WO2021057577A1 - 个人自动控制轻型可变轨磁悬浮轨道交通*** - Google Patents

个人自动控制轻型可变轨磁悬浮轨道交通*** Download PDF

Info

Publication number
WO2021057577A1
WO2021057577A1 PCT/CN2020/115628 CN2020115628W WO2021057577A1 WO 2021057577 A1 WO2021057577 A1 WO 2021057577A1 CN 2020115628 W CN2020115628 W CN 2020115628W WO 2021057577 A1 WO2021057577 A1 WO 2021057577A1
Authority
WO
WIPO (PCT)
Prior art keywords
track
maglev
personal
vehicle
magnetic levitation
Prior art date
Application number
PCT/CN2020/115628
Other languages
English (en)
French (fr)
Inventor
万泽霈
万普华
Original Assignee
万泽霈
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 万泽霈 filed Critical 万泽霈
Publication of WO2021057577A1 publication Critical patent/WO2021057577A1/zh

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L13/00—Electric propulsion for monorail vehicles, suspension vehicles or rack railways; Magnetic suspension or levitation for vehicles
    • B60L13/04—Magnetic suspension or levitation for vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B13/00—Other railway systems
    • B61B13/08—Sliding or levitation systems
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B25/00—Tracks for special kinds of railways
    • E01B25/30—Tracks for magnetic suspension or levitation vehicles
    • E01B25/32—Stators, guide rails or slide rails
    • 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

Definitions

  • the invention relates to the technical field of magnetic levitation rail transit, and specifically belongs to a light maglev rail transit system that serves individuals, operates in a magnetic levitation mode, has variable track, automatic control, and unmanned driving. It is used to set up in the air, ground, underground, and underwater.
  • the light maglev track and the maglev vehicle running on the maglev track are automatically driven by computer to carry out the point-to-point transportation of people and goods.
  • maglev vehicles used in the world are mainly maglev trains.
  • the main operating modes include the normally conductive maglev led by Germany, the low-temperature superconducting magnetic levitation led by Japan and the permanent magnet low-speed maglev led by China.
  • These applications are dominated by arterial traffic, with large transportation volumes and fast speeds.
  • they generally have disadvantages such as huge investment scale, long construction period, high operating cost, long distance between stations, and large urban space resources.
  • the above-mentioned magnetic levitation technology has disadvantages.
  • the maglev train is basically in the experimental research stage in the world.
  • the purpose of the present invention is to provide a personal automatic control light-weight variable-track maglev rail transit system.
  • the personal maglev train has a low operating speed and consumes less energy, and solves the current electromagnetic radiation and operational safety problems of the maglev train.
  • the use of personal miniaturized maglev vehicle and light maglev track design solves the disadvantages of maglev rail transportation, such as large investment, long construction period, high operating cost, and large urban space resources. At the same time, it also solves the problem that maglev rail transportation can only be used as trunk transportation.
  • the personal automatic control light-duty variable-track maglev rail transit system is composed of a personal maglev vehicle, a maglev rail system, a station system, a maglev rail transit network control system, and a power supply system. Its characteristics are:
  • the personal magnetic levitation vehicle (1) is a light-weight public transportation passenger vehicle that can ride one to two persons in a magnetic levitation manner on a dedicated magnetic levitation track, with variable track, automatic control, and unmanned driving, with a length of 1000mm-4000mm, The height is 1000mm-2500mm, the width is 700mm-2500mm, and the load range is 0kg-1000kg.
  • the car body is composed of a car frame structure , Car door (4), car maintenance structure and on-board passenger equipment, with the functions of providing one to two people, luggage storage, communication network, simple office, ventilation and air conditioning;
  • the on-board automatic driving control system is composed of on-board computer, data line, Vehicle-mounted signal identification device, vehicle-mounted signal transmission device, vehicle-mounted guidance control device, vehicle-mounted drive control device, auxiliary operation control device, manual emergency control device, under the instruction of the magnetic levitation rail transit network master control computer, autonomously identify the running route and control the vehicle Automatic driving;
  • the vehicle-mounted guiding device is installed on the left and right sides of the car body, which are two sets of independent operation devices, together with the vehicle-mounted guiding control device, the rail guiding device in the n-shaped guiding groove (7) on the left and right sides of the magnetic levitation rail (12) It constitutes
  • the personal maglev vehicle (1) Under the action of the vehicle levitation automatic control device, the personal maglev vehicle (1) can be stably suspended in the magnetic levitation track (12); An auxiliary driving system is installed on the maglev vehicle (1) to provide operating power and guidance in the initial stage of the operation of the personal maglev vehicle (1) or when the power supply system fails;
  • the maglev track system is a light-weight maglev track system, which is suitable for personal maglev vehicles (1) to run on the upper surface of the maglev, and is supported by the maglev track (12), track support maintenance devices, emergency escape and overhaul channels, ventilation systems, and fire fighting systems And the lighting system;
  • the magnetic levitation track (12) is composed of an n-shaped guide groove (7) and a track plane bottom plate (9).
  • the two side walls of the n-shaped guide groove (7) are equipped with rail guides, and the magnetic levitation track (12) )
  • the left-directed straight magnetic levitation track (21) is a continuous arrangement
  • the main line straight track, the n-shaped guide groove (7) is located on the left side of the track, suitable for personal magnetic levitation vehicles (1) to go straight
  • the right side guide turning magnetic levitation track (22) is a turning track with an n-shaped guide groove (7) Located on the right side of the track, it is suitable for the transfer and merging of the personal maglev vehicle (1).
  • the maglev track (23) is located on the right-hand-guided turning maglev track (22) and the left-guided straight maglev track (21).
  • the n-shaped guide grooves (7) are respectively arranged on the left and right sides of the track, and the personal magnetic levitation vehicle (1) switches the left and right guides at the magnetic levitation track (23) at the two sides of the guide connecting section to realize the track change Or merge; set up a rail connecting line between two or more parallel or crossing main line straight tracks, the rail car (1) can change from the running main line straight track to another main line straight track through the track connecting line; on the track plane bottom plate (9)
  • the track drive device with the drive system installed on it, together with the personal maglev vehicle (1) on-board drive device and on-board drive control device, constitute the drive system. Under the instructions of the on-board computer, the drive and control of the personal maglev vehicle (1) can be realized.
  • the rail levitation device with the levitation system is installed together with the personal magnetic levitation vehicle (1) on-board levitation device and the on-board levitation automatic control device to form a levitation system.
  • the personal maglev vehicle (1) is automatically controlled on the vehicle Under the action of the device, the personal magnetic levitation vehicle (1) can be stably suspended in the magnetic levitation track (12); a special lane for auxiliary wheels is installed on the track plane bottom plate (9), which is the auxiliary wheel when the personal magnetic levitation vehicle (1) auxiliary driving system is running.
  • the station system is composed of a station magnetic levitation track, a station computer control system, a platform for loading and unloading passengers (27), an inspection workbench (28), a passenger passage and an access control system;
  • the station maglev track consists of a U-shaped outsourcing right-side guiding turning magnetic levitation track ( 24) It is composed of one or more left-side guiding straight maglev track (25) of the docking station.
  • the left-side guiding straight maglev track (25) of the docking station is set on the inner side of the U-shaped outer right guiding turning maglev track (24).
  • the magnetic levitation track (23) is connected with the U-shaped outer right-side guided turning magnetic levitation track (24), and the two ends of the U-shaped outer right-side guided magnetic levitation track (24) are provided with two-sided guiding connecting magnetic levitation tracks.
  • (23) Connected to the left-side guiding straight maglev track (21) of the running line respectively; the personal maglev vehicle (1) at the entrance of the station is changed into a U-shaped outsourcing right-hand guiding turning maglev track (24), and then change the track Turning to the left side of the docking station to guide the straight maglev track (25), the left side of the docking station to guide the straight maglev track (25) are equipped with a platform (27) and an overhaul work platform (28).
  • Passengers can pass through the platform ( 27) Take or leave the personal maglev vehicle (1), the staff will maintain and overhaul the personal maglev vehicle (1) at the inspection workbench (28).
  • the personal maglev vehicle (1) When leaving the station, the personal maglev vehicle (1) will be guided straight along the maglev track along the left side of the stop (25) Go ahead, merge at the junction and turn into the U-shaped outsourcing right-side steering magnetic levitation track (24), and merge again at the exit to connect to the running line;
  • the maglev rail transit network control system is composed of a maglev rail transit network master control computer system, a track signal system, a vehicle-mounted automatic driving control system, and a station computer control system;
  • the maglev rail transit network master control computer system is composed of a large computer and its auxiliary systems , Has established a large-scale database and Internet operation website, responsible for collecting and disposing of information from Internet websites, on-board computers, track signal devices and docking station computers, and independently completing the operation scheduling, line design and emergency handling of personal maglev vehicles (1)
  • the vehicle-mounted automatic driving control system is installed on the personal magnetic levitation vehicle (1), and is composed of a vehicle-mounted computer, a computer door lock (5), a data line, a signal recognition device, a signal transmitter, a vehicle-mounted guidance control device, a vehicle-mounted drive control device, It is composed of auxiliary operation control device and manual emergency control button, which is wirelessly connected to the main control computer of the maglev rail transit network, transmits the information of the personal maglev vehicle (1) and receives instructions
  • the track signal system is wirelessly connected with the magnetic levitation rail transit network master control computer, the on-board signal identification device, and the on-board signal transmitting device to transmit track information;
  • the station computer system is composed of The docking station central control computer and the docking station signal system are connected to the maglev rail transit network master control computer and receive instructions.
  • the central control computer calculates and sends instructions To the stop signal system, the personal maglev vehicle's entry, stop position, stop time and departure operation are controlled through the signal system;
  • the power supply system is composed of a rail power supply system and an internal power supply system of the personal maglev vehicle (1).
  • the rail power supply system is composed of substations, transmission lines and rail power supply systems along the track. Each substation along the track is powered by no less than two cities.
  • the line provides uninterrupted power supply, the transmission line is laid along the track, and the rail power supply supplies power to the sub-sections.
