CN109501815A - A kind of unmanned railway vehicle traffic system - Google Patents
A kind of unmanned railway vehicle traffic system Download PDFInfo
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- CN109501815A CN109501815A CN201811641294.0A CN201811641294A CN109501815A CN 109501815 A CN109501815 A CN 109501815A CN 201811641294 A CN201811641294 A CN 201811641294A CN 109501815 A CN109501815 A CN 109501815A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C3/00—Electric locomotives or railcars
- B61C3/02—Electric locomotives or railcars with electric accumulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B1/00—General arrangement of stations, platforms, or sidings; Railway networks; Rail vehicle marshalling systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D17/00—Construction details of vehicle bodies
- B61D17/04—Construction details of vehicle bodies with bodies of metal; with composite, e.g. metal and wood body structures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61H—BRAKES OR OTHER RETARDING DEVICES SPECIALLY ADAPTED FOR RAIL VEHICLES; ARRANGEMENT OR DISPOSITION THEREOF IN RAIL VEHICLES
- B61H7/00—Brakes with braking members co-operating with the track
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/40—Handling position reports or trackside vehicle data
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention provides a kind of unmanned railway vehicle traffic system, including orbital facilities, unmanned light section car, several stations, mster-control centre；The mster-control centre includes vehicle control syetem；The orbital facilities include track and orbital platform, and on the orbital platform, the unmanned light section car moves the track laying along the track；The unmanned light section car is equipped with vehicle control syetem.Easy to operate, comprehensive energy consumption is low, and integrated operation is at low cost, environmental protection without discharge, it is pollution-free, will be the important component of future transportation.
Description
Technical field
The present invention relates to field of track traffic, in particular to unmanned railway vehicle traffic system.
Background technique
With the continuous development of society, the trip mode of people is more and more:
Bicycle, structure is simple, cheap, easy to operate, and the characteristic that can be taken exercises is by groups of people's
Favor.But speed is slow, does not catch up with the time, without the facility taken shelter from rain of becalming, also needs to consume personal energy, and if directly exist
It rides on road and dangerous.
Electric bicycle and motorcycle have mobility because its own is small in size, are not afraid of congestion, and drive by power
It is dynamic, personal energy will not be consumed, it is easy to use.But electric vehicle driver lacks standardized administration, holds due to being on duty without certificate
Accident-proneness, and since car body is not substantially to the safeguard structure of human body, once there is traffic accident, human body is wound larger.
Tricycle and four-wheel scooter (electronic and fuel oil), move integrally stability and safety are improved.The two tool
There are the characteristics such as speed is adjustable, maintenance is convenient, maneuverability is strong, possesses part along with easy to operate, moderate
Target user.But the noise and tail gas that oil-fired vehicle generates will cause environmental pollution, in addition universal supervision lacks, nothing
The road Pai Wuzhengshang produces no small hidden danger to traffic system.
And more than one since century, kart is accommodating out, save the time, not by day with ride comfort, driving stability
The advantage of gas influence etc. changes people's lives mode, and have developed rapidly.Most kart day operation time only has 1-
2 hours, 5 seat coach may take a seat 1-2 people when going to work, and there are seat zero load, engine and boot occupied spaces greatly, service efficiency
The problems such as low.Bring that very important environmental pollution, traffic congestion, parking difficulty, people's vehicle accident etc. is many asks simultaneously
Topic.
In order to adapt to the fast development of urbanization, in order to which people safely go on a journey, rail traffic has become a kind of heavy
The trip mode wanted.But existing rail vehicle still tends to train class vehicle, although can satisfy part population for going out
Capable convenience, smoothly demand, but still remain that car body is big, Transportation Model is inflexible, ramp driving is inconvenient, needs
People goes to drive, and is easy the problems such as rolling, derailing.It is foreseeable that with the development of society, current rail traffic can nothing in the future
Method meets the needs of people's trip.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of unmanned light section car traffic systems
System, provides a kind of wisdom traffic solution for urban traffic blocking problem.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of unmanned railway vehicle traffic system, it is characterised in that: including orbital facilities, unmanned light-duty rail
Road vehicle, several stations, mster-control centre；The mster-control centre includes vehicle control syetem；The orbital facilities include track
And orbital platform, the track laying on the orbital platform, transport along the track by the unmanned light section car
It is dynamic；The unmanned light section car is equipped with vehicle control syetem.
Preferably, the track include: for vehicle driving twice main orbit and twice be oppositely arranged for auxiliary
Help the secure localization and auxiliary braking track of braking and derailing；The main orbit is the light-duty rail that gauge is 50cm~100cm
Road；The secure localization and auxiliary braking track are arranged between twice main orbit.
Preferably, the orbital platform includes fixed platform and movable platform；The fixed platform and the activity are flat
Platform is equipped with track；The movable platform includes mobile platform and rotatable platform；The mobile platform includes mobile main body peace
Driving device is moved, the mobile main body includes the rack gear that bottom is fixedly mounted, and the translation driving device includes translation deceleration electricity
Machine, translation transmission gear, the translation decelerating motor is fixed in bottom base, the translation decelerating motor with it is described
It translates transmission gear to be cooperatively connected, the translation transmission gear and the rack gear are intermeshed；The rotatable platform includes rotation
Main body and device of rotation driving, the rotation main body are arranged in the mobile main body, and the device of rotation driving includes rotation
Decelerating motor, rotate gear group, the rotation decelerating motor are fixedly mounted in the mobile main body, and the rotation is slowed down electric
Machine and the rotate gear group are cooperatively connected, the central axis of the output gear of the rotate gear group and the rotation main body phase
It is mutually fixed.
Preferably, the outer surface of the carbody shell of the unmanned light section car is cambered surface and shape is substantially in flat
Row quadrangle cylinder-type, the front end face of carbody shell are convex surface, and the rear end face of carbody shell is concave surface, the front end of carbody shell
Face is opposite with the rear end face of carbody shell to coincide.
Preferably, the secure localization and complemental brake system include secure localization wheel, telescopic rod, fixed plate, work
Movable plate, hydraulic cylinder, No.1 driving motor, driving gear set；
The fixed plate is installed on the chassis of the unmanned light section car and is fixed；The hydraulic cylinder is fixed on described
On movable plate, the piston rod of the hydraulic cylinder is fixed with the fixed plate, and the movable plate is located at the top of the fixed plate；
The No.1 driving motor is fixed on the movable plate, and the No.1 driving motor and the driving gear set are sequentially connected,
The telescopic rod runs through the movable plate and the fixed plate, and the output gear of the driving gear set be fixed on it is described
On telescopic rod；The bottom end of the telescopic rod is connected with by wheel shaft for cooperating with secure localization and auxiliary braking track
Secure localization wheel；The wheel shaft, secure localization wheel and the telescopic rod are in inverted T shaped arrangement.
Preferably, it is described walk slope auxiliary device include auxiliary rubber wheel, stand-by motor, chain conveyer group；Stand-by motor is logical
It crosses chain conveyer group and drives the rotation of auxiliary rubber wheel, the concrete road surface is arranged in the main orbit and secure localization and auxiliary
Climb and fall region between braking orbit.
Preferably, the fast connecting apparatus includes bolt hydraulic cylinder, cambered surface recess portion, retractable connector, the first cunning
Block, the second sliding block, telescopic hydraulic cylinder；The cambered surface recess portion is four spring hole scokets with spill hemisphere face cuboid；It is described to stretch
Contracting connector is four hole plugs of similar mushroom-head, which is provided with pin hole convenient for being fixedly connected；
Bolt hydraulic cylinder and cambered surface recess portion are mounted on the rear end of the unmanned light section car, retractable connector peace
Mounted in the front end of the unmanned light section car；Retractable connector, the second sliding block, the first sliding block, telescopic hydraulic cylinder according to
Secondary connection；The retractable connector and second sliding block are cooperated by dovetail groove and dovetail guide, second sliding block with
First sliding block is cooperated by dovetail groove and dovetail guide；Retractable connector connect with cambered surface recess portion including power supply connection,
Voice connection, video connection.
