be needed according to speed in such solo running section 21
The quantity of appropriate increase long distance wireless radio frequency modules.
Certainly, heretofore described positioner can also use other induction modes, such as laser scanning, infrared sweep
Retouch, ultrasonic wave etc. can also realize identical function.Because the length of some solo running sections 21 is longer, automatic running automobile 1
It need not frequently slow down in motion, the suitably increase long distance in such solo running section 21 can be needed wirelessly to penetrate according to speed
The quantity of frequency module.
In the present embodiment, the second less radio-frequency reader 131 is arranged at the forward position in the top of automatic running automobile 1
And its less radio-frequency forward launch by designated lane roof 2b directions, the second described radio frequency card 132 is arranged at special logical
Road roof 2b corresponds to less radio-frequency irradiation position, and the second radio frequency card 132 has certain angle of inclination, is easy to and the second nothing
Signal transmission can be accurately carried out between line radio-frequency card 132.
Because long distance wireless radio frequency modules are employed suitable for remote wireless radio-frequency, by using above-mentioned technology
Scheme, automatic running automobile 1 is set to accomplish that the second less radio-frequency reader 131 identifies the of distant place in advance when running at high speed
Two radio frequency cards 132, in order to which automatic running automobile 1 accurately identifies to itself present position at high speeds, from
And improve the precision of positioning.
Because the end of driving into for importing section 26 is connected with two solo running sections 21, the end of rolling away from for importing section 26 is connected with one
Solo running section 21, and import between the solo running section 21 of the both ends of section 26 connection there is continuous side wall, therefore pass through edge
Side wall traveling to can be realized as automatic running automobile 1 and be together imported into a solo running section 21 from two solo running sections 21
In；Because the end of driving into of shunting section 27 is connected with a solo running section 21, the end of rolling away from of shunting section 27 is connected with two bicycles
Section is travelled, and there is continuous side wall between the solo running section 21 of the both ends of shunting section 27 connection, as long as therefore along side wall
Traveling can be realized as automatic running automobile 1 and selectively be diverted to two solo running sections 21 from a solo running section 21
In.
When automatic running automobile 1 is by importing section 26, as shown in Figure 1：It is now in driving near end for remittance section 26
Two automatic running automobiles 1 along wall mobile devices respectively along left wall 26l and right wall 26r（Relative to automatic running automobile
Travel direction for left side or right side side wall）Traveling just can be together imported into the solo running section 21 for rolling end away from.
When automatic running automobile 1 is by shunting section 27, as shown in Figure 2：It is now in driving near end for shunting section 27
Automatic running automobile 1 can by along wall mobile devices alternately along left wall 27l or right wall 27r（Relative to automatic
The side wall in left side or right side for the travel direction of running automobile）Move forward, rolled away from so as to selectively be diverted to
In one of solo running section 21 at end.
It should be noted that automatic running automobile 1 can be by the positioner that is set between designated lane to will
The remittance section 26 and shunting section 27 driven into are identified, when described automatic running automobile 1 will be being travelled into the He of remittance section 26
When in shunting section 27, the second less radio-frequency reader 131 for being set on automatic running automobile 1 read that front sets in advance the
Representative recorded in two radio frequency cards 132 imports the identification information of section 26 and shunting section 27, and then Vehicle Controller is optional
It is defined by one of side wall of solo running section 21 to control transfer to operate with selecting, automatic running automobile 1 is begun
Travelled eventually along one of side wall.In addition, improved and designated lane side to improve automatic running automobile 1 when running at high speed
The Stability and veracity that distance perspective is answered between wall 2b, automatic running automobile 1 can be when being travelled in solo running section 21 simultaneously
The distance between sensing and two side 2b.
In addition, automatic running automobile 1 can be by the positioner that is set between designated lane to that will sail the station reached
Platform 23 is identified, and when described automatic running automobile 1 will be being travelled up to platform 23, is set on automatic running automobile 1
Second less radio-frequency reader 131 reads the representative platform recorded in the second radio frequency card 132 that front is set in advance
23 identification information, Vehicle Controller control automatic running automobile 1 is slowed down, when running at a low speed to platform 23, from
The first less radio-frequency reader 121 that the dynamic bottom of running automobile 1 is set comes into operation, and constantly launches to designated lane bottom wall 2c
Less radio-frequency, when being radiated at positioned at the first radio frequency card 122 of the import and export 231 of platform 23, automatic running is controlled immediately
Automobile 1 stops, and improves accuracy.