  • the length of each power supply section is 10 to 100 meters.
  • the opening and closing of the power supply of each section is automatically controlled by the personal maglev vehicle (1), the personal maglev vehicle (1)
  • the power supply consists of the battery and induction coil (10) carried by itself. The current generated by the induction coil (10) charges the battery, and then supplies power to the on-board equipment through the battery;
  • the auxiliary operation system is composed of a battery, a motor, an auxiliary power wheel (2) and a rotary guide arm auxiliary guide wheel (11). Its main function is to provide power and guidance during the initial operation of the personal magnetic levitation vehicle (1).
  • the auxiliary guide wheel (11) provides guidance
  • the battery provides electricity to the motor
  • the induction coil (10) cuts the electromagnetic coil (8)
  • the magnetic lines of force generate induced current and induced magnetic field.
  • the levitation electromagnetic coil (13) generates induced current and induced magnetic field, which makes the personal magnetic levitation vehicle (1) float. ;
  • the auxiliary operation system can provide power and guidance, so that the personal maglev vehicle (1) can drive to the nearest stop.
  • the track support maintenance system can be divided into four forms: overhead traveling, ground traveling, underground traveling and underwater traveling according to the different spatial positions of travel.
  • the overhead traveling track support maintenance system is composed of a truss beam (17) and a track support column (18).
  • the maglev track (12) is installed on the top of the truss beam (17)
  • the ground running track support maintenance system is composed of the processed ground roadbed (19) and the maintenance structure on both sides of the maglev track (12)
  • the maintenance system consists of an underground closed pipeline (20) and its auxiliary systems.
  • an inspection and emergency escape channel is set in the track support maintenance system to facilitate daily maintenance and maintenance of the equipment In the event of fire, earthquake, water penetration and other emergencies, passengers can quickly transfer to a safe area through the emergency escape route.
  • the ventilation, fire protection and lighting system installed in the track support maintenance system .
  • the guiding system is composed of rotating guiding arms (3) located on both sides of the personal magnetic levitation vehicle (1) and guiding electromagnetic coils (8) arranged in the n-shaped guiding grooves (7) on both sides of the magnetic levitation track (12).
  • the guide arm is wound with induction coils (10), which can be rotated horizontally and vertically according to the guiding requirements.
  • the guide solenoids (8) on the two side walls of the n-shaped guide slot (7) form two electromagnetic fields with the same electromagnetic direction when energized.
  • the induction coil (10) penetrates into the middle position of the two electromagnetic coils (8) of the n-shaped guide slot (7), and the personal magnetic levitation vehicle (1) induces The coil (10) moves through the cutting magnetic lines of force, and the induction coil (10) generates a current, so that the induction coil (10) generates an electromagnetic field opposite to the electromagnetic coils (8) on both sides of the n-shaped guide slot (7).
  • the electromagnetic fields repel each other,
  • the rotating guide arm (3) is constrained in the middle of the two guide solenoids (8).
  • the personal magnetic levitation vehicle (1) selects the n-shaped guide slot (7) along the left side by changing the state of the rotating guide arms (3) on both sides.
  • the personal magnetic levitation vehicle (1) switches the left and right guide devices at the magnetic levitation track (23) of the guide connecting section on both sides to realize track change or merge;
  • the levitation system is composed of levitation electromagnetic coils (13) located on both sides of the bottom of the carriage and metal bottom plates (14) located on both sides of the bottom of the track.
  • the levitation electromagnetic coil (13) at the bottom of the carriage and the induction coil (10) are connected in series.
  • the induction coil (10) generates an induced current, and the current passes through the levitation electromagnetic coil (13) at the bottom of the carriage to generate an electromagnetic field perpendicular to the direction of the track metal bottom plate (14).
  • the metal bottom plate (14) cuts the magnetic field line motion to generate and levitation electromagnetic coil (13)
  • the induced magnetic field with the opposite direction of the magnetic field, and the magnetic field repels the same pole so that the carriage is suspended on the surface of the track plane floor (9).
  • the drive system uses the linear motor working principle.
  • the vehicle-mounted drive device (15) is the linear motor secondary and is installed at the bottom of the personal maglev vehicle (1)
  • the track drive device (16) is the linear motor primary and is installed on the magnetic levitation vehicle (1).
  • On the track (12) power is provided by the track power supply system
  • the on-board drive control device is the linear motor control device. Under the instructions of the on-board computer, the linear motor control device controls the operation and braking of the personal maglev vehicle (1) on the track ;
  • the track connecting line is a section of the right-side guiding turning magnetic levitation track 22.
  • the track connecting line turns from the right side and leaves the track B first, and detours through the track from the upper side or the lower side. B or track A, continue to the right side of track A and merge into target track A; when track A and track B are two three-dimensional cross-traveling main tracks, the track connecting line will first turn right and leave track B, up or down Proceed to the right side of track A and merge into target track A.
  • the railcar (1) can change from the running trunk straight track to another trunk straight track through the track connecting line;
  • the personal magnetic levitation vehicle (1) automatically avoids the straight-going vehicle when it is in parallel operation.
  • the right-hand steering turning magnetic levitation track (22) and the left-side steering straight maglev track (21) are respectively provided with a straight track and track bounce signal device, when there is a straight vehicle passing the straight track and the signal device
  • the device will transmit the passing information of the straight-going vehicle to the merging track signal device.
  • the merging vehicle passes by scan the merging track and get the information of the straight-going vehicle. After the information is calculated by the on-board computer of the merging vehicle, it is determined to take measures to decelerate and avoid or accelerate the merging. .
  • the invention provides a light rail transit system that serves individuals, operates in a magnetic levitation mode, changes its track, and automatically controls a light rail transit system that uses light magnetic levitation tracks set up in the air, ground, underground, and underwater, and a maglev vehicle that runs on the magnetic levitation track , Computer-controlled automatic driving, point-to-point transportation of people and goods.
  • the personal magnetic levitation vehicle of the present invention has a low operating speed and consumes less energy, and solves the existing problems of electromagnetic radiation and operational safety of the current magnetic levitation vehicle.
  • the use of personal miniaturized maglev vehicle and light maglev track design solves the disadvantages of maglev rail transportation, such as large investment, long construction period, high operating cost, and large urban space resources. At the same time, it also solves the problem that maglev rail transportation can only be used as trunk transportation.
  • it can be widely used in the main and secondary road traffic within the city, the traffic between the city and the country, the traffic between the city and the city, the internal traffic of large venues, and large factories and mines, schools, airports, and parks. , Scenic spots and other areas of the traffic.
  • Figure 1 is a schematic diagram of a personal maglev vehicle, in which:
  • Figure 1a is a schematic diagram when the door is closed
  • Figure 1b is a schematic diagram when the door is open.
  • Figure 2 is a schematic diagram of the magnetic levitation track system, the guidance system, the levitation system, the linear motor drive system, and the auxiliary operation system.
  • FIG. 3 is a schematic diagram of overhead driving, in which:
  • Figure 3a is a front view of overhead traveling
  • Figure 3b is a front view of overhead traveling.
  • FIG. 4 is a schematic diagram of ground driving, in which:
  • Fig. 4a is a front view of ground driving
  • Fig. 4b is a front view of ground driving.
  • Figure 5 is a schematic diagram of underground driving, where:
  • Figure 5a is a front view of underground driving
  • Figure 5b is a front view of underground driving.
  • FIG. 6 is a schematic diagram of underwater driving, in which:
  • Fig. 6a is a front view of underground driving
  • Fig. 6b is a front view of underground driving.
  • Figure 7 is a schematic diagram of a personal maglev vehicle going straight.
  • Figure 8 is a schematic diagram of a personal maglev vehicle turning right.
  • Figure 9 is a schematic diagram of the right side merge of a personal maglev vehicle.
  • Figure 10 is a schematic diagram of the parallel track of a personal maglev vehicle.
  • Figure 11 is a schematic diagram of the vertical track of a personal maglev vehicle.
  • Figure 12 is a schematic diagram of the stop, where:
  • Figure 12a is a top view of the docking station
  • Figure 12b is a front view of the docking station.
  • the personal automatic control light-duty variable-track maglev rail transit system consists of a personal maglev vehicle, a maglev rail system, a station system, a maglev rail transit network control system, and a power supply system. Among them:
  • the personal maglev vehicle 1 is a light public transportation vehicle that can take one to two persons, travel in a maglev mode on a dedicated maglev track, change the track, and automatically control the light public transportation vehicle.
  • the length is 1000mm-4000mm
  • the height is 1000mm-2500mm
  • the width is 700mm- 2500mm, load range 0kg-1000kg, composed of car box, car automatic driving control system, car guiding device, car driving device, car suspension device and auxiliary driving system
  • the car body is composed of car frame structure, car door 4, car maintenance structure and Seat 6 and other vehicle-mounted passenger equipment, with the functions of providing one to two people, luggage storage, communication network, simple office, ventilation and air conditioning
  • the vehicle-mounted automatic driving control system is composed of vehicle-mounted computer, data line, vehicle-mounted signal recognition device, vehicle-mounted Signal transmitting device, vehicle-mounted guidance control device, vehicle-mounted drive control device, auxiliary operation control device, and manual emergency control device.
  • the general control computer of the maglev rail transit network Under the instructions of the general control computer of the maglev rail transit network, it can autonomously identify the running route and control the automatic driving of the vehicle; the vehicle-mounted guidance device Installed on the left and right sides of the car body, there are two sets of independent operation devices, which together with the on-board guidance control device and the rail guidance devices in the n-shaped guide grooves 7 on the left and right sides of the magnetic levitation rail 12 constitute a guidance system.