Preferably, the automatic telescopic charging unit includes charging plug, telescopic device；The charging plug is mushroom
Head dummy；
The telescopic device includes No. two driving motors, transmission gear, rack gear, third sliding block, Four-slider；
No. two driving motor band nutating gears are engaged with rack；Charging plug, Four-slider, third sliding block, rack gear according to
Secondary connection；The charging plug and the third sliding block are cooperated by dovetail groove and dovetail guide, the third sliding block with it is described
Four-slider is cooperated by dovetail groove and dovetail guide.
Preferably, the mster-control centre includes:
Dispatching Control System, for carrying out unified concentrated controling management and in real time prison to all unmanned light section cars
Control dispatch control；
Server big data processing system, for storing relevant information, the electronic map, sound of unmanned light section car
Video information, process data simultaneously carry out distributed computing analysis processing to the supplemental characteristic of acquisition, and Calculation results are deposited
Store up or be transferred to other equipment；
Communication system is transmitted for information；
Emergency alert system, for the status information of orbital facilities and unmanned light section car, exception information is real
When be shown in display screen and perhaps alarm on display and to the event or emergency that occur in advance；
Cloud management system, for connect with APP user terminal, establish and store customer order information and to order information into
The processing of row big data；
The mster-control centre receives the departure place information and destination solicited message that APP user terminal issues, and dispatches and goes out
The nearest unmanned light section car of hair ground distance, and scheduling request is issued to it, while receiving the unmanned light-duty rail
Road vehicle running state information carries out big data processing.
Preferably, the mster-control centre further includes vehicle control syetem, the vehicle control syetem includes:
Main control module, for controlling unmanned light section car traveling or equipment thereon runs and carries out data
Calculation process；
The main control module includes charge control module and deflecting rail control module；The charge control module, is used for
Control automatic telescopic charging unit is simultaneously charged and is monitored to unmanned light section car；The deflecting, which switches tracks, controls mould
Block, for according to unmanned light section car travel route demand, control by wireless communication movable platform carry out it is mobile or
Person rotates to meet the control module that unmanned light section car passes through；
Remote control module, for receiving external control system signal to start and control unmanned light section car；
Data acquisition module, the fortune in the data and operational process of the sensor for acquiring unmanned light section car
Row parameter；
Vehicle-carrying communication module, connect for being in communication with each other with external control system；
Monitoring alarm module, for monitor in real time the interior situation of unmanned light section car, position, direction, speed,
Electricity, itself vehicle condition and fore-aft vehicle position.
Preferably,
The Dispatching Control System includes dispatching control module, station parking lot control module, positioning navigation module.
Dispatching control module, for dispatching all unmanned light section car normally travels passed through, pass in and out station；
Station parking lot control module is used for according to demand, the unmanned light section car of scheduling controlling fair amount
It is parked in parking lot；
Positioning navigation module, for giving unmanned light section car from out according to digitlization controlled map in real time
Hair ground arrives the travel route of destination；
The dispatching control module, station parking lot control module and positioning navigation module are and at server big data
Reason system and vehicle control syetem carry out the communication of bi-directional data information.
The processing of big data distributed computing is carried out to data information by server big data processing system, passes through scheduling controlling
Module is scheduled unmanned light section car；By station parking lot control module to nobody on the parking lot of station
Parking for light section car is driven to be adjusted；It is provided accurately by positioning navigation module to unmanned light section car
Travel route, unmanned light section car are travelled according to travel route；The sensor of the unmanned light section car is examined
The data transmission measured is to the master controller of unmanned light section car, and the master controller is by the data transmission to total
Control centre.
Preferably, the server big data processing system obtains and stores vehicle-related information, electronic map, sound view
Frequency information, process data simultaneously carry out distributed computing analysis processing to the supplemental characteristic of acquisition automatically, and store calculated result or
Person is transferred to other systems.
Preferably,
The emergency alert system, including large screen display module, emergent alarm module；
The large screen display module, the operation feelings for real-time display orbital facilities and unmanned light section car
Condition, ambient parameter information；
Emergent alarm module, for believing unmanned light section car traveling related data information, running course data
Breath and communication data information monitor and see if fall out Threshold, when exceeding Threshold, sound an alarm.
The server big data processing system carries out the processing of big data distributed computing to data information, and data are believed
Breath and calculation processing result are sent to large screen display module, the large screen display module real-time display data information and meter
Calculate processing result；The server big data processing system will need monitoring data to be sent to emergent alarm module, the emergency report
Alert module judges whether data exceed Threshold, if being more than threshold value, the emergent alarm module is sounded an alarm.
Preferably, the cloud management system includes cloud server module and cloud memory module；The cloud
Server module is connect with APP user terminal, obtains and store user's order information；The server big data processing system and
The server big data processing system communication connection.
Compared with prior art, the invention has the following advantages:
1, the unmanned automatic unmanned technology of light section car application, brings more free times for user.
2, unmanned light section car travels in safety barrier, and possess secure localization and auxiliary braking track with
Device, unmanned light section car can avoid rolling, derailing etc. the generation of security incidents.
3, unmanned light section car can be on ground, tunnel, and overpass etc. operation is not especially destroying existing friendship
Overhead multilayer mode in the case of logical pattern is built, and traffic traffic efficiency can be increased substantially, preferable to alleviate traffic traffic congestion
Problem shortens transit time.
4, unmanned light section car is not necessarily to find parking stall for it, it parks automatic running or searching space.
5, easy to operate, comprehensive energy consumption is low, and integrated operation is at low cost, environmental protection without discharge, it is pollution-free, will be future transportation
Important component.
Detailed description of the invention
Fig. 1 is the partial structure diagram of unmanned railway vehicle traffic system of the present invention；
Fig. 2 is the structural schematic diagram of movable platform of the present invention；
Fig. 3 is the side structure schematic diagram of movable platform of the present invention；
Fig. 4 is the structural schematic diagram of single layer track of the present invention and overhead multilayer；
Fig. 5 is the structural schematic diagram of unmanned light section car of the present invention；
Fig. 6-1 is the schematic diagram of application structure of secure localization and complemental brake system of the present invention；
Fig. 6-2 is the structural schematic diagram (on-position) of secure localization and complemental brake system of the present invention；
Fig. 6-3 is the structural schematic diagram (normal condition) of secure localization and complemental brake system of the present invention；
Fig. 7 be it is of the present invention walk slope auxiliary device schematic diagram of application structure；
Fig. 8-1 is the schematic diagram of application structure of fast connecting apparatus of the present invention；
Fig. 8-2 is the structural schematic diagram of fast connecting apparatus of the present invention；
Fig. 9-1 is the schematic diagram of application structure of automatic telescopic charging unit of the present invention；
Fig. 9-2 is the structural schematic diagram of automatic telescopic charging unit of the present invention；
Figure 10 is the relation schematic diagram of unmanned light section car and mster-control centre of the present invention；
Figure 11 is the composition schematic diagram in mster-control centre of the present invention；
Figure 12 is vehicle control syetem the functional block diagram of the present invention；
Wherein:
1-mster-control centre；
110-vehicle control syetems；111-communication modules；112-main control modules；113-remote control modules；
114-charge control modules；115-deflectings switch tracks control module；116-data acquisition modules；117-monitoring alarm modules；
120-Dispatching Control Systems；121-dispatching control modules；122-station parking lot control modules；123-positioning
Navigation module；
130-server big data processing systems；131-integrated memory modules；132-big data processor modules；
140-communication systems；141-communication data transceiver modules；
150-emergency alert systems；151-large screen display modules；152-emergent alarm modules；
160-cloud management systems；161-cloud server modules；162-cloud memory modules；163-APP users
End
170-intelligent components；171-platform master controllers；172-wireless communicators；
11-car bodies；12-carbody shells；
2-secure localizations and complemental brake system；21-brake fluid cylinder pressures；22-fixation steel plates；23-movable steel plates；
24-driving gear sets；25-No. 1 driving motor；26-telescopic rods；27-secure localization wheels；28-motor fixing plates
3-walk slope auxiliary device；31-auxiliary rubber wheels；32-stand-by motors；33-chain conveyer groups；
4-fast connecting apparatus；41-telescopic hydraulic cylinders；42-bolt hydraulic cylinders；43-cambered surface recess portions；44-is scalable
Connector；45-the first sliding block；46-the second sliding block；
5-automatic telescopic charging units；51-charging plugs；52-telescopic devices；521-transmission gears；522-teeth
Item；53-third sliding blocks；54-the Four-slider；55-No. 2 driving motors；56-charging piles；561-charge positions；
6-guiding devices；
7-crash energy absorption equipments；
8-interactive screens；81-main motors；82-battery groups；
9-onboard control consoles；91-main orbits；92-secure localizations and auxiliary braking track；93-movable platforms；
931-mobile platforms；932-rotatable platforms；933-translation decelerating motors；934-rack gears；935-translation transmission gears；
936-rotation decelerating motors；937-rotate gear groups；938-sliding rails；94-fixed platforms；95-overhead system multilayer tracks；
96-unmanned light section cars；961-master controllers；97-safety barriers；98-concrete road surfaces；99-stations.