In the present embodiment, it is provided with the automatic running automobile 1 for perceiving other automatic running automobiles 1 of periphery
Vehicle induction installation, vehicle induction installation connect with described Vehicle Controller communication, and Vehicle Controller is in vehicle induction installation
The speed of automatic running automobile 1 is controlled to prevent from sending out with other automatic running automobiles 1 when sensing other automatic running automobiles 1 nearby
Raw collision.
In the present embodiment, described vehicle induction installation includes infrared transmitter 141 and infrared remote receiver 142, infrared
Transmitter 141 is arranged at the side of automatic running automobile 1, and the emitting area of the infrared transmitter 142 is in fan-shaped and can be in quilt
The irradiation area of strip is left on the object of irradiation, before infrared remote receiver 142 is respectively arranged at the opposite side of automatic running automobile 1
End positions afterwards, vehicle induction installation also include second distance induction installation 15, and the second distance induction installation 15 is arranged at certainly
The front end of dynamic running automobile 1.
The first heretofore described distance sensing device 111 and second distance induction installation 15 must preferably use Laser Measuring
Away from device.
In the present embodiment, infrared transmitter 141 is arranged at the left side of the travel direction of automatic running automobile 1, infrared receiver
Device 142 is then arranged at the right side of the travel direction of automatic running automobile 1, and automatic running automobile 1 traveling to import section 26 and
When in row area 26a, the automatic running automobile 1 travelled along left wall 26l can enable the infrared remote receiver 142 for being arranged at right side, along the right side
The automatic running automobile 1 of wall 26r travelings can then enable the infrared transmitter 141 for being arranged at left side.
The situation that automatic running automobile 1 meets in parallel area 26a is as shown in Fig. 8, Fig. 9 and Figure 10：Two automatic running vapour
When car 1 meets in parallel area 26a, along right wall 26r travelings and the left side of automatic running automobile that position is forward 1 set it is red
External transmitter 141 is irradiated in the infrared remote receiver 142 that the right side front position of another automatic running automobile 1 is set, then red
The meeting regulation speed of automatic running automobile 1 that external transmitter 141 is irradiated reduces, and makes the automatic running automobile 1 of forward position preferential
Cross and import section 26；If the infrared transmitter that the left side of automatic running automobile 1 of travelled along right wall 26r and position rearward is set
The infrared remote receiver 142 that the 141 right side back-end locations for being irradiated in another automatic running automobile 1 are set, then by infrared transmitter
The 141 meeting regulation speed of automatic running automobiles 1 irradiated, which rise and preferentially crossed, imports section 26；If along right wall 26r travelings
The infrared transmitter 141 that the left side of automatic running automobile 1 is set be irradiated in simultaneously another automatic running automobile 1 right side front and
The infrared remote receiver 142 that back-end location is set, then on the regulation speed of automatic running automobile 1 irradiated by infrared transmitter 141
Rising and preferentially crossing to import section 26 or regulation speed and decline makes an other automatic running automobile 1 preferentially cross remittance section 26.
Avoid automatic running automobile 1 to be collided in section 26 is imported in this way, make traveling process more quick, safe.
In addition, when two automatic running automobiles 1 met in solo running section 21 met in shunting section 27 or
When being met in Hui Che areas 26b, before the second distance induction installation 15 that is set on the automatic running automobile 1 at rear can sense and arrive
The distance between automatic running automobile 1 of side, so as to which regulation speed declines and remained a constant speed, prevent from knocking into the back.