  • the vehicle-mounted drive device is installed at the bottom of the personal magnetic levitation vehicle 1, together with the vehicle-mounted drive control device and the track drive device on the magnetic levitation track 12 It constitutes a driving system, and realizes the driving and braking of the personal maglev vehicle 1 under the instructions of the on-board computer;
  • the on-board levitation device is installed at the bottom of the personal maglev vehicle 1, and forms the levitation together with the on-board levitation automatic control device and the track levitation device of the maglev track 12
  • the system realizes the stable levitation of the personal maglev vehicle 1 in the maglev track 12 under the action of the on-board levitation automatic control device;
  • the personal maglev vehicle 1 is equipped with an auxiliary driving system, which is provided in the initial stage of the operation of the personal maglev vehicle 1 or when the power supply system fails Operational power and guidance;
  • the maglev track system is a light maglev track system, which is suitable for personal maglev vehicle 1 to operate on the maglev. It consists of maglev track 12, track support maintenance device, emergency escape and overhaul passage, ventilation system, fire protection system and lighting system; maglev track 12 It is composed of an n-shaped guide groove 7 and a track plane bottom plate 9. The two side walls of the n-shaped guide groove 7 are equipped with rail guides.
  • the magnetic levitation rail 12 has a left-side guiding straight maglev rail 21, a right-side guiding turning magnetic levitation rail 22 and There are three types of maglev track 23 for guiding connecting sections on both sides.
  • the left-side directional straight maglev track 21 is a continuous straight line of the main line.
  • n-shaped guide slot 7 is located on the left side of the track, suitable for personal maglev vehicle 1 to go straight, on the right side.
  • the guiding turning magnetic levitation track 22 is a turning track, and its n-shaped guiding groove 7 is located on the right side of the track, which is suitable for the track change and merging of the personal magnetic levitation vehicle 1.
  • the guiding connecting section magnetic levitation track 23 on both sides is located on the right guiding turning magnetic levitation track 22
  • the n-shaped guide grooves 7 are respectively provided on the left and right sides of the carrying track.
  • the personal maglev vehicle 1 switches the left and right guiding devices at the maglev track 23 at the two-side guiding connection section to achieve Rail change or merging; set up a rail connection line between two or more parallel or crossing main line rails, the rail car 1 can change from the running main line rail to another main line rail through the rail connection line; install on the track plane bottom plate 9
  • the drive and brake of the personal maglev vehicle 1 can be realized; installed on the track plane bottom 9
  • the rail levitation device with levitation system, the vehicle levitation device of the personal maglev vehicle 1 and the vehicle levitation automatic control device constitute a levitation system.
  • the personal maglev vehicle 1 realizes the stable levitation of the personal maglev vehicle 1 in the maglev track 12 under the action of the on-board levitation automatic control device.
  • a special lane for auxiliary wheels is installed on the flat bottom plate 9 of the track to provide plane support for the auxiliary wheels when the auxiliary driving system of the personal maglev vehicle 1 is running;
  • the station system consists of the station magnetic levitation track, the station computer control system, the passenger platform 27, the overhaul workbench 28, the passenger passage and the access control system;
  • the station maglev track consists of a U-shaped outsourcing right-side guiding turning magnetic levitation track 24 and one or more stops
  • the left-side guiding straight maglev track (25) of the station is composed of the left-side guiding straight maglev track 25 of the docking station.
  • the guiding straight maglev track 25 on the left side of the docking station is arranged on the inner side of the U-shaped outer right guiding turning magnetic levitation track 24, and the two ends are equipped with two-sided guiding connecting section maglev tracks 23 and U
  • the right-side guiding turning magnetic levitation rail 24 is connected with the U-shaped outer right guiding turning magnetic levitation rail 24, and both ends of the U-shaped outer right guiding turning magnetic levitation rail 24 are provided with two-sided guiding connecting sections.
  • the magnetic levitation rail 23 is respectively connected to the left guiding straight maglev rail 21 of the running line; personal magnetic levitation vehicle 1
  • change to the U-shaped outsourcing right-side steering maglev track 24, and then change to the left side of the docking station to guide the straight maglev track 25, and the left side of the docking station to guide the straight maglev track 25 is equipped with up and down on both sides Passenger platform 27 and inspection workbench 28.
  • Passengers can board or leave the personal maglev vehicle 1 through the passenger boarding platform 27.
  • the staff maintain and inspect the personal maglev vehicle 1 at the inspection workbench 28.
  • the personal maglev vehicle 1 stops along the stop
  • the left-side guiding straight maglev track 25 moves forward, and it turns into a U-shaped outsourcing right-side guiding turning maglev track 24 at the junction, and then merges and connects again at the exit to enter the running line;
  • the maglev rail transit network control system is composed of the maglev rail transit network master control computer system, track signal system, on-board automatic driving control system, and station computer control system;
  • the maglev rail transit network master control computer system is composed of a large computer and its auxiliary systems.
  • the automatic driving control system is installed on the personal magnetic levitation vehicle 1, and is controlled by the on-board computer, the computer door lock 5, the data line, the signal recognition device, the signal transmitting device, the on-board guidance control device, the on-board drive control device, the auxiliary operation control device, and the manual emergency control.
  • the external is wirelessly connected with the main control computer of the maglev rail transit network, which transmits the information of the personal maglev vehicle 1 and receives instructions from the main control computer of the maglev rail transit network. It is internally connected to the vehicle steering device, vehicle drive device, rail power supply system control device and auxiliary
  • Each device of the operating system, the on-board computer receives passenger destination information, the operating instructions of the maglev rail transit network master control computer, and on-board signal device information, and after calculation, issues instructions to each device to automatically control the start, acceleration, and control of the personal maglev vehicle 1 Recognition of moving and running lines, turning, pitting and emergency handling of faults;
  • the track signal system is automatically powered by signal response devices installed at the track change and merging, operation status monitoring devices all over the track, and track sub-sections
  • the control device is composed of a track signal system that is wirelessly connected with the magnetic levitation rail transit network master control computer, on-board signal identification device, and on-board signal transmitter device to transmit track information;
  • the station computer system is composed of
  • the central control computer calculates and sends instructions to the docking station signal system, and controls the personal magnetic levitation through the signal system The pitting, stopping position, stopping time and departure operation of the car;
  • the power supply system consists of the rail power supply system and the internal power supply system of the personal maglev vehicle 1.
  • the rail power supply system consists of substations, transmission lines and rail power supply systems along the track. Each substation along the track is provided by no less than two urban power supply lines without interruption. Power supply, power transmission lines are laid along the track, and the rail power supply provides power to the sub-sections. The length of each power supply section is 10-100 meters. The opening and closing of the power supply of each section is automatically controlled by the personal maglev vehicle 1, and the power supply of the personal maglev vehicle 1 is carried by itself
  • the battery is composed of a battery and an induction coil 10, and the current generated by the induction coil 10 charges the battery, and then supplies power to the on-board equipment through the battery;
  • the auxiliary operation system is composed of a battery, a motor, auxiliary power wheels 2 and a rotary guide arm auxiliary guide wheel 11. Its main function is to provide power and guidance in the initial stage of the personal magnetic levitation vehicle 1.
  • the auxiliary guide wheel 11 provides Guide
  • the battery provides power to the motor
  • the induction coil 10 cuts the magnetic field lines of the electromagnetic coil 8, and generates induced current and induced magnetic field, and rotates the guide arm 3 and the n-shaped guide slot 7
  • the levitation electromagnetic coil 13 generates the induced current and the induced magnetic field to make the personal maglev vehicle 1 float; during the operation of the personal maglev vehicle 1, if the power supply system fails or the drive system fails, the auxiliary operation system can provide Power and guidance enable the personal magnetic levitation vehicle 1 to drive to the nearest stop.
  • the track support maintenance system is divided into four types: overhead traveling, ground traveling, underground traveling and underwater traveling according to the different spatial positions of travel.
  • the overhead traveling track support maintenance system is composed of a truss beam 17 and a track support column 18.
  • the magnetic levitation track 12 is installed in On the top of the truss beam 17, the ground running track support maintenance system is composed of the processed ground roadbed 19 and the maintenance structure on both sides of the maglev track 12.
  • the underground and underwater running track support maintenance system is composed of the underground closed pipeline 20 and its auxiliary systems.
  • the guidance system consists of rotating guide arms 3 located on both sides of the personal magnetic levitation vehicle 1 and guide electromagnetic coils 8 arranged in n-shaped guide slots 7 on both sides of the magnetic levitation track 12.
  • the rotating guide arms are wound with induction coils 10, which can be adapted according to the guidance requirements. Perform horizontal and vertical rotations.
  • the guide solenoids 8 on the two side walls of the n-shaped guide groove 7 are energized, two electromagnetic fields with the same electromagnetic direction are formed.
  • the induction coil 10 When the rotary guide arm 3 rotates from the horizontal state to the vertical state, the induction coil 10 goes deep To the middle position of the two electromagnetic coils 8 of the n-shaped guide groove 7, the induction coil 10 will cut the magnetic force when the personal maglev vehicle 1 is running, and the induction coil 10 will generate current, so that the induction coil 10 will generate the electromagnetic coils on both sides of the n-shaped guide groove 7 8 Electromagnetic fields with opposite electromagnetic directions, which repel each other, constrain the rotating guide arm 3 in the middle of the two guide electromagnetic coils 8.
  • the personal magnetic levitation vehicle 1 selects the n-shape along the left side by changing the state of the rotating guide arms 3 on both sides
  • the guide groove 7 should drive along the right n-shaped guide groove 7, and the left n-shaped guide groove 7 can guide the personal maglev car 1 along the main line, and the right n-shaped guide groove 7 can guide the personal maglev car 1 Turn right and change the track to depart from the main line or merge along the right branch track to enter the main line track.
  • the personal magnetic levitation vehicle 1 switches the left and right guides at the magnetic levitation track 23 of the guide connecting section on both sides to realize the track change or merge;
  • the levitation system is composed of levitation electromagnetic coils 13 located on both sides of the bottom of the carriage and metal bottom plates 14 located on both sides of the bottom of the track.
  • the levitation electromagnetic coil 13 at the bottom of the carriage is connected in series with the induction coil 10, and the induction coil 10 generates induced current during operation.
  • the electric current passes through the levitation electromagnetic coil 13 at the bottom of the carriage to generate an electromagnetic field perpendicular to the direction of the track metal bottom plate 14.