Specific embodiment
Now in conjunction with attached drawing, the invention will be further described with specific embodiment.
As shown in the picture, a kind of unmanned railway vehicle traffic system provided by the invention includes orbital facilities, nothing
People drives light section car 96, several stations 99, mster-control centre 1.
Orbital facilities include track and orbital platform, and on the orbital platform, the track includes the track laying
What twice main orbit 91 and twice for unmanned light section car 96 traveling were oppositely arranged is used for auxiliary braking and anticreep
The secure localization and auxiliary braking track 92 of rail, the two are steel track.The orbital platform includes fixed platform 94 and lives
Moving platform 93.
Station 99 is construction on ground, underground, overhead upper and be arranged along the track.
Mster-control centre described in mster-control centre 1 for dispatch unmanned light section car, control more it is unmanned
Light section car runs, controls unmanned light section car automatic charging, the unmanned light section car of control is driven automatically
It sails, controls unmanned light section car self-navigation positioning, carries out path planning, process data interaction and interaction APP use
Family end.
As shown in Figure 1, a kind of unmanned railway vehicle traffic system of the present invention, wherein twice main orbit 91
Gauge is 50cm~100cm.It synchronizes and is equipped with for preventing the safety of vehicle roll, derailing fixed between twice main orbit 91
Position and auxiliary braking track 92, are equipped with auxiliary rubber wheel 31 between main orbit 91 and secure localization and auxiliary braking track 92
The uphill, downhill position of traffic track platform is arranged in the concrete road surface 98 of walking, concrete road surface 98；In main orbit 91
Two sides are equipped with safety barrier 97 or are equipped with the shield door of automatic control switch in gate position.
Such as Fig. 2, as shown in figure 3, main orbit 91, secure localization and auxiliary braking track 92, concrete road surface 98 are all arranged
On orbital platform.Orbital platform includes fixed platform 94 and movable platform 93, main orbit 91, secure localization and auxiliary braking
Track 92 also contains fixed section and active segment respectively；Fixed section is arranged in fixed platform 94, and active segment is arranged in movable platform
On 93, movable platform 93 can be divided into following three kinds of forms of motion:
Form one: movable platform 93 includes mobile platform 931 and translation driving device, and translation driving device includes that translation subtracts
Speed motor 933, translation transmission gear 935.Mobile platform 931 be arranged in fixed platform 94 for accommodating mobile platform 931
On recess, the sliding rail 938 for guiding mobile platform 931, the side bottom pair of mobile platform 931 are equipped in the side bottom surface of recess
938 position of sliding rail is answered to be equipped with sliding slot, the bottom of mobile platform 931 is equipped with rack gear 934, and mobile platform 931 passes through sliding slot edge
Move on 938 direction of sliding rail.Translation decelerating motor 933 is mounted in the recess of bottom, and translation decelerating motor 933 and translation pass
Moving gear 935 is cooperatively connected, and 934 engaged transmission of translation transmission gear 935 and rack gear, rack gear 934 and mobile platform 931 are fixed
As entirety, so that mobile platform 931 be made to move in a straight line.
Form two: movable platform 93 includes rotatable platform 932 and device of rotation driving, and device of rotation driving includes that rotation subtracts
Speed motor 936, rotate gear group 937.Rotatable platform 932 and rotation decelerating motor 936 be arranged in fixed platform 94 for holding
On the recess for setting rotatable platform 932, rotation decelerating motor 936 and rotate gear group 937 are cooperatively connected, rotate gear group 937
The central axis of output gear is fixed to each other with rotatable platform 932.
Form three: movable platform 93 includes mobile platform 931, rotatable platform 932, translation driving device and rotate driving dress
It sets；
Fixed platform 94 is equipped with the first recess portion substantially in " convex " shape, and the bottom surface of the first recess portion is ladder-like；
The sliding rail 938 for guiding mobile platform 931, the bottom of mobile platform 931 are equipped with positioned at high-order recess portion bottom surface
Corresponding 938 position of sliding rail is equipped with sliding slot, and mobile platform 931 is moved on 938 direction of sliding rail by sliding slot；Translation is slowed down electric
Machine 933 is arranged in recess, and translation driving device includes translation decelerating motor 933, translation transmission gear 935, translates the electricity that slows down
Machine 933 and translation transmission gear 935 are cooperatively connected, 934 engaged transmission of translation transmission gear 935 and rack gear；Rack gear 934 and shifting
Moving platform 931 is fixed to become whole, so that mobile platform 931 be made to move in a straight line.
Mobile platform 931 is equipped with the second recess portion for accommodating rotatable platform 932, and it is recessed that rotatable platform 932 is placed in second
In portion；Device of rotation driving includes rotation decelerating motor 936, rotate gear group 937, rotates decelerating motor 936 and rotate gear
Group 937 is cooperatively connected, and central axis and the rotatable platform 932 of the output gear of rotate gear group 937 are fixed to each other, and rotation is slowed down
When motor 936 starts, rotatable platform 932 is driven to rotate；Rotation decelerating motor 936 is fixedly mounted on the bottom of mobile platform 931
Portion, rotation decelerating motor 936 can be moved with the movement of mobile platform 931.
By three kinds of forms of motion of the above movable platform 93, unmanned light section car 96 can be made according to demand just
Prompt switches tracks and reverses end for end to turn to, thus realize the diversification of track routes, gridding development.Wherein at each movable platform 93
Equipped with intelligent component 170, which includes platform master controller 171 and wireless communicator 172, is convenient for and nothing
People drives light section car 96 and carries out communication data interaction.For example, when unmanned light section car 96 needs the u-turn that switches tracks
When, stop after allowing unmanned light section car 96 to travel to 93 central area of movable platform first, and start main breaking zone device
With 2 parking of secure localization and complemental brake system, then unmanned light section car 96 is counted with intelligent component 170
According to communication, starting translation decelerating motor 933 is controlled by platform master controller 171, movable platform 93 moves to track alignment position
It postpones, restarts rotation decelerating motor 936, circular rotatable platform 932 rotates 180 ° and completes unmanned light section car 96
Switch tracks u-turn, sign off, and the last unmanned restarting of light section car 96 continues traveling task, to unmanned light
Type railcar 96 sails out of rear movable platform 93 and restores initial position and keep track alignment, facilitates subsequent vehicle in running rail
Pass through.