In the present embodiment, it is provided with the automatic running automobile 1 for being realized between periphery automatic running automobile 1
Position and the radio receiver-transmitter of run routing information transmitting-receiving（Not shown in figure）.Automatic running automobile 1 is received by radio
Transmitting apparatus can send the signal with positional information and run routing information to peripheral region with the forms of broadcasting, be easy to and surrounding
Allocated between other vehicles in region, reduce crossed probability with other automatic running automobiles as far as possible.When automatic running vapour
Situations such as failure or accidental interruption travel in a certain section of the car 1 in designated lane, passes through the automatic running automobile 1
The radio receiver-transmitter of upper setting, can also send signal to other automatic running automobiles 1 around, and surrounding is other automatic
The automatic running automobile 1 in same section can be slowed down in advance after signal is received in running automobile 1, avoided the occurrence of and knocked into the back
Accident；And the automatic running automobile 1 in other sections can plan driving path again after signal is received, avoid from the section
Middle process, to avoid congestion.
In the present embodiment, electrical contact net 24, the top of automatic running automobile 1 are provided with the roof 2b of the designated lane
Portion be provided with electrical contact net 24 coordinate power taking pantograph 25, it is contemplated that platform nearby may someone fall into or swarm into
In designated lane, unexpected possibility occurs in order to reduce, the designated lane is nearby not provided with institute in the import and export of platform 23
The electrical contact net 24 stated, the automatic running automobile 1, which is equipped with, to be provided from dynamic running automobile 1 and sails during through at platform 23 as its power supply
Battery, the battery are that automatic running automobile 1 can obtain electric power storage when providing electric power making electrical contact with net 24.Due to designated lane
Described electrical contact net 24 is nearby not provided with the inlet and outlet of platform 23 231, the passenger at the inlet and outlet of platform 23 231 can be prevented
Got an electric shock because of touching electrical contact net 24, simultaneously because automatic running automobile 1 is also equipped with battery, make automatic running automobile 1
Pantograph 25 remains able to normally travel when departing from and making electrical contact with net 24, while is also prevented from whole system when there is fault
The problem of causing automatic running automobile 1 not run.In addition, relative to the pure chemistry storage battery car just risen now, sheet
Invention only uses a small amount of battery, and the number of discharge and recharge is few, so the comdemning period of battery is longer, secondary pollution is few.
In the present embodiment, the designated lane includes overhead section, and overhead section of side wall includes interior flat board 34a, Crashworthy plate
34b and protection post 34c, interior flat board 34a are located inside sidewalls, and protection post 34c is located at side-wall outer side, and Crashworthy plate 34b is arranged at interior
Between flat board 34a and protection post 34c, interior flat board 34a is made up of the material beneficial to laser reflection, and Crashworthy plate 34b can play one
Fixed cushioning effect, protection post 34c improve the intensity of whole side wall, and overhead section of roof includes the ceiling 35b of arch, top
Canopy 35b is arranged at the upper end of side wall, and electrical contact net 25 is arranged at the sides of ceiling 35b inwardly, the connection of ceiling 35b and side wall
Place be provided be provided with the top of sightseeing window 35c, ceiling 35b can rainwater-proof ventilating opening 35a, overhead section of bottom is provided with bridge
Beam 32, the bottom of bridge 32 are provided with bridge pier 31, and the top of bridge 32 is equipped with the road surface for forming bottom wall 2c, and described side wall is set
It is placed on road surface.
The automatic running transit system of the present invention passes through the structure to automatic running automobile in addition to it can be used in carrying
Appropriate reconstruction is carried out, goods or express transportation etc. can also be realized.Further, it is also possible to by with some solid shops or net business
Cooperation, realizes and does shopping and send with charge free on line.As long as user opens mobile phone searching to having network automatic selling in neighbouring tens kilometer range
The shop of goods, after placing an order in a short period of time, automatic running automobile will reach delivery point, be thrown outside your family's windowsill to you
Bring.Various network interdynamics can also be carried out, and various Push Services can be developed.