  • the metal bottom plate 14 cuts the magnetic force line movement to generate an induced magnetic field opposite to the direction of the levitation electromagnetic coil 13 magnetic field.
  • the surface of the bottom plate 9 is flat.
  • the drive system uses the linear motor working principle.
  • the vehicle-mounted drive device 15 is the linear motor secondary and is installed at the bottom of the personal maglev vehicle 1.
  • the track drive device 16 is the linear motor primary and is installed on the maglev track 12 and is powered by the track.
  • the on-board drive control device is the linear motor control device. Under the instructions of the on-board computer, the linear motor control device controls the operation and braking of the personal maglev vehicle 1 on the track;
  • the track connecting line is a section of the right-side guiding turning magnetic levitation track 22.
  • the track connecting line turns from the right side and leaves the track B first, and detours through the track B or from the upper side or the lower side.
  • Track A continue to the right side of track A, merge into target track A;
  • track A and track B are two three-dimensional cross-traveling main tracks, the track connecting line will first turn right and leave track B, move up or down Go to the right side of track A and merge into target track A.
  • the rail car (1) can change from the running main line straight track to another main line straight track through the rail connection line;
  • the personal magnetic levitation vehicle 1 automatically avoids the straight-going vehicle when it is in parallel operation.
  • the right-hand guiding turning magnetic levitation rail 22 and the left-hand guiding straight magnetic levitation rail 21 are respectively provided with a straight-tracking signal device and a parallel-tracking signal device.
  • the device When a straight vehicle passes by the straight-tracking signal device, the device will The passing information of the straight-going vehicle is transmitted to the merging track merging signal device.
  • the merging track's merging signal device is scanned to obtain the information of the straight-going vehicle.
  • FIG. 1 a schematic diagram of a personal magnetic levitation vehicle 1.
  • the personal magnetic levitation vehicle 1 is composed of a vehicle box, a vehicle-mounted automatic driving control system, a vehicle-mounted guiding device, a vehicle-mounted driving device, a vehicle-mounted levitation device, and an auxiliary driving system;
  • the vehicle body is composed of a vehicle frame structure, a vehicle maintenance structure, and vehicle-mounted passenger equipment.
  • Passenger equipment includes seat 6, workbench, video screen monitoring device, air conditioning, lighting, weight restriction device, network and radio equipment, emergency call device;
  • the on-board automatic driving control system is composed of on-board computer, computer door lock 5, data cable, and on-board vehicle Signal recognition device, vehicle-mounted signal transmitter, vehicle-mounted guidance control device, vehicle-mounted drive control device, auxiliary operation control device, manual emergency control device;
  • auxiliary operation system is composed of battery, motor, auxiliary power wheel 2 and rotary guide arm auxiliary guide wheel 11 Composition; on the bottom of the personal magnetic levitation vehicle 1 is installed the linear motor secondary 15 of the linear motor drive system and the levitation electromagnetic coil 13 of the levitation system, and the rotary guide arms 3 of the guiding system are installed on both sides of the personal magnetic levitation vehicle 1.
  • FIG. 1 Schematic diagram of magnetic levitation track system, guidance system, levitation system, linear motor drive system, and auxiliary operation system.
  • the magnetic levitation track 12 is composed of a track plane bottom plate 9 and n-shaped guide grooves 7 on both sides;
  • the guiding system is composed of rotating guide arms 3 located on both sides of the personal magnetic levitation vehicle 1 and guides in the n-shaped guide grooves 7 arranged on both sides of the magnetic levitation track 12
  • the electromagnetic coil 8 is composed of an induction coil 10 wound around the rotating guide arm, which can be rotated horizontally and vertically according to the guiding requirements.
  • the guide electromagnetic coils 8 on the two side walls of the n-shaped guide slot 7 form two electromagnetic fields with the same electromagnetic direction when energized.
  • the induction coil 10 When the rotating guide arm 3 rotates from the horizontal state to the vertical state, the induction coil 10 penetrates into the middle position of the two electromagnetic coils 8 of the n-shaped guide slot 7.
  • the induction coil 10 cuts the magnetic force line movement, and the induction coil 10 generates The current causes the induction coil 10 to generate an electromagnetic field opposite to the electromagnetic direction of the electromagnetic coils 8 on both sides of the n-shaped guide slot 7.
  • the suspension system is located at the bottom of the carriage
  • the suspension electromagnetic coils 13 on both sides and the metal bottom plate 14 located on both sides of the track bottom are composed of the suspension electromagnetic coil 13 at the bottom of the carriage and the induction coil 10 in series;
  • the linear motor drive system uses the principle of linear motor, which is composed of the linear motor on the surface of the track. 16.
  • the linear motor secondary 15 at the bottom of the carriage and the linear motor control device are composed of the linear motor control device to control the operation;
  • the auxiliary operation system is composed of the battery, the motor, the auxiliary power wheel 2 and the rotary guide arm auxiliary guide wheel 11.
  • Figure 3-6 shows that the magnetic levitation track can be divided into four types: overhead traveling, ground traveling, underground traveling and underwater traveling according to different spatial locations.
  • the overhead traveling track support maintenance system is composed of truss beams 17 and track support columns 18.
  • the magnetic levitation track 12 is installed on the top of the truss beam 17, the ground travel track support maintenance system is composed of the processed ground roadbed 19 and the maintenance structure on both sides of the maglev track 12, and the underground and underwater travel track support maintenance system is composed of an underground closed pipeline 20 system .
  • Figure 7-9 shows that the magnetic levitation track 12 has three forms: a left-directed straight magnetic levitation track 21, a right-directed turning magnetic levitation track 22, and a two-sided guiding connecting segment magnetic levitation track 23.
  • the left-directed straight maglev track 21 is a continuous arrangement
  • the N-shaped guide groove 7 is located on the left side of the track, and the right-side guided turning magnetic levitation track 22 is composed of a straight section and a turning section.
  • the n-shaped guide groove 7 is located on the right side of the track, and the two sides guide the connecting section of the magnetic levitation track.
  • the personal maglev vehicle 1 chooses to drive along the left n-shaped guide groove 7 by changing the state of the rotating guide arms 3 on both sides Drive along the right n-shaped guide groove 7, and follow the left n-shaped guide groove 7 to guide the personal maglev vehicle 1 to go straight along the main line, and follow the right n-shaped guide groove 7 to guide the personal maglev vehicle 1 to turn right away from the main line.
  • Figures 10 and 11 are respectively shown as schematic diagrams of parallel rail and vertical rail connection lines.
  • the personal maglev vehicle 1 needs to start an automatic program. Specifically, when the A and B tracks are two parallel tracks, the personal maglev vehicle 1 is along the right side The turning track first departs from track B, and then drives to the left of track A along the device to the right side of track A, then starts the merge procedure and merges into target track A; when track A and track B are two vertical running tracks, the individual The maglev vehicle 1 first starts the right turning procedure and departs from the track B to the right along the right turning track, continues to drive to the right side of the track A, and then starts the merge procedure to merge into the target track A.
  • FIG 12 shows a schematic diagram of the docking station.
  • the docking station is composed of the docking station track, the loading and unloading platform 27, the overhaul platform 28 and the docking station control center.
  • the docking station can be designed as unattended and manned according to the size of the passenger flow.
  • the docking station track is composed of a U-shaped right-hand turning track 24 and at least one left-hand straight track 25.
  • the length and number of the left-hand straight track 25 can be increased to increase the passenger flow of the docking station; the boarding platform 27 is located on the left There are safety barriers on both sides of the straight track 25.