As shown in figure 4, track of the present invention enhances traffic row using rail as vehicle trade, building traffic system
For predictable and bootable property.The gauge of track is the railway of 50cm~100cm.Convenient for not changing existing friendship
It is built in the case where logical pattern by overhead mode or multilevel extension, or even the specified destination floor that can go directly.By orbital facilities
It is arranged to overhead system traffic track, occupied area is small, can also be in the case where not destroying ground vegetation even remote country
Rapid construction.Orbital facilities may be set to be ground rail facility or underground type orbital facilities.
As shown in figure 5, a kind of unmanned railway vehicle traffic system of the present invention, also comprising unmanned light
Type railcar 96, by car body 11, carbody shell 12, main motor 81, battery group 82, secure localization and complemental brake system
2, slope auxiliary device 3, fast connecting apparatus 4 are walked, automatic telescopic charging unit 5, crash energy absorption equipment 7, is handed over guiding device 6
The mutual composition such as screen 8 and onboard control console 9.
On car body 11, it is additionally provided with camera, radar, ultrasonic wave, GPS antenna and the laser radar using light pulse ranging
Equal sensors, the master controller 961 of the data transmission that these sensors detect to unmanned light section car 96, by leading
Controller 961 carries out coordinated control to each system, it is also necessary to which these sensor informations are sent to mster-control centre 1；It is described
Master controller 961 is arranged inside onboard control console 9, and vehicle-mounted control system is coordinated and commanded to the master controller 961 for completing
The operation of system 110.
As shown in Fig. 8-1, carbody shell 12 of the present invention is arranged on car body 11.Carbody shell of the present invention
12 outer surface is cambered surface and shape substantially parallelogram cylinder-type, and the front end face of carbody shell 12 is convex surface, outside car body
The rear end face of shell 12 is concave surface, front and back bumps energy-absorbing shape；The rear end face phase of the front end face of carbody shell 12 and carbody shell 12
To coincideing, the front truck tailstock and rear car front are same angle, same to radian, the fit-type concaveconvex structure with depth.Car body 11 is equipped with
Battery group 82, main motor 81 are designed with sensor at battery group 82, main motor 81, the number that these sensors detect
According to the master controller 961 for being sent to unmanned light section car 96, coordination control is carried out to each system by master controller 961
System, it is also necessary to which these sensor informations are sent to mster-control centre 1；Main motor 81 is electrically connected with battery group 82.After even if
Vehicle is out of control to knock front truck and the dispersion of two vehicle interface pressures, reduces the injury to vehicle body and personnel.
As shown in Fig. 6-1,6-2,6-3, secure localization and complemental brake system 2 of the present invention be with secure localization and
What auxiliary braking track 92 was used cooperatively, the two complements each other, indispensable.Secure localization of the present invention and auxiliary system
Dynamic device 2, which is connect by fixation steel plate 22 with unmanned 96 chassis of light section car, to be fixed at neutrality line；
Secure localization and complemental brake system include secure localization wheel, telescopic rod, fixed plate, movable plate, hydraulic cylinder, one
Number driving motor, driving gear set；The auxiliary braking and safe locating device and secure localization and auxiliary braking track cooperate
It uses；
Fixed plate is installed on the chassis of the unmanned light section car and is fixed；The hydraulic cylinder is fixed on the activity
On plate, the piston rod of the hydraulic cylinder is fixed with the fixed plate, and the movable plate is located at the top of the fixed plate；It is described
No.1 driving motor is fixed on the movable plate, and the No.1 driving motor and the driving gear set are sequentially connected, described
Telescopic rod runs through the movable plate and the fixed plate, and the output gear of the driving gear set is fixed on and described can stretch
On contracting bar；The bottom end of the telescopic rod is connected with by wheel shaft for the peace with secure localization and the cooperation of auxiliary braking track
Full locating wheel；The wheel shaft, secure localization wheel and the telescopic rod are in inverted T shaped arrangement；
The device is set to generate rotary motion by No.1 driving motor 25 and the cooperation of driving gear set 24；Pass through brake fluid pressure
Cylinder 21 and the combination connection of fixation steel plate 22 make the device move up and down.When braking, telescopic rod 26 is in secure localization and auxiliary system
92 inside groove spatial position of dynamic rail road is promoted, the positioning of the direct touch-safe of secure localization wheel 27 and 92 inner orbit of auxiliary braking track
Face generates friction, provides enough frictional resistance and balanced pulling force for unmanned light section car 96, shortens service brake
Distance improves the safety and stability that unmanned light section car 96 travels；When unmanned light section car 96 is extensive
When arriving normally travel state again, the slot space in secure localization and auxiliary braking track 92 of telescopic rod 26 declines, secure localization
Wheel 27 is separated with rail contact face, and do not recur braking action.In whole driving process, secure localization wheel 27 is fixed in safety always
Slot space in position and auxiliary braking track 92.It is equipped with displacement sensor on brake fluid cylinder pressure 21, is equipped at No. 1 driving motor
Angular transducer, the master controller 961 of the data transmission that these sensors detect to unmanned light section car 96, by
Coordinated control is carried out to each system in conjunction with master controller 961, it is also necessary to which these sensor informations are sent to mster-control centre
1。
As shown in fig. 7, it is of the present invention walk slope auxiliary device 3 include auxiliary rubber wheel 31, stand-by motor 32, chain conveyer
Group 33；Stand-by motor 32 drives auxiliary rubber wheel 31 to move by chain conveyer group 33, plays directly to contact with concrete road surface and rub
Wipe the effect slowed down.Stand-by motor 32 is arranged on car body 11, and it is whole close to the setting of vehicle bottom, stand-by motor to walk slope auxiliary device 3
32 are electrically connected with battery group 83.
As shown in Fig. 8-2, fast connecting apparatus 4 of the present invention includes telescopic hydraulic cylinder 41, bolt hydraulic cylinder 42, arc
Face recess portion 43, retractable connector 44, the first sliding block 45, the second sliding block 46；Cambered surface recess portion 43 of the present invention is one with recessed
Shape hemisphere face cuboid；Retractable connector 44 of the present invention is similar mushroom-head, which is provided with pin hole；Bolt is hydraulic
Cylinder 42 and cambered surface recess portion 43 are mounted on the rear end of unmanned light section car, retractable connector 44 be mounted on it is described nobody drive
Sail the front end of light section car；Retractable connector 44, the second sliding block 46, the first sliding block 45, telescopic hydraulic cylinder 41 successively connect
It connects, retractable connector and second sliding block are cooperated by dovetail groove and dovetail guide, second sliding block and described first
Sliding block is cooperated by dovetail groove and dovetail guide, is played guiding fixed function by dovetail groove and dovetail guide cooperation, is made similar
The retractable connector 44 of mushroom-head can smoothly enter in the band hemispherical cambered surface recess portion 43 of spill, and can fit like a glove
Together.Retractable connector is connect including power supply connection, voice connection, video connection with cambered surface recess portion.In telescopic hydraulic cylinder
41, it is equipped with sensor at bolt hydraulic cylinder 42, the cylinder pressure mobile location information that these sensors detect is sent to nobody and drives
The master controller 961 for sailing light section car 96 carries out coordinated control to each system by master controller 961, it is also necessary to by these
Sensor information is sent to mster-control centre 1.