In the present invention, automatic running automobile 1 passes through the generation automatic running automobile 1 that cooperated between remote scheduling center
Routing information, automatic running automobile 1 by the routing information along designated lane from starting point travel to terminal.On path
The generation of information, the following two kinds mode can be used：1. remote scheduling is centrally generated driving path and sent out in the form of string file
Automatic running automobile is given, automatic running automobile performs file string command and with reference to by the designated lane acquired in positioner
The location of middle information control automatic running running car arrives at, in this way when, automatic running automobile is not
Navigation system is carried to drive for semi-intelligent（More suitable for carrying out shipping）；2:Remote scheduling center is only sent to automatic running automobile
Instruction comprising endpoint information, the vehicle mounted guidance system that automatic running automobile is carried by automatic running automobile upon receipt of the instructions
System voluntarily generates driving path, and controls automatic running running car to arrive at.It can mitigate in this way long-range
The computational burden of control centre, but also improve the manufacturing cost of automatic running automobile, in this way when, automatic running vapour
Car is full intelligent driving（More suitable for carrying out passenger traffic）.
In addition, automatic running automobile constantly can send the positional information obtained by positioner to remote scheduling
Center, it is easy to remote scheduling central instant to grasp automatic running automobile present position.Due to positioner in the present embodiment
Wireless radio-frequency is employed, all radio frequency cards being arranged in designated lane are respectively provided with respective numbering, these volumes
Number corresponding point in electronic navigation map can be synchronously stored in, automatic running automobile reads the number information can that radio-frequency card is included
The position where itself is determined, and automatic running automobile can be controlled according to the running data planned in advance along designated lane
Traveling.
Remote scheduling center can also be by sending Priority Directive to automatic running automobile（Change its course, accelerate, slow down, parking
Wait etc.）Control automatic running automobile preferentially performs.Except remote scheduling center, user can also control automatic running automobile
It is interim to stop（Mobile terminal app receives and sends Priority Directive by remote scheduling center to automatic running garage, or automatic
The corresponding button being directly controlled to automatic running automobile is set in running automobile）Or brake hard（In automatic running
The wrench of brake hard is set in automobile）.
In the present embodiment, it is every to be related to and for realizing between automatic running automobile 1 and designated lane, or automatically
Positioning, vehicle sensing, distance perspective should wait the associated component of sensor to be disposed as between running automobile 1 and automatic running automobile 1
Multigroup, and improve by way of taking Redundancy Design the reliability and accuracy of sensing, situations such as preventing from judging by accident, failing to judge, is sent out
It is raw.
One kind of above example, the simply present invention preferably specific embodiment, those skilled in the art are in skill of the present invention
The usual variations and alternatives carried out in art aspects are included in protection scope of the present invention.
Claims (10)
- A kind of 1. automatic running transit system, it is characterised in that：Including automatic running automobile, it is provided from dynamic running automobile one-way traffic Designated lane and remote scheduling center, connected between remote scheduling center and automatic running automobile by wireless network, should Designated lane includes two side walls and roof, is provided with automatic running automobile and is provided from dynamic running automobile along designated lane side Wallflow sail along wall mobile devices, it is described along wall mobile devices include being used for sensing automatic running automobile and designated lane side wall it Between distance the first distance sensing device and control the transfer of wheel steering, be provided with vehicle-mounted control on automatic running automobile Device processed, Vehicle Controller are connected with the first distance sensing device and transfer communication respectively, and Vehicle Controller is turned by control Operated to device to prevent automatic running automobile from being collided with designated lane side wall and automatic running automobile is led to along special Road side wall is travelled, and the positioner for being provided from dynamic running automobile positioning is provided between designated lane and the automatic running automobile.
- 2. according to the automatic running transit system described in claim 1, it is characterised in that：The designated lane includes bicycle row Sail section, remittance section and shunting section, the end of driving into for importing section and be connected with two solo running sections, the end of rolling away from for importing section is connected with one Individual solo running section, the remittance section are made up of parallel area and Hui Che areas, and end is driven into the one end in parallel area for described, parallel area The other end is connected with the one end in Hui Che areas, and the other end in Hui Che areas is described end of rolling away from, and parallel area is wide and with least two The width of times solo running section, extreme direction is tapered towards rolling away from parallel area junction from it for the width in Hui Che areas, shunting section Drive into end and be connected with a solo running section, the end of rolling away from of shunting section is connected with two solo running sections, and the width of shunting section is certainly It drives into end, and towards it to roll extreme direction away from gradually wide.