  • the upper and lower passenger platform 27 has an overhead or underpass passage to cross the maglev track 12; the maintenance platform 28 is located at the outermost side of the U-shaped right-hand turning track 24 of the docking station, and is used for personal maglev 1 Daily maintenance and troubleshooting.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)
  • Train Traffic Observation, Control, And Security (AREA)

Abstract

一种个人自动控制轻型可变轨磁悬浮轨道交通***，在个人磁悬浮车（1）车厢的底部设置电磁线圈（13），在轨道底平面上设置金属底板（14），利用电磁场在金属上运动产生同性相斥磁极原理实现车辆悬浮；个人磁悬浮车（1）的驱动利用了直线电机工作原理；个人磁悬浮车（1）的导向利用同性磁极相斥原理，在个人磁悬浮车（1）车厢的两侧设置旋转导向臂（3），旋转导向臂（3）上设置感应线圈（10），与n形导向槽（7）内的导向电磁线圈（8）配合实现导向。个人磁悬浮车（1）的运行速度低，消耗的能量少，解决了目前磁悬浮列车在电磁辐射和运行安全上存在的问题，同时解决了磁悬浮轨道交通投资大、建设周期长、运营成本高、占用的城市空间资源大等弊端。

Description

个人自动控制轻型可变轨磁悬浮轨道交通*** 技术领域
本发明涉及磁悬浮轨道交通技术领域，具体属于一种为个人服务、以磁悬浮方式运行、可变轨、自动控制、无人驾驶的轻型磁悬浮轨道交通***，利用设置于空中、地面、地下、水下的轻型磁悬浮轨道和在磁悬浮轨道上运行的磁悬浮车，由计算机控制自动驾驶，进行人员和货物的点到点运输。
 背景技术
目前国际上使用的磁悬浮交通工具主要是磁悬浮列车，主要运行方式有德国主导的常导电式磁悬浮、日本主导的低温超导电动磁悬浮以及中国主导的永磁低速磁悬浮。这些应用都是以干线交通为主，运量大、速度快，但普遍存在投资规模巨大、建设周期长、运营成本高、站点间距长、占用的城市空间资源大等弊端，同时上述磁悬浮技术的在电磁辐射和运行安全上存在很大不确定性。受此限制，磁悬浮列车目前在全世界基本处于试验研究阶段。美国人上世纪50年代提出了PRT概念，即小型车辆在专用轨道网或专用道路网上行驶的快速交通***，提出了轻型轨道和个人轨道交通工具在城市支线交通中应用的概念。以磁悬浮方式运行的PRT交通工具目前国际上未见报道。
 技术问题
在此处键入技术问题描述段落。
 技术解决方案
本发明的目的是提供一种个人自动控制轻型可变轨磁悬浮轨道交通***，个人磁悬浮车的运行速度低，消耗的能量少，解决了目前磁悬浮列车在电磁辐射和运行安全上存在的问题。采用个人小型化磁悬浮车和轻型磁悬浮轨道设计，解决了磁悬浮轨道交通投资大、建设周期长、运营成本高、占用的城市空间资源大等弊端，同时也解决了磁悬浮轨道交通仅能作为干线交通不能作为普遍支线交通工具的应用问题，可广泛应用于城市内部主次干道交通、城市与乡村之间交通、城市与城市之间交通、大型场馆的建筑内部交通，以及大型厂矿、学校、机场、公园、景点等区域内的交通。
    本发明采用的技术方案如下：
个人自动控制轻型可变轨磁悬浮轨道交通***，由个人磁悬浮车、磁悬浮轨道***、车站***、磁悬浮轨道交通网控制***、供电***组成，其特征在于：
所述个人磁悬浮车（1）是一个能够乘坐一至两人、在专用的磁悬浮轨道上以磁悬浮方式行驶、可变轨、自动控制、无人驾驶的轻型公共交通乘用工具，长度1000mm-4000mm、高度1000mm-2500mm、宽度700mm-2500mm，载荷范围0kg-1000kg ，由车箱体、车载自动行驶控制***、车载导向装置、车载驱动装置、车载悬浮装置和辅助行驶***组成；车厢体由车厢框架结构、车门（4）、车厢维护结构和车载乘用设备组成，具有提供一至两人乘坐、行李存放、通讯网络、简易办公、通风和空调的功能；车载自动行驶控制***由车载计算机、数据线、车载信号识别装置、车载信号发射装置、车载导向控制装置、车载驱动控制装置、辅助运行控制装置、手动紧急控制装置组成，在磁悬浮轨道交通网总控计算机的指令下，自主识别运行路线、控制车辆自动驾驶；车载导向装置安装于车厢体的左右两侧，是两套独立运行的装置，与车载导向控制装置、磁悬浮轨道（12）左右两侧n形导向槽（7）内的轨道导向装置一起构成导向***，在车载计算机指令下可实现个人磁悬浮车（1）沿轨道直行、变轨脱离直行轨道和并轨进入直行轨道的导向功能；车载驱动装置安装于个人磁悬浮车（1）的底部，与车载驱动控制装置、磁悬浮轨道（12）上的轨道驱动装置一起构成驱动***，在车载计算机指令下，实现个人磁悬浮车（1）的驱动和制动；车载悬浮装置安装于个人磁悬浮车（1）的底部，与车载悬浮自动控制装置、磁悬浮轨道（12）的轨道悬浮装置一起构成悬浮***，在车载悬浮自动控制装置作用下实现个人磁悬浮车（1）在磁悬浮轨道（12）内稳定悬浮；个人磁悬浮车（1）上安装有辅助行驶***，在个人磁悬浮车（1）运行的初始阶段或供电***发生故障时提供运行动力和导向；
所述磁悬浮轨道***是一种轻型磁悬浮轨道***，适用于个人磁悬浮车（1）在上表面磁浮运行，由磁悬浮轨道（12）、轨道支撑维护装置、应急逃生和检修通道、通风***、消防***和照明***组成；磁悬浮轨道（12）由n形导向槽（7）和轨道平面底板（9）组成，在n形导向槽（7）的两个侧壁安装有轨道导向装置，磁悬浮轨道（12）有左侧导向直行磁悬浮轨道（21）、右侧导向转弯磁悬浮轨道（22）和两侧导向连接段磁悬浮轨道（23）三种形式，左侧导向直行磁悬浮轨道（21）是一条连续布置的干线直行轨道，其n形导向槽（7）位于轨道的左侧，适用于个人磁悬浮车（1）直行，右侧导向转弯磁悬浮轨道（22）是一条转弯轨道，其n形导向槽（7）位于轨道的右侧，适用于个人磁悬浮车（1）的变轨和并轨，两侧导向连接段磁悬浮轨道（23）位于右侧导向转弯磁悬浮轨道（22）与左侧导向直行磁悬浮轨道（21）的连接处，其n形导向槽（7）分别设置在轨道的左右两侧，个人磁悬浮车（1）在两侧导向连接段磁悬浮轨道（23）处切换左、右侧导向装置，实现变轨或并轨；在两个及以上平行或交叉的干线直行轨道间设置轨道连接线，轨道车（1）通过轨道连接线可从在运行干线直行轨道变轨到另一条干线直行轨道；在轨道平面底板（9）上安装有驱动***的轨道驱动装置，与个人磁悬浮车（1）车载驱动装置、车载驱动控制装置一起构成驱动***，在车载计算机指令下，实现个人磁悬浮车（1）的驱动和制动；在轨道平面底板（9）上安装有悬浮***的轨道悬浮装置与个人磁悬浮车（1）车载悬浮装置、车载悬浮自动控制装置一起构成悬浮***，个人磁悬浮车（1） 在车载悬浮自动控制装置作用下实现个人磁悬浮车（1）在磁悬浮轨道（12）内稳定悬浮；在轨道平面底板（9）上安装有辅助轮专用车道，在个人磁悬浮车（1）辅助行驶***运行时为辅助轮提供平面支撑；
所述车站***由车站磁悬浮轨道、车站计算机控制***、上下客平台（27）、检修工作台（28）、乘客通道和门禁***组成；车站磁悬浮轨道由一条U形外包右侧导向转弯磁悬浮轨道（24）和一条或多条停靠站左侧导向直行磁悬浮轨道（25）组成，停靠站左侧导向直行磁悬浮轨道（25）设置于U形外包右侧导向转弯磁悬浮轨道（24）的内侧，其两端设置两侧导向连接段磁悬浮轨道（23）与U形外包右侧导向转弯磁悬浮轨道（24）连接，U形外包右侧导向转弯磁悬浮轨道（24）的两端设置两侧导向连接段磁悬浮轨道（23）分别与运行线路的左侧导向直行磁悬浮轨道（21）连接；个人磁悬浮车（1）在进站口处变轨转入U形外包右侧导向转弯磁悬浮轨道（24），再变轨转入停靠站左侧导向直行磁悬浮轨道（25），停靠站左侧导向直行磁悬浮轨道（25）两侧设置有上下客平台（27）和检修工作台（28），乘客可通过上下客平台（27）乘坐或离开个人磁悬浮车（1），工作人员在检修工作台（28）保养和检修个人磁悬浮车（1），出站时，个人磁悬浮车（1）沿停靠站左侧导向直行磁悬浮轨道（25）前行，在连接处并轨转入U形外包右侧导向转弯磁悬浮轨道（24），在出站口再次并轨连接驶入运行线路；