As shown in Fig. 8-1, fast connect when two or more unmanned light section cars 96 are described through the invention
When connection device 4 connects, voice or video calling, while the battery group 83 of vehicle can be carried out as needed between vehicle
Also common electricity consumption will be interconnected, while can also be charged to the low unmanned light section car 96 of electricity；When nobody drives
When sailing light section car 96 because of scram, carried out by latter unmanned light section car 96 by the connection of this device
Previous unmanned light section car 96 is pushed to enter maintenance overhaul region.
As shown in figure 9, automatic telescopic charging unit 5 of the present invention includes charging plug 51, telescopic device 52；It is described
Charging plug 51 is similar mushroom-head；The telescopic device 52 includes No. two driving motors 55, transmission gear 521, rack gear
522, third sliding block 53, Four-slider 54；No. two driving motors 55 are engaged with nutating gear 521 with rack gear 522；Charging is inserted
First 51, Four-slider 54, third sliding block 53, rack gear 522 are sequentially connected, and charging plug 51, third sliding block 53 pass through dovetail groove
Cooperate with dovetail guide, third sliding block and Four-slider 54 are cooperated by dovetail groove and dovetail guide, pass through dovetail groove and dovetail
Guiding fixed function is played in guide rail cooperation, and the charge position 561 for enabling charging plug 51 to be smoothly inserted into charging pile 56 is described
Charging pile 56 is to refer to be that unmanned light section car 96 provides the device of electric energy.Displacement is equipped at No. two driving motors 55
Sensor, the master controller 961 of the data transmission which detects to unmanned light section car 96, by main control
Device 961 carries out coordinated control to each system, it is also necessary to which these sensor informations are sent to mster-control centre 1.
All of above electrical equipment is electrically connected by battery group 83 and is powered, and all of above hydraulic cylinder is by hydraulic control system
System provides pressure control, which is controlled by master controller 961.
Unmanned railway vehicle traffic system, including several stations 99, the station 99 belong to unmanned rail traffic
Important component in road network, the field that it is stopped for unmanned light section car 96 and user gets on and off, waits
Institute.It is equipped with unmanned 96 station parking lot of light section car in station 99 of the present invention and can be carried out automatic charging.
Unmanned railway vehicle traffic system further includes having charging pile 56, and the general setting of charging pile 56 is driven at nobody
It sails 96 station parking lot of light section car or midway is stopped at rest station, provided exclusively for unmanned light section car 96
Electric energy.
Unmanned railway vehicle traffic system further includes that multiple base stations are arranged along track, makes cluster of base stations shape
At a wireless network, communication data transfer is carried out with mster-control centre 1 convenient for unmanned light section car 96.
A kind of unmanned railway vehicle traffic system of the present invention, further includes wireless location navigation system, institute
Stating wireless location navigation system is the high accuracy positioning navigation system combined based on GPS technology and WiFi technology, in track complexity
The unified more layings of WI-FI hot spot in environmental area, receiving end reception four or the broadcast of more than four WI-FI hot spots are determined
Position information, can be accurately positioned the position of receiving end.
As Figure 10, as shown in figure 11, the invention discloses a kind of 1 systems of mster-control centre, which includes vehicle-mounted control
System 110, Dispatching Control System 120, server big data processing system 130, communication system 140, emergency alert system 150,
Cloud management system 160.
Vehicle control syetem 110, which refers to, perceives unmanned railway truck position and related letter by sensor integration
Breath, front and back truck position and relevant information, i.e., the parameter information obtained by GPS positioning and pass through ultrasonic wave, light pulse, red
The information of the acquisitions such as outside line rangefinder.Speed and the direction for controlling unmanned light section car 96, make unmanned light-duty rail
Road vehicle 96 reaches the Process Control System of intended destination according to the specified safe and reliable traveling in optimum waveguide traction path；
Dispatching Control System 120, for all unmanned light section cars 96 carry out unified concentrated controling management and
Monitor the remote control technology system of dispatch control in real time；
Server big data processing system 130, for storing the relevant information, electronically of unmanned light section car
Figure, sound video information, process data simultaneously carry out distributed computing analysis processing to the supplemental characteristic of acquisition, and analyze calculating
As a result store or be transferred to the computer control system of other equipment；
Communication system 140, for the other of the vehicle control syetem and mster-control centre with unmanned light section car
The technological system of the wireless information transfer process of the communication connection of module；
Emergency alert system 150, for believing the status information of orbital facilities and unmanned light section car 96, exception
The automatic real-time display such as breath is alarmed on display screen perhaps display and to the event or emergency that occur in advance
Customer order information is established and stored to cloud management system 160 for connecting by network with APP user terminal 163
And big data processing is carried out to order information.
Server big data processing system obtains and stores vehicle-related information, electronic map, sound video information, crosses number of passes
Distributed computing analysis processing is carried out automatically according to and to the supplemental characteristic of acquisition, and is stored calculated result or be transferred to other
System.Server big data processing system 130 passes through wireless or wired mode and vehicle control syetem 110, scheduling controlling
System 120, emergency alert system 150 and cloud management system 160 carry out two-way communication, such as: pass through Wireless LAN
Either radio satellite network or communications optical cable connection.The detection data information of all or part of sensors is all sent to service
Device big data processing system 130 carries out big data processing and monitoring convenient for server big data processing system 130, such as monitors
The operation conditions such as position, speed, spacing, the power consumption of all unmanned light section cars 96, and monitoring movable platform 93
Operating parameter and operating condition.Server big data processing system 130 by wireless signal and wire signal in real time and vehicle-mounted control
System 110, Dispatching Control System 120, emergency alert system 150 and cloud management system 160 carry out data interaction, realize
The scheduling and monitoring of unmanned light section car 96, ensure the normal operation of Rail Transit System.
Server handles systems 130 are managed for realizing with Dispatching Control System 120, emergency alert system 150 and cloud
The two-way communication of reason system 160, vehicle control syetem 110, Dispatching Control System 120, emergency alert system 150 and cloud
Management system 160 can work according to the instruction of server big data processing system 130, to unmanned light section car
96, movable platform 93 and platform are controlled, vehicle control syetem 110, Dispatching Control System 120, emergency alert system
150 and cloud management system 160 various data informations are uploaded to by server big data processing system 130 by network.
As shown in figure 12, vehicle control syetem 110, the system include communication module 111, main control module 112, long-range control
Molding block 113, charge control module 114, deflecting switch tracks control module 115, data acquisition module 116, monitoring alarm module
117。
Vehicle-carrying communication module 111, for being transmitted to the data information sended and received；
Main control module 112, for control unmanned light section car 96 traveling or and equipment operation thereon simultaneously
Carry out data operation processing；
Remote control module 113, for receiving external control system instruction to start and control unmanned railway
Vehicle；
The main control module includes charge control module and deflecting rail control module；
Charge control module 114, for controlling automatic telescopic charging unit 5 and being carried out to unmanned light section car 96
The module for charging and monitoring；
The deflecting control module 115 that switches tracks refers to according to unmanned 96 travel route demand of light section car, by wireless
Communication control movable platform 93 is moved or is rotated to meet the control mould that unmanned light section car 96 passes through
Block；
Data acquisition module 116, in the data and operational process for acquiring unmanned 96 sensor of light section car
Important parameter；
Monitoring alarm module 117, for monitoring interior situation, position, direction, the speed of unmanned light section car in real time
The data informations such as degree, electricity, itself vehicle condition and fore-aft vehicle position；
Wherein the master controller 961 of unmanned light section car 96 and mster-control centre 1, which are in communication with each other, carries out data friendship
Mutually, main control module 112, remote control module 113 obtain the control data information instruction in mster-control centre, data acquisition module
Block 116 obtains data simultaneously and the communicating data information of monitoring alarm module 117 feeds back to mster-control centre.