- 3. according to the automatic running transit system described in claim 2, it is characterised in that：The designated lane includes station Platform, platform are arranged at the side of solo running section, and solo running section side wall, which corresponds to, to be provided with platform for above and below passenger or goods The inlet and outlet of car, import and export are provided with translation door, the side of automatic running automobile offer be engaged with inlet and outlet it is automatic Car door.
- 4. according to the automatic running transit system described in claim 3, it is characterised in that：Described positioner includes being used for The low coverage wireless radio frequency modules positioned between automatic running automobile and platform, low coverage wireless radio frequency modules include being arranged at automatic row Sail the first less radio-frequency reader on automobile and be arranged at the first nothing that designated lane inwall corresponds to platform inlet and outlet position Line radio-frequency card.
- 5. according to the automatic running transit system described in claim 1, it is characterised in that：Described positioner includes being provided from The long distance wireless radio frequency modules that dynamic running automobile positions when running at high speed, long distance wireless radio frequency modules include being arranged at automatic running The second less radio-frequency reader on automobile and the second radio frequency card for being arranged at designated lane inwall, the second less radio-frequency Block for it is multiple and along designated lane length direction be arranged at intervals.
- 6. according to the automatic running transit system described in claim 5, it is characterised in that：The second less radio-frequency reader Be arranged at the forward position of automatic running automobile top and its less radio-frequency designated lane roof direction is launched forward, described the Two radio frequency cards are arranged at designated lane roof.
- 7. according to the automatic running transit system described in claim 2, it is characterised in that：Set on the automatic running automobile There is the vehicle induction installation for perceiving other automatic running automobiles of periphery, vehicle induction installation leads to described Vehicle Controller News connection, Vehicle Controller sense other automatic running automobile time-controlled automatic running Automobiles nearby in vehicle induction installation Speed is to prevent and other automatic running car collisions.
- 8. according to the automatic running transit system described in claim 7, it is characterised in that：Described vehicle induction installation includes Infrared transmitter and infrared remote receiver, infrared transmitter are arranged at the side of automatic running automobile, the transmitting of the infrared transmitter Region is in sector and the irradiation area of strip can be left on illuminated object, and infrared remote receiver is respectively arranged at automatic row The rear and front end position of automobile opposite side is sailed, vehicle induction installation also includes second distance induction installation, second distance sensing Device is arranged at the front end of automatic running automobile.
- 9. according to the automatic running transit system described in claim 1, it is characterised in that：Set on the automatic running automobile There is the radio receiver-transmitter for realizing position and run routing information transmitting-receiving between the automatic running automobile of periphery.
- 10. according to the automatic running transit system described in any one in claim 1 to 9, it is characterised in that：It is described special Electrical contact net is provided with the roof of passage, is provided with the top of automatic running automobile with electrical contact net cooperation power taking by electricity Bow, designated lane include overhead section, and overhead section of side wall includes interior flat board, Crashworthy plate and protection post, and interior flat board is located in side wall Side, protection post are located at side-wall outer side, and Crashworthy plate is arranged between interior flat board and protection post, and overhead section of roof includes arch Ceiling, ceiling are arranged at the upper end of side wall, and electrical contact net is arranged at the side of the ceiling inwardly, and the junction of ceiling and side wall is set Be equipped with sightseeing window, be provided with the top of ceiling can rainwater-proof ventilating opening, overhead section of bottom is provided with bridge, the bottom of bridge Bridge pier is provided with, the road surface for forming bottom wall is equipped with the top of bridge, described side wall is arranged on road surface.
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|---|---|---|---|
| CN201710773704.6A CN107700293A (en) | 2017-08-31 | 2017-08-31 | Automatic running transit system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710773704.6A CN107700293A (en) | 2017-08-31 | 2017-08-31 | Automatic running transit system |
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| CN107700293A true CN107700293A (en) | 2018-02-16 |
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|---|---|---|---|
| CN201710773704.6A Pending CN107700293A (en) | 2017-08-31 | 2017-08-31 | Automatic running transit system |
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| CN112668973A (en) * | 2020-12-31 | 2021-04-16 | 江苏佳利达国际物流股份有限公司 | Intelligent unmanned logistics transportation method and system |
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Application publication date: 20180216 |