所述磁悬浮轨道交通网控制***由磁悬浮轨道交通网总控计算机***、轨道信号***、车载自动行驶控制***、车站计算机控制***组成；磁悬浮轨道交通网总控计算机***由大型计算机及其辅助***组成，建立有大型数据库和互联网运营网站，负责收集处置来自互联网网站、车载计算机、轨道信号装置和停靠站计算机的信息，自主完成个人磁悬浮车（1）的运行调度、线路设计和故障应急处置等工作；所述车载自动行驶控制***安装于个人磁悬浮车（1）上，由车载计算机、电脑门锁（5）、数据线、信号识别装置、信号发射装置、车载导向控制装置、车载驱动控制装置、辅助运行控制装置、手动紧急控制按钮组成，外部与磁悬浮轨道交通网总控计算机无线连接，传送个人磁悬浮车（1）的信息并接收磁悬浮轨道交通网总控计算机指令，内部连接车载导向装置、车载驱动装置、轨道供电***控制装置和辅助运行***各装置，车载计算机接收乘客目的地信息、磁悬浮轨道交通网总控计算机的运行指令和车载信号装置信息，经计算后对各装置下达指令，自动控制个人磁悬浮车（1）的启动、加速、制动、运行线路识别、转弯、进站和故障应急处理；所述轨道信号***由安装于轨道变轨和并轨处的信号应答装置、遍布于轨道各个部位的运行状态监测装置和轨道分区段自动供电控制装置组成，轨道信号***与磁悬浮轨道交通网总控计算机、车载信号识别装置、车载信号发射装置无线连接，传送轨道信息；所述车站计算机***由停靠站中控计算机和停靠站信号***组成，与磁悬浮轨道交通网总控计算机连接并接受指令，通过收集磁悬浮轨道交通网总控计算机信息、停靠站信号***信息，经中控计算机计算并发送指令到停靠站信号***，通过信号***控制个人磁悬浮车的进站、停靠位置、停靠时间和发车运行；
所述供电***由轨道供电***和个人磁悬浮车（1）内部供电***组成，轨道供电***由轨道沿途的变电站、输电线路和轨道供电***组成，轨道沿途每个变电站由不少于两个城市供电线路提供不间断电源，输电线路沿轨道铺设，轨道供电为分区段供电，每个供电区段长度10~100米，每区段供电的启闭由个人磁悬浮车（1）自动控制，个人磁悬浮车（1）的供电由自身携带的蓄电池和感应线圈（10）组成，由感应线圈（10）产生的电流为蓄电池充电，再通过蓄电池为车载设备供电；
所述辅助运行***由蓄电池、电机、辅助动力轮（2）和旋转导向臂辅助导向轮（11）组成，其主要作用是在个人磁悬浮车（1）运行初始阶段提供动力和导向，在运行初始阶段，由辅助导向轮（11）提供导向，蓄电池向电机提供电力，驱动辅助动力轮（2）让个人磁悬浮车（1）达到一定的初始速度，感应线圈（10）切割电磁线圈（8）的磁力线，产生感应电流和感应磁场，旋转导向臂（3）和n形导向槽（7）获得导向能力，同时悬浮电磁线圈（13）产生感应电流和感应磁场，让个人磁悬浮车（1）浮起来；在个人磁悬浮车（1）运行过程中如发生供电***故障断电或驱动***故障，辅助运行***能够提供动力和导向，使个人磁悬浮车（1）能驶到最近停靠站。
所述轨道支撑维护***根据行驶的空间位置不同分为架空行驶、地面行驶、地下行驶和水下行驶四种形式，架空行驶轨道支撑维护***由桁架梁（17）和轨道支撑柱（18）组成，磁悬浮轨道（12）安装在桁架梁（17）的顶部，地面行驶轨道支撑维护***由经处理的地面路基（19）和磁悬浮轨道（12）两侧维护结构组成，地下和水下行驶轨道支撑维护***由地下封闭管道（20）及其辅助***组成，在轨道支撑维护***处于架空、地下或水下时，在轨道支撑维护***内设置检修和应急逃生通道，方便日常对设备的检修和维护，在发生火灾、地震、透水等紧急情况时乘客能够通过应急逃生通道迅速转移到安全区域，轨道支撑维护***处于地下或水下时，在轨道支撑维护***内设置的通风、消防和照明装置***。
所述导向***由位于个人磁悬浮车（1）两侧的旋转导向臂（3）和布置于磁悬浮轨道（12）两侧的n形导向槽（7）内的导向电磁线圈（8）组成，旋转导向臂缠绕有感应线圈（10），可根据导向需求进行水平和垂直方向旋转，n形导向槽（7）两个侧壁上的导向电磁线圈（8）通电时形成两个电磁方向相同的电磁场，旋转导向臂（3）由水平状态旋转为垂直状态时，感应线圈（10）深入到n形导向槽（7）两个电磁线圈（8）的中间位置，个人磁悬浮车（1）运行时感应线圈（10）作切割磁力线运动，感应线圈（10）产生电流，使感应线圈（10）产生与n形导向槽（7）两侧电磁线圈（8）电磁方向相反的电磁场，电磁场相互排斥，把旋转导向臂（3）约束在两个导向电磁线圈（8）的中间部位，个人磁悬浮车（1）通过改变两侧旋转导向臂（3）的状态，选择沿着左侧n形导向槽（7）行驶还是沿着右侧n形导向槽（7）行驶，沿着左侧n形导向槽（7）可引导个人磁悬浮车（1）沿干线直行，沿着右侧n形导向槽（7）可引导个人磁悬浮车（1）右转弯变轨脱离主干线或沿右侧支线轨道并轨进入干线轨道。个人磁悬浮车（1）在两侧导向连接段磁悬浮轨道（23）处切换左右侧导向装置，实现变轨或并轨；
所述悬浮***，由位于车厢底部两侧的悬浮电磁线圈（13）和位于轨道底部两侧的金属底板（14）组成，车厢底部的悬浮电磁线圈（13）与感应线圈（10）串联，在运行时，感应线圈（10）产生感应电流，电流通过车厢底部悬浮电磁线圈（13），产生垂直于轨道金属底板（14）方向的电磁场，金属底板（14）作切割磁力线运动产生与悬浮电磁线圈（13）磁场方向相反的感应磁场，磁场同极相斥使车厢悬浮在轨道平面底板（9）的表面。
 所述驱动***运用了直线电机工作原理，车载驱动装置（15）即为直线电机次级，安装于个人磁悬浮车（1）的底部，轨道驱动装置（16）即为直线电机初级，安装在磁悬浮轨道（12）上，由轨道供电***提供电源，车载驱动控制装置即为直线电机控制装置，在车载计算机指令下，通过直线电机控制装置控制个人磁悬浮车（1）在轨道上的运行和制动；
所述轨道连接线是一段右侧导向转弯磁悬浮轨道22，当A、B轨道为两条平行干线轨道时，轨道连接线从右侧转弯先脱离轨道B，从上侧或下侧绕行通过轨道B或轨道A，继续前行到轨道A的右侧，并入目标轨道A；当A、B轨道为两条立体交叉运行干线轨道时，轨道连接线先右转弯脱离轨道B，向上或向下前行到轨道A的右侧，并入目标轨道A，轨道车（1）通过轨道连接线可从在运行干线直行轨道变轨到另一条干线直行轨道；
所述个人磁悬浮车（1）进行并轨运行时自动避让直行车辆。具体是在右侧导向转弯磁悬浮轨道（22）和左侧导向直行磁悬浮轨道（21）的适当位置分别设置直行轨道并轨信号装置和并轨轨道并轨信号装置，当有直行车辆经过直行轨道并轨信号装置时该装置会将直行车辆经过的信息传输到并轨轨道并轨信号装置，并轨车辆经过时扫描并轨轨道并轨信号装置，获取直行车辆的信息，信息经并轨车辆车载计算机计算后确定采取减速避让或加速并轨措施。
 有益效果
本发明提供了一种为个人服务、以磁悬浮方式运行、可变轨、自动控制轻型轨道交通***，利用设置于空中、地面、地下、水下的轻型磁悬浮轨道和在磁悬浮轨道上运行的磁悬浮车，由计算机控制自动驾驶，进行人员和货物的点到点运输。
本发明个人磁悬浮车的运行速度低，消耗的能量少，解决了目前磁悬浮列车在电磁辐射和运行安全上存在的问题。采用个人小型化磁悬浮车和轻型磁悬浮轨道设计，解决了磁悬浮轨道交通投资大、建设周期长、运营成本高、占用的城市空间资源大等弊端，同时也解决了磁悬浮轨道交通仅能作为干线交通不能作为普遍支线交通工具的应用问题，可广泛应用于城市内部主次干道交通、城市与乡村之间交通、城市与城市之间交通、大型场馆的建筑内部交通，以及大型厂矿、学校、机场、公园、景点等区域内的交通。
 附图说明
图1为个人磁悬浮车示意图，其中：
图1a为车门闭合时示意图，图1b为车门打开时示意图。
图2为磁悬浮轨道***、导向***、悬浮***、直线电机驱动***、辅助运行***示意图。
图3为架空行驶示意图，其中：
图3a为架空行驶主视图，图3b为架空行驶正视图。
图4为地面行驶示意图，其中：
图4a为地面行驶主视图，图4b为地面行驶正视图。
图5为地下行驶示意图，其中：
图5a为地下行驶主视图，图5b为地下行驶正视图。
图6为水下行驶示意图，其中：
图6a为地下行驶主视图，图6b为地下行驶正视图。
图7为个人磁悬浮车直行示意图。
图8为个人磁悬浮车右转弯示意图。
图9为个人磁悬浮车右侧并道示意图。
图10为个人磁悬浮车平行轨道示意图。
图11为个人磁悬浮车垂直轨道示意图。
图12为停靠站示意图，其中：
图12a为停靠站的俯视图，图12b为停靠站的主视图。
 本发明的实施方式
参见附图，个人自动控制轻型可变轨磁悬浮轨道交通***由个人磁悬浮车、磁悬浮轨道***、车站***、磁悬浮轨道交通网控制***、供电***组成，其中：
个人磁悬浮车1是一个能够乘坐一至两人、在专用的磁悬浮轨道上以磁悬浮方式行驶、可变轨、自动控制的轻型公共交通乘用工具，长度1000mm-4000mm、高度1000mm-2500mm、宽度700mm-2500mm，载荷范围0kg-1000kg ，由车箱体、车载自动行驶控制***、车载导向装置、车载驱动装置、车载悬浮装置和辅助行驶***组成；车厢体由车厢框架结构、车门4、车厢维护结构和座椅6等车载乘用设备组成，具有提供一至两人乘坐、行李存放、通讯网络、简易办公、通风和空调的功能；车载自动行驶控制***由车载计算机、数据线、车载信号识别装置、车载信号发射装置、车载导向控制装置、车载驱动控制装置、辅助运行控制装置、手动紧急控制装置组成，在磁悬浮轨道交通网总控计算机的指令下，自主识别运行路线、控制车辆自动驾驶；车载导向装置安装于车厢体的左右两侧，是两套独立运行的装置，与车载导向控制装置、磁悬浮轨道12左右两侧n形导向槽7内的轨道导向装置一起构成导向***，在车载计算机指令下可实现个人磁悬浮车1沿轨道直行、变轨脱离直行轨道和并轨进入直行轨道的导向功能；车载驱动装置安装于个人磁悬浮车1的底部，与车载驱动控制装置、磁悬浮轨道12上的轨道驱动装置一起构成驱动***，在车载计算机指令下，实现个人磁悬浮车1的驱动和制动；车载悬浮装置安装于个人磁悬浮车1的底部，与车载悬浮自动控制装置、磁悬浮轨道12的轨道悬浮装置一起构成悬浮***，在车载悬浮自动控制装置作用下实现个人磁悬浮车1在磁悬浮轨道12内稳定悬浮；个人磁悬浮车1上安装有辅助行驶***，在个人磁悬浮车1运行的初始阶段或供电***发生故障时提供运行动力和导向；