Detailed process includes receiving the instruction of 1 data information signal of mster-control centre by communication module 111, passing through main control
Module 112 and remote control module 113 control unmanned light section car 96 movement traveling, including drive to nobody
It sails light section car 96 to charge, while being joined by information of the data acquisition module 116 to unmanned light section car 96
Number data are collected, and information data is transferred to mster-control centre 1 through communication module 111, after big data is handled,
Feedback command is received by communication module 111 further to control the traveling of unmanned light section car 96.
All of above sensor data information and significant process data information in relation to unmanned light section car 96
Processing will be monitored by monitoring alarm module 117, and to important data parameters, such as: speed, spacing, direction, electricity, ring
Border situation, safety traffic etc. carry out screen real-time display and safety instruction.
Dispatching Control System 120 of the present invention refer to all unmanned light section cars 96 of rail network road into
The unified concentrated controling management of row and the remote control technology system for monitoring dispatch control in real time.It includes dispatching control module
121, station parking lot control module 122, positioning navigation module 123.
Dispatching control module 121 is normally transported for dispatching all unmanned light section cars for passing through, passing in and out station
Row；
Station parking lot control module 122 is used for according to demand, the unmanned railway of scheduling controlling fair amount
It is spare to make that vehicle is parked in parking lot；
Positioning navigation module 123, for according in real time digitlization controlled map, give unmanned light section car from
Best visual travel of the departure place to destination.
Wherein dispatching control module 121, station parking lot control module 122 and positioning navigation module 123 with service
Device big data processing system 130 and vehicle control syetem 110 carry out the communication of bi-directional data information.
Detailed process includes: to data information by server big data processing system 130 (from vehicle control syetem, cloud
The data information obtained in management system, Dispatching Control System) carry out the processing of big data distributed computing；It is stopped by station
Field control module 122 is adjusted the parking for unmanned light section car 96 on the parking lot of station；Pass through location navigation
Module 123 provides accurate travel route to unmanned light section car 96, forms instruction to unmanned light section car
96 transmission, unmanned light section car 96 are travelled according to instruction, then are detected by the sensor of unmanned light section car 96
The data transmission arrived is finally sensed these by master controller 961 to the master controller 961 of unmanned light section car 96
Device information data is sent to mster-control centre 1.
Mster-control centre's communication system 140, for realizing the safe and reliable automatic running of unmanned light section car 96
Wireless information transfer process technological system；It includes communication data transceiver module 141.Emergent alarm of the present invention
System 150, for showing the status information of overall track network and unmanned light section car 96, exception information in real time
Show on display screen or display.
It includes large screen display module 151, emergent alarm module 152；
Operation feelings of the large screen display module 151 for real-time display orbital facilities and unmanned light section car
Condition, ambient parameter information；
Emergent alarm module 152, for travelling related data information, travel route number to unmanned light section car 96
It is believed that breath and communication data information monitor and sees if fall out Threshold, when exceed Threshold when, give sound with
Indicator light flashing is reminded, and mainly includes overspeed alarming, danger vehicle distance alarm, the low alarm of electricity, fault alarm, communication letter
Number interference alarm etc..
Wherein large screen display module 151 and emergent alarm module 152 and server big data processing system 130 carry out double
To communication data interaction, detailed process includes: that server big data processing system carries out big data distribution meter to data information
Calculation processing, and data information and calculation processing result are sent to large screen display module, the large screen display module is real-time
Show data information and calculation processing result；The server big data processing system will need monitoring data to be sent to emergency report
Alert module, the emergent alarm module judge whether data exceed Threshold, if being more than threshold value, the emergent alarm module
It sounds an alarm.
Cloud management system 160 obtains and stores user's order information for connect with APP user terminal 163, and with clothes
Be engaged in device data processing system 130 carry out data interaction (user, which places an order, just needs to dispatch unmanned light section car, place an order by
Cloud management system pipe dispatches unmanned light section car by server data processing system and carries out calculating scheduling, so needing
Data interaction is wanted to communicate), it mainly includes cloud server module 161 and cloud memory module 162.The APP user terminal
163 be user network platform application software, the information exchange initiated for APP user terminal 163 to cloud management system 160.Cloud
Management system 160 and the 130 two-way communication data interaction of server big data processing system are held, is provided by APP user terminal 163
Hair ground, destination detailed data information, by cloud management system 160 according to scheduling data, previous unmanned light section car
96 running datas, it is fixed in real time by 130 big data analysis of server big data processing system and unmanned light section car 96
Position carries out algorithm optimization, calculates optimal scheduling scheme and travel route, and data information is fed back to user.
Control process description is carried out below according to several important devices of above-mentioned unmanned light section car 96:
1, the control process of secure localization and complemental brake system 2: unmanned light section car 96 is monitored in real time, by total
Control centre 1 issues the data traffic signals to slow down, by unmanned light section car 96 vehicle control syetem 110 it is logical
Believe that module 111 receives signal, control starting brake fluid cylinder pressure 21 is then executed after 112 data processing of main control module, makes to stretch
Contracting bar 26 is promoted in secure localization and 92 inside groove spatial position of auxiliary braking track, and the direct touch-safe of secure localization wheel 27 is fixed
Position and 92 inner orbit face of auxiliary braking track generate friction, and unmanned light section car 96 reduces speed now；Speed at the same time
The continuous monitoring velocity data of sensor and by the data transmission to the master controller 961 of unmanned light section car 96, by leading
Controller 961 carries out coordinated control to each system, and sensor information is sent to mster-control centre 1, by unmanned
Light section car 96 and 1 data interaction of mster-control centre, after confirming that unmanned 96 travel speed of light section car is reasonable, vehicle
The communication module 111 of borne control system 110 receives signal, and control starting system is then executed after 112 data processing of main control module
Hydrodynamic cylinder pressure 21 declines telescopic rod 26 in secure localization and 92 inside groove spatial position of auxiliary braking track, terminates braking.
2, the control process of movable platform form 3: unmanned light section car 96 is travelled according to specified driving path,
The u-turn that switches tracks is needed on path.Stop after 96 Reduced Speed Now of light section car to 93 central area of movable platform unmanned first
Only, and starting main breaking zone device and secure localization and 2 parking of complemental brake system --- this control process is with reference to above-mentioned, then
The data traffic signals that the u-turn that switches tracks is issued by unmanned light section car 96, positioned at the intelligent component of movable platform 93
Wireless communicator 172 in 170 receives signal, then carries out data processing by platform controller 171 and starts translation deceleration
Motor 933 stops after movable platform 93 moves to track alignment target position, then is subtracted by the starting rotation of platform controller 171
Speed motor 936, output rotation axis rotation rotate angle and are determined by the high-precision angle sensor being located on output rotation axis,
Stop after circular rotatable platform 932 rotates 180 °, then is issued from wireless communicator 172 to unmanned light section car 96
Signal of communication, confirmation switch tracks to turn to and complete；It is interactively communicated, is started by mster-control centre 1 and unmanned light section car 96 again
Unmanned light section car 96 continues to do traveling task, finally when unmanned light section car 96 sails out of movable platform 93
Afterwards, the movement of movable platform 93 is restored to origin-location.
3, the control process of slope auxiliary device 3 is walked: before the unmanned traveling of light section car 96 enters climb and fall, by master control
Center 1 processed issues the data traffic signals of starting, by the communication of the vehicle control syetem 110 of unmanned light section car 96
Module 111 receives signal, control starting stand-by motor 32 is then executed after 112 data processing of main control module, through chain conveyer group
33 drive auxiliary rubber wheel 31 to rotate, while the sensing data at this being sent to the master of unmanned light section car 96
Controller 961 carries out coordinated control to each system by master controller 961, and sensor information is sent to mster-control centre
1, by unmanned light section car 96 and 1 data interaction of mster-control centre, confirm that unmanned light section car 96 travels
Into after normal orbit, the communication module 111 of vehicle control syetem 110 receives signal, then at 112 data of main control module
Control is executed after reason and stops the operation of stand-by motor 32, terminates climb and fall traveling.
4, the control process of fast connecting apparatus 4: what two vehicles or more vehicles for generally receiving the sending of mster-control centre 1 connected
Signal receives signal by the communication module 111 of the vehicle control syetem 110 in latter unmanned light section car 96,
Then after 112 data processing of main control module execute control starting telescopic hydraulic cylinder 41, to retractable connector 44 smoothly into
It is then hydraulic by the starting bolt of main control module 112 again in the cambered surface recess portion 43 for entering previous unmanned light section car 96
Cylinder 42 indicates that vehicle connection is completed after bolt is fixed, while the sensing data at this being sent to unmanned light-duty
The master controller 961 of railcar 96 carries out coordinated control to each system by master controller 961, and sensor information is transmitted
To mster-control centre 1.
5, the control process of automatic telescopic charging unit 5: the low alarm of unmanned 96 electricity of light section car, and by sensing
Device information is sent to mster-control centre 1, dispatches the unmanned traveling of light section car 96 to neighbouring by mster-control centre 1 and fills
At electric stake 56, the charge control data traffic signals issued by mster-control centre 1, by the communication module of vehicle control syetem 110
111 receive signal, and control No. 2 driving motors 55 of starting are then executed after 112 data processing of main control module, make charging plug
51 are smoothly inserted into the charge position 561 in charging pile 56, and unmanned light section car 96 starts to charge, monitoring electricity sensing
Device real-time monitoring battery group electricity, when battery group is fully charged, monitoring electricity sensing device and unmanned light-duty rail
The master controller 961 of road vehicle 96 connects, then starts No. 2 driving motors 55 by main control module 112, restores telescopic device 52
In situ, while by the sensing data at this it is sent to the master controller 961 of unmanned light section car 96, by main control
Device 961 carries out coordinated control to each system, and sensor information is sent to mster-control centre 1.
A kind of carrying out practically process of unmanned railway vehicle traffic system provided by the invention includes the following steps:
Step 1:, at each station 99 be equipped with more unmanned light section cars 96, and to unmanned railway
Vehicle 96 is numbered；
Step 2: user downloads APP user terminal 163 by smart phone, is registered and used according to the prompt of APP user terminal 163
Related real-name authentication information is filled at family, establishes the database for storing user data by cloud management system 160 after submission,
User data includes user name, subscriber phone number, user account, user password；
Step 3: logging in APP user terminal 163 when user needs by bus and entering user terminal interface, then input is corresponding
The trip informations such as " travel time ", " departure place platform ", " destination platform " are submitted into smart phone APP user terminal 163
The response of cloud management system 160 is waited after information；
Step 4: cloud management system 160 responds request: when management system 160 server in cloud receives user's trip
When request, cloud management system 160 according to user mobile phone carry GPS positioning obtain active user geographical location, then by
Cloud management system 160 quickly carries out big data processing and obtains best travel route, including " departure place platform ", " station nearby
The travel statuses information such as point ", " destination platform ", " travel cost ", " whether there is or not be lined up situation ", " E.T.A ", and will
These information are shown on 163 interface of APP user terminal and check for user；
Step 5: confirmation traveling task and the unmanned light section car 96 of scheduling: user receives cloud management system
The 160 trip solicited messages responded, after checking that information is errorless, user confirms on the APP user terminal 163 of smart phone to ride；
After cloud management system 160 receives confirmation message, data interaction is carried out with server big data processing system 130, through big data
Start to dispatch unmanned light section car 96 traveling nearest apart from user after processing to " starting station platform " station 99 etc.
To, and the number of the unmanned light section car 96, position real time information, waiting room information are sent to user；
Step 6: user reaches departure place platform, the information that enters the station is confirmed: after user reaches departure place platform, opening intelligence
Energy cell phone application user terminal 163, enters station by 163 barcode scanning of APP user terminal, rides subsequently into corresponding waiting room, cloud
End management system 160 receives code scaning information confirmation user and has entered the station；
Step 7: user gets on the bus, and by vehicle control syetem 110 control unmanned 96 closed door of light section car and
Inside shield door；
Step 8: unmanned light section car 96 starts to start, charging starts, unmanned light section car 96 according to
The traveling of best travel route safety on APP user terminal 163；
Step 9: unmanned light section car 96 arrives at the destination platform, stroke terminates: when unmanned railway
Vehicle 96 reaches " the destination platform " that user specifies, and after parking, stroke terminates, and stops charging, while by vehicle control syetem
Unmanned 96 opening car door of light section car of 110 controls and inside shield door, are automatically closed nothing after user all gets off again
People drives 96 car door of light section car and inside shield door.Cloud management system 160 is according to unmanned light section car 96
The travel route of feedback and the data information for combining APP user terminal 163 form rule of deducting fees of valuating；
Step 10: unmanned light section car 96 continues scheduler task.
The invention is not limited to above embodiment, if not departing from the present invention to various changes or modifications of the invention
Spirit and scope, if these modification and variations belong within the scope of claim and equivalent technologies of the invention, then this hair
It is bright to be also intended to encompass these modification and variations.
Claims (14)
1. a kind of unmanned railway vehicle traffic system, it is characterised in that: including orbital facilities, unmanned railway
Vehicle, several stations, mster-control centre；The mster-control centre includes vehicle control syetem；The orbital facilities include track and
Orbital platform, on the orbital platform, the unmanned light section car moves the track laying along the track；
The unmanned light section car is equipped with vehicle control syetem.
2. unmanned railway vehicle traffic system according to claim 1, which is characterized in that the track includes:
The secure localization and auxiliary for auxiliary braking and derailing that twice main orbit and twice for vehicle driving are oppositely arranged
Braking orbit；The main orbit is the railway that gauge is 50cm~100cm；The secure localization and auxiliary braking track are set
It sets between twice main orbit.
3. unmanned railway vehicle traffic system according to claim 1, it is characterised in that: the orbital platform packet
Include fixed platform and movable platform；The fixed platform and the movable platform are equipped with track；The movable platform includes moving
Moving platform and rotatable platform；The mobile platform includes mobile main body and translation driving device, and the mobile main body includes bottom
The rack gear of fixed installation, the translation driving device include translation decelerating motor, translation transmission gear, the translation decelerating motor
It is fixed in bottom base, the translation decelerating motor and the translation transmission gear are cooperatively connected, the translation transmission
Gear and the rack gear are intermeshed；The rotatable platform includes that rotation main body and device of rotation driving, the rotation main body are set
It sets in the mobile main body, the device of rotation driving includes rotation decelerating motor, rotate gear group, and the rotation is slowed down electric
Machine is fixedly mounted in the mobile main body, and the rotation decelerating motor and the rotate gear group are cooperatively connected, the rotation
The central axis of the output gear of gear set is fixed to each other with the rotation main body.
4. unmanned railway vehicle traffic system according to claim 1, which is characterized in that described unmanned light
The outer surface of the carbody shell of type railcar is cambered surface and shape substantially parallelogram cylinder-type, the front end face of carbody shell
For convex surface, the rear end face of carbody shell is concave surface, and the front end face of carbody shell and the rear end face of carbody shell are opposite identical.