磁悬浮轨道***是一个轻型磁悬浮轨道***，适用于个人磁悬浮车1在上磁浮运行，由磁悬浮轨道12、轨道支撑维护装置、应急逃生和检修通道、通风***、消防***和照明***组成；磁悬浮轨道12由n形导向槽7和轨道平面底板9组成，在n形导向槽7的两个侧壁安装有轨道导向装置，磁悬浮轨道12有左侧导向直行磁悬浮轨道21、右侧导向转弯磁悬浮轨道22和两侧导向连接段磁悬浮轨道23三种形式，左侧导向直行磁悬浮轨道21是一条连续布置的干线直行轨道，其n形导向槽7位于轨道的左侧，适用于个人磁悬浮车1直行，右侧导向转弯磁悬浮轨道22是一条转弯轨道，其n形导向槽7位于轨道的右侧，适用于个人磁悬浮车1的变轨和并轨，两侧导向连接段磁悬浮轨道23位于右侧导向转弯磁悬浮轨道22与左侧导向直行磁悬浮轨道21的连接处，其n形导向槽7分别设置载轨道的左右两侧，个人磁悬浮车1在两侧导向连接段磁悬浮轨道23处切换左、右侧导向装置，实现变轨或并轨；在两个及以上平行或交叉的干线轨道间设置轨道连接线，轨道车1通过轨道连接线可从在运行干线轨道变轨到另一条干线轨道；在轨道平面底板9上安装有驱动***的轨道驱动装置，与个人磁悬浮车1车载驱动装置、车载驱动控制装置一起构成驱动***，在车载计算机指令下，实现个人磁悬浮车1的驱动和制动；在轨道平面底板9上安装有悬浮***的轨道悬浮装置与个人磁悬浮车1车载悬浮装置、车载悬浮自动控制装置一起构成悬浮***，个人磁悬浮车1 在车载悬浮自动控制装置作用下实现个人磁悬浮车1在磁悬浮轨道12内稳定悬浮；在轨道平面底板9上安装有辅助轮专用车道，在个人磁悬浮车1辅助行驶***运行时为辅助轮提供平面支撑；
车站***由车站磁悬浮轨道、车站计算机控制***、上下客平台27、检修工作台28、乘客通道和门禁***组成；车站磁悬浮轨道由一条U形外包右侧导向转弯磁悬浮轨道24和一条或多条停靠站左侧导向直行磁悬浮轨道（25）组成，停靠站左侧导向直行磁悬浮轨道25设置于U形外包右侧导向转弯磁悬浮轨道24的内侧，其两端设置两侧导向连接段磁悬浮轨道23与U形外包右侧导向转弯磁悬浮轨道24连接，U形外包右侧导向转弯磁悬浮轨道24的两端设置两侧导向连接段磁悬浮轨道23分别与运行线路的左侧导向直行磁悬浮轨道21连接；个人磁悬浮车1在进站口处变轨转入U形外包右侧导向转弯磁悬浮轨道24，再变轨转入停靠站左侧导向直行磁悬浮轨道25，停靠站左侧导向直行磁悬浮轨道25两侧设置有上下客平台27和检修工作台28，乘客可通过上下客平台27乘坐或离开个人磁悬浮车1，工作人员在检修工作台28保养和检修个人磁悬浮车1，出站时，个人磁悬浮车1沿停靠站左侧导向直行磁悬浮轨道25前行，在连接处并轨转入U形外包右侧导向转弯磁悬浮轨道24，在出站口再次并轨连接驶入运行线路；
磁悬浮轨道交通网控制***由磁悬浮轨道交通网总控计算机***、轨道信号***、车载自动行驶控制***、车站计算机控制***组成；磁悬浮轨道交通网总控计算机***由大型计算机及其辅助***组成，建立有大型数据库和互联网运营网站，负责收集处置来自互联网网站、车载计算机、轨道信号装置和停靠站计算机的信息，自主完成个人磁悬浮车1的运行调度、线路设计和故障应急处置等工作；所述车载自动行驶控制***安装于个人磁悬浮车1上，由车载计算机、电脑门锁5、数据线、信号识别装置、信号发射装置、车载导向控制装置、车载驱动控制装置、辅助运行控制装置、手动紧急控制按钮组成，外部与磁悬浮轨道交通网总控计算机无线连接，传送个人磁悬浮车1的信息并接收磁悬浮轨道交通网总控计算机指令，内部连接车载导向装置、车载驱动装置、轨道供电***控制装置和辅助运行***各装置，车载计算机接收乘客目的地信息、磁悬浮轨道交通网总控计算机的运行指令和车载信号装置信息，经计算后对各装置下达指令，自动控制个人磁悬浮车1的启动、加速、制动、运行线路识别、转弯、进站和故障应急处理；所述轨道信号***由安装于轨道变轨和并轨处的信号应答装置、遍布于轨道各个部位的运行状态监测装置和轨道分区段自动供电控制装置组成，轨道信号***与磁悬浮轨道交通网总控计算机、车载信号识别装置、车载信号发射装置无线连接，传送轨道信息；所述车站计算机***由停靠站中控计算机和停靠站信号***组成，与磁悬浮轨道交通网总控计算机连接并接受指令，通过收集磁悬浮轨道交通网总控计算机信息、停靠站信号***信息，经中控计算机计算并发送指令到停靠站信号***，通过信号***控制个人磁悬浮车的进站、停靠位置、停靠时间和发车运行；
供电***由轨道供电***和个人磁悬浮车1内部供电***组成，轨道供电***由轨道沿途的变电站、输电线路和轨道供电***组成，轨道沿途每个变电站由不少于两个城市供电线路提供不间断电源，输电线路沿轨道铺设，轨道供电为分区段供电，每个供电区段长度10~100米，每区段供电的启闭由个人磁悬浮车1自动控制，个人磁悬浮车1的供电由自身携带的蓄电池和感应线圈10组成，由感应线圈10产生的电流为蓄电池充电，再通过蓄电池为车载设备供电；
辅助运行***由蓄电池、电机、辅助动力轮2和旋转导向臂辅助导向轮11组成，其主要作用是在个人磁悬浮车1运行初始阶段提供动力和导向，在运行初始阶段，由辅助导向轮11提供导向，蓄电池向电机提供电力，驱动辅助动力轮2让个人磁悬浮车1达到一定的初始速度，感应线圈10切割电磁线圈8的磁力线，产生感应电流和感应磁场，旋转导向臂3和n形导向槽7获得导向能力，同时悬浮电磁线圈13产生感应电流和感应磁场，让个人磁悬浮车1浮起来；在个人磁悬浮车1运行过程中如发生供电***故障断电或驱动***故障，辅助运行***能够提供动力和导向，使个人磁悬浮车1能驶到最近停靠站。
轨道支撑维护***根据行驶的空间位置不同分为架空行驶、地面行驶、地下行驶和水下行驶四种形式，架空行驶轨道支撑维护***由桁架梁17和轨道支撑柱18组成，磁悬浮轨道12安装在桁架梁17的顶部，地面行驶轨道支撑维护***由经处理的地面路基19和磁悬浮轨道12两侧维护结构组成，地下和水下行驶轨道支撑维护***由地下封闭管道20及其辅助***组成，在轨道支撑维护***处于架空、地下或水下时，在轨道支撑维护***内设置检修和应急逃生通道，方便日常对设备的检修和维护，在发生火灾、地震、透水等紧急情况时乘客能够通过应急逃生通道迅速转移到安全区域，轨道支撑维护***处于地下或水下时，在轨道支撑维护***内设置的通风、消防和照明装置***。
导向***由位于个人磁悬浮车1两侧的旋转导向臂3和布置于磁悬浮轨道12两侧的n形导向槽7内的导向电磁线圈8组成，旋转导向臂缠绕有感应线圈10，可根据导向需求进行水平和垂直方向旋转，n形导向槽7两个侧壁上的导向电磁线圈8通电时形成两个电磁方向相同的电磁场，旋转导向臂3由水平状态旋转为垂直状态时，感应线圈10深入到n形导向槽7两个电磁线圈8的中间位置，个人磁悬浮车1运行时感应线圈10作切割磁力线运动，感应线圈10产生电流，使感应线圈10产生与n形导向槽7两侧电磁线圈8电磁方向相反的电磁场，电磁场相互排斥，把旋转导向臂3约束在两个导向电磁线圈8的中间部位，个人磁悬浮车1通过改变两侧旋转导向臂3的状态，选择沿着左侧n形导向槽7行驶还是沿着右侧n形导向槽7行驶，沿着左侧n形导向槽7可引导个人磁悬浮车1沿干线直行，沿着右侧n形导向槽7可引导个人磁悬浮车1右转弯变轨脱离主干线或沿右侧支线轨道并轨进入干线轨道。个人磁悬浮车1在两侧导向连接段磁悬浮轨道23处切换左右侧导向装置，实现变轨或并轨；
悬浮***，由位于车厢底部两侧的悬浮电磁线圈13和位于轨道底部两侧的金属底板14组成，车厢底部的悬浮电磁线圈13与感应线圈10串联，在运行时，感应线圈10产生感应电流，电流通过车厢底部悬浮电磁线圈13，产生垂直于轨道金属底板14方向的电磁场，金属底板14作切割磁力线运动产生与悬浮电磁线圈13磁场方向相反的感应磁场，磁场同极相斥使车厢悬浮在轨道平面底板9的表面。
驱动***运用了直线电机工作原理，车载驱动装置15即为直线电机次级，安装于个人磁悬浮车1的底部，轨道驱动装置16即为直线电机初级，安装在磁悬浮轨道12上，由轨道供电***提供电源，车载驱动控制装置即为直线电机控制装置，在车载计算机指令下，通过直线电机控制装置控制个人磁悬浮车1在轨道上的运行和制动；
轨道连接线是一段右侧导向转弯磁悬浮轨道22，当A、B轨道为两条平行干线轨道时，轨道连接线从右侧转弯先脱离轨道B，从上侧或下侧绕行通过轨道B或轨道A，继续前行到轨道A的右侧，并入目标轨道A；当A、B轨道为两条立体交叉运行干线轨道时，轨道连接线先右转弯脱离轨道B，向上或向下前行到轨道A的右侧，并入目标轨道A，轨道车（1）通过轨道连接线可从在运行干线直行轨道变轨到另一条干线直行轨道；