5. unmanned railway vehicle traffic system according to claim 4, which is characterized in that the secure localization and
Complemental brake system includes secure localization wheel, telescopic rod, fixed plate, movable plate, hydraulic cylinder, No.1 driving motor, driving cog
Wheel group；
The fixed plate is installed on the chassis of the unmanned light section car and is fixed；The hydraulic cylinder is fixed on the activity
On plate, the piston rod of the hydraulic cylinder is fixed with the fixed plate, and the movable plate is located at the top of the fixed plate；Described one
Number driving motor is fixed on the movable plate, and the No.1 driving motor and the driving gear set are sequentially connected, it is described can
Telescopic rod runs through the movable plate and the fixed plate, and the output gear of the driving gear set is fixed on the telescopic rod
On；The bottom end of the telescopic rod is connected with by wheel shaft for the secure localization with secure localization and the cooperation of auxiliary braking track
Wheel；The wheel shaft, secure localization wheel and the telescopic rod are in inverted T shaped arrangement.
6. unmanned railway vehicle traffic system according to claim 1, which is characterized in that it is described walk slope auxiliary dress
It sets including auxiliary rubber wheel, stand-by motor, chain conveyer group；Stand-by motor drives the rotation of auxiliary rubber wheel, institute by chain conveyer group
State the climb and fall region that concrete road surface is arranged between the main orbit and secure localization and auxiliary braking track.
7. unmanned railway vehicle traffic system according to claim 1, which is characterized in that the quick connection dress
It sets including bolt hydraulic cylinder, cambered surface recess portion, retractable connector, the first sliding block, the second sliding block, telescopic hydraulic cylinder；The cambered surface
Recess portion is four spring hole scokets with spill hemisphere face cuboid；The retractable connector is that four holes of similar mushroom-head are inserted
Head which is provided with pin hole convenient for being fixedly connected；
Bolt hydraulic cylinder and cambered surface recess portion are mounted on the rear end of the unmanned light section car, and retractable connector is mounted on
The front end of the unmanned light section car；Retractable connector, the second sliding block, the first sliding block, telescopic hydraulic cylinder successively connect
It connects；The retractable connector and second sliding block are cooperated by dovetail groove and dovetail guide, second sliding block with it is described
First sliding block is cooperated by dovetail groove and dovetail guide；Retractable connector is connect including power supply connection, voice with cambered surface recess portion
Connection, video connection.
8. unmanned railway vehicle traffic system according to claim 1, which is characterized in that the automatic telescopic fills
Electric installation includes charging plug, telescopic device；The charging plug is mushroom-head；
The telescopic device includes No. two driving motors, transmission gear, rack gear, third sliding block, Four-slider；
No. two driving motor band nutating gears are engaged with rack；Charging plug, Four-slider, third sliding block, rack gear successively connect
It connects；The charging plug and the third sliding block are cooperated by dovetail groove and dovetail guide, the third sliding block and the described 4th
Sliding block is cooperated by dovetail groove and dovetail guide.
9. unmanned railway vehicle traffic system according to claim 1, which is characterized in that the mster-control centre
Include:
Dispatching Control System, for carrying out unified concentrated controling management and real time monitoring tune to all unmanned light section cars
Degree commander；
Server big data processing system, for storing relevant information, the electronic map, sound video of unmanned light section car
Information, process data and to the supplemental characteristic of acquisition carry out distributed computing analysis processing, and by Calculation results storage or
Person is transferred to other equipment；
Communication system is transmitted for information；
Emergency alert system, for showing the status information of orbital facilities and unmanned light section car, exception information in real time
Show on display screen perhaps display and alarms the event or emergency that occur in advance；
Cloud management system, for connecting, establishing and store customer order information and being carried out to order information big with APP user terminal
Data processing；
The mster-control centre receives the departure place information and destination solicited message that APP user terminal issues, scheduling and departure place
The nearest unmanned light section car of distance, and scheduling request is issued to it, while receiving the unmanned light section car
Running state information carries out big data processing.
10. unmanned railway vehicle traffic system according to claim 9, which is characterized in that in the master control
The heart further includes vehicle control syetem, and the vehicle control syetem includes:
Main control module, for controlling unmanned light section car traveling or equipment thereon runs and carries out data operation
Processing；
The main control module includes charge control module and deflecting rail control module；The charge control module, for controlling
Automatic telescopic charging unit is simultaneously charged and is monitored to unmanned light section car；The deflecting switches tracks control module, uses
It is moved or is rotated according to unmanned light section car travel route demand, controlling movable platform by wireless communication
To meet the control module that unmanned light section car passes through；
Remote control module, for receiving external control system signal to start and control unmanned light section car；
Data acquisition module, the operation ginseng in the data and operational process of the sensor for acquiring unmanned light section car
Number；
Vehicle-carrying communication module, connect for being in communication with each other with external control system；
Monitoring alarm module, for monitoring interior situation, position, direction, the speed, electricity of unmanned light section car in real time
Amount, itself vehicle condition and fore-aft vehicle position.
11. unmanned railway vehicle traffic system according to claim 9, which is characterized in that
The Dispatching Control System includes dispatching control module, station parking lot control module, positioning navigation module.
Dispatching control module, for dispatching all unmanned light section car normally travels passed through, pass in and out station；
Station parking lot control module, for according to demand, the unmanned light section car of scheduling controlling fair amount to be parked
In parking lot；
Positioning navigation module, for giving unmanned light section car from departure place according to digitlization controlled map in real time
To the travel route of destination；
The dispatching control module, station parking lot control module and positioning navigation module with server big data processing system
System and vehicle control syetem carry out the communication of bi-directional data information.
The processing of big data distributed computing is carried out to data information by server big data processing system, passes through dispatching control module
Unmanned light section car is scheduled；By station parking lot control module to unmanned light on the parking lot of station
Parking for type railcar is adjusted；Accurately traveling road is provided to unmanned light section car by positioning navigation module
Line, unmanned light section car are travelled according to travel route；What the sensor of the unmanned light section car detected
Data transmission is to the master controller of unmanned light section car, and the master controller is by the data transmission into master control
The heart.
12. unmanned railway vehicle traffic system according to claim 9, which is characterized in that the server is big
Data processing system obtains and stores vehicle-related information, electronic map, sound video information, process data and the parameter to acquisition
Data carry out distributed computing analysis processing automatically, and store calculated result or be transferred to other systems.
13. unmanned railway traffic system according to claim 9, which is characterized in that
The emergency alert system, including large screen display module, emergent alarm module；
The large screen display module, for the operating condition of real-time display orbital facilities and unmanned light section car,
Ambient parameter information；
Emergent alarm module, for unmanned light section car traveling related data information, running course data information with
And communication data information monitors and sees if fall out Threshold, when exceeding Threshold, sounds an alarm.
The server big data processing system carries out the processing of big data distributed computing to data information, and by data information and
Calculation processing result is sent to large screen display module, the large screen display module real-time display data information and calculation processing
As a result；The server big data processing system will need monitoring data to be sent to emergent alarm module, the emergent alarm module
Judge whether data exceed Threshold, if being more than threshold value, the emergent alarm module is sounded an alarm.
14. unmanned railway traffic system according to claim 9, which is characterized in that the cloud management system packet
Cloud server module and cloud memory module are included；The cloud server module is connect with APP user terminal, is obtained and is stored
User's order information；The server big data processing system and server big data processing system communication connection.
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| CN113671945A (en) * | 2021-07-15 | 2021-11-19 | 深圳市雄帝科技股份有限公司 | Unmanned transport vehicle scheduling management method and management system thereof |
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| CN112960345A (en) * | 2021-02-01 | 2021-06-15 | 安徽马钢张庄矿业有限责任公司 | Positioning structure for rail unmanned vehicle for mine and using method of positioning structure |
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| CN115623446B (en) * | 2022-12-14 | 2023-03-10 | 江苏天一航空工业股份有限公司 | Civil aviation operation vehicle remote control system |
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