个人磁悬浮车1进行并轨运行时自动避让直行车辆。具体是在右侧导向转弯磁悬浮轨道22和左侧导向直行磁悬浮轨道21的适当位置分别设置直行轨道并轨信号装置和并轨轨道并轨信号装置，当有直行车辆经过直行轨道并轨信号装置时该装置会将直行车辆经过的信息传输到并轨轨道并轨信号装置，并轨车辆经过时扫描并轨轨道并轨信号装置，获取直行车辆的信息，信息经并轨车辆车载计算机计算后确定采取减速避让或加速并轨措施。
对照说明书附图中各附图具体说明如下：
 图1，个人磁悬浮车1示意图。个人磁悬浮车1由车箱体、车载自动行驶控制***、车载导向装置、车载驱动装置、车载悬浮装置和辅助行驶***组成；车厢体由车厢框架结构、车厢维护结构和车载乘用设备组成，车载乘用设备有座椅6、工作台、视屏监控装置、空调、照明、重量限制装置、网络和无线电设备、紧急呼叫装置；车载自动行驶控制***由车载计算机、电脑门锁5、数据线、车载信号识别装置、车载信号发射装置、车载导向控制装置、车载驱动控制装置、辅助运行控制装置、手动紧急控制装置组成；辅助运行***由蓄电池、电机、辅助动力轮2和旋转导向臂辅助导向轮11组成；在个人磁悬浮车1的底部安装有直线电机驱动***的直线电机次级15和悬浮***的悬浮电磁线圈13，在个人磁悬浮车1的车厢两侧安装有导向***的旋转导向臂3。
图2、磁悬浮轨道***、导向***、悬浮***、直线电机驱动***、辅助运行***示意图。磁悬浮轨道12由轨道平面底板9和两侧n形导向槽7组成；导向***由位于个人磁悬浮车1两侧的旋转导向臂3和布置于磁悬浮轨道12两侧的n形导向槽7内的导向电磁线圈8组成，旋转导向臂缠绕有感应线圈10，可根据导向需求进行水平和垂直方向旋转，n形导向槽7两个侧壁上的导向电磁线圈8通电时形成两个电磁方向相同的电磁场，旋转导向臂3由水平状态旋转为垂直状态时，感应线圈10深入到n形导向槽7两个电磁线圈8的中间位置，个人磁悬浮车运行时感应线圈10作切割磁力线运动，感应线圈10产生电流，使感应线圈10产生与n形导向槽7两侧电磁线圈8电磁方向相反的电磁场，电磁场相互排斥，把旋转导向臂3约束在两个导向电磁线圈的中间部位；悬浮***由位于车厢底部两侧的悬浮电磁线圈13和位于轨道底部两侧的金属底板14组成，车厢底部的悬浮电磁线圈13与感应线圈10串联；直线电机驱动***运用直线电机工作原理，由位于轨道表面的直线电机初级16、位于车厢底部的直线电机次级15和直线电机控制装置组成，通过直线电机控制装置控制运行； 辅助运行***由蓄电池、电机、辅助动力轮2和旋转导向臂辅助导向轮11组成。
图3-6，表示为磁悬浮轨道根据行驶的空间位置不同分为架空行驶、地面行驶、地下行驶和水下行驶四种形式，架空行驶轨道支撑维护***由桁架梁17和轨道支撑柱18组成，磁悬浮轨道12安装在桁架梁17的顶部，地面行驶轨道支撑维护***由经处理的地面路基19和磁悬浮轨道12两侧维护结构组成，地下和水下行驶轨道支撑维护***由地下封闭管道20***组成。
图7-9，表示为磁悬浮轨道12有左侧导向直行磁悬浮轨道21、右侧导向转弯磁悬浮轨道22、两侧导向连接段磁悬浮轨道23三种形式，左侧导向直行磁悬浮轨道21是一条连续布置的干线轨道，其n形导向槽7位于轨道的左侧，右侧导向转弯磁悬浮轨道22由直行段和转弯段组成，其n形导向槽7位于轨道的右侧，两侧导向连接段磁悬浮轨道23由右侧转弯轨道和一段直行段组成，其n形导向槽7位于轨道的右侧；个人磁悬浮车1通过改变两侧旋转导向臂3的状态，选择沿着左侧n形导向槽7行驶还是沿着右侧n形导向槽7行驶，沿着左侧n形导向槽7可引导个人磁悬浮车1沿干线直行，沿着右侧n形导向槽7可引导个人磁悬浮车1右转弯脱离主干线或沿右侧支线轨道并入干线轨道。
图10、11，分别表示为平行轨道和垂直轨道连接线示意图。当一辆在B轨道行驶的个人磁悬浮车1需要到A轨道运行时，个人磁悬浮车1需要启动自动程序，具体是，当A、B轨道为两条平行轨道时，个人磁悬浮车1沿右侧转弯轨道先脱离轨道B，再沿着装置向左绕过轨道A行驶到轨道A的右侧，再启动并轨程序，并入目标轨道A；当A、B轨道为两条垂直运行轨道时时，个人磁悬浮车1先启动右转弯程序沿着右侧转弯轨道向右脱离轨道B，继续行驶到轨道A的右侧，再启动并轨程序并入目标轨道A。
 图12，表示为停靠站示意图，停靠站由停靠站轨道、上下客平台27、检修平台28和停靠站控制中心组成，停靠站根据客流量大小可设计为无人值守和有人值守两种形式，停靠站轨道由一条U形右侧转弯轨道24和至少一条左侧直行轨道25组成，可通过增加左侧直行轨道25的长度和数量来增加停靠站的上下客流量；上下客平台27位于左侧直行轨道25两侧，设置有安全防护栏杆，上下客平台27有架空或下穿通道穿越磁悬浮轨道12；检修平台28位于停靠站U形右侧转弯轨道24的最外侧，用于个人磁悬浮车1的日常保养和故障维修。

Claims (7)

  1. 个人自动控制轻型可变轨磁悬浮轨道交通***，由个人磁悬浮车、磁悬浮轨道***、车站***、磁悬浮轨道交通网控制***、供电***组成，其特征在于：所述个人磁悬浮车（1）是一个能够乘坐一至两人、在专用的磁悬浮轨道上以磁悬浮方式行驶、可变轨、自动控制、无人驾驶的轻型公共交通乘用工具，长度1000mm-4000mm、高度1000mm-2500mm、宽度700mm-2500mm，载荷范围0kg-1000kg ，由车箱体、车载自动行驶控制***、车载导向装置、车载驱动装置、车载悬浮装置和辅助行驶***组成；车厢体由车厢框架结构、车门（4）、车厢维护结构和车载乘用设备组成，具有提供一至两人乘坐、行李存放、通讯网络、简易办公、通风和空调的功能；车载自动行驶控制***由车载计算机、数据线、车载信号识别装置、车载信号发射装置、车载导向控制装置、车载驱动控制装置、辅助运行控制装置、手动紧急控制装置组成，在磁悬浮轨道交通网总控计算机的指令下，自主识别运行路线、控制车辆自动驾驶；车载导向装置安装于车厢体的左右两侧，是两套独立运行的装置，与车载导向控制装置、磁悬浮轨道（12）左右两侧n形导向槽（7）内的轨道导向装置一起构成导向***，在车载计算机指令下可实现个人磁悬浮车（1）沿轨道直行、变轨脱离直行轨道和并轨进入直行轨道的导向功能；车载驱动装置安装于个人磁悬浮车（1）的底部，与车载驱动控制装置、磁悬浮轨道（12）上的轨道驱动装置一起构成驱动***，在车载计算机指令下，实现个人磁悬浮车（1）的驱动和制动；车载悬浮装置安装于个人磁悬浮车（1）的底部，与车载悬浮自动控制装置、磁悬浮轨道（12）的轨道悬浮装置一起构成悬浮***，在车载悬浮自动控制装置作用下实现个人磁悬浮车（1）在磁悬浮轨道（12）内稳定悬浮；个人磁悬浮车（1）上安装有辅助行驶***，在个人磁悬浮车（1）运行的初始阶段或供电***发生故障时提供运行动力和导向； 所述磁悬浮轨道***是一种轻型磁悬浮轨道***，适用于个人磁悬浮车（1）在上表面磁浮运行，由磁悬浮轨道（12）、轨道支撑维护装置、应急逃生和检修通道、通风***、消防***和照明***组成；磁悬浮轨道（12）由n形导向槽（7）和轨道平面底板（9）组成，在n形导向槽（7）的两个侧壁安装有轨道导向装置，磁悬浮轨道（12）有左侧导向直行磁悬浮轨道（21）、右侧导向转弯磁悬浮轨道（22）和两侧导向连接段磁悬浮轨道（23）三种形式，左侧导向直行磁悬浮轨道（21）是一条连续布置的干线直行轨道，其n形导向槽（7）位于轨道的左侧，适用于个人磁悬浮车（1）直行，右侧导向转弯磁悬浮轨道（22）是一条转弯轨道，其n形导向槽（7）位于轨道的右侧，适用于个人磁悬浮车（1）的变轨和并轨，两侧导向连接段磁悬浮轨道（23）位于右侧导向转弯磁悬浮轨道（22）与左侧导向直行磁悬浮轨道（21）的连接处，其n形导向槽（7）分别设置在轨道的左右两侧，个人磁悬浮车（1）在两侧导向连接段磁悬浮轨道（23）处切换左、右侧导向装置，实现变轨或并轨；在两个及以上平行或交叉的干线直行轨道间设置轨道连接线，轨道车（1）通过轨道连接线可从在运行干线直行轨道变轨到另一条干线直行轨道；在轨道平面底板（9）上安装有驱动***的轨道驱动装置，与个人磁悬浮车（1）车载驱动装置、车载驱动控制装置一起构成驱动***，在车载计算机指令下，实现个人磁悬浮车（1）的驱动和制动；在轨道平面底板（9）上安装有悬浮***的轨道悬浮装置与个人磁悬浮车（1）车载悬浮装置、车载悬浮自动控制装置一起构成悬浮***，个人磁悬浮车（1） 在车载悬浮自动控制装置作用下实现个人磁悬浮车（1）在磁悬浮轨道（12）内稳定悬浮；在轨道平面底板（9）上安装有辅助轮专用车道，在个人磁悬浮车（1）辅助行驶***运行时为辅助轮提供平面支撑；所述车站***由车站磁悬浮轨道、车站计算机控制***、上下客平台（27）、检修工作台（28）、乘客通道和门禁***组成；车站磁悬浮轨道由一条U形外包右侧导向转弯磁悬浮轨道（24）和一条或多条停靠站左侧导向直行磁悬浮轨道（25）组成，停靠站左侧导向直行磁悬浮轨道（25）设置于U形外包右侧导向转弯磁悬浮轨道（24）的内侧，其两端设置两侧导向连接段磁悬浮轨道（23）与U形外包右侧导向转弯磁悬浮轨道（24）连接，U形外包右侧导向转弯磁悬浮轨道（24）的两端设置两侧导向连接段磁悬浮轨道（23）分别与运行线路的左侧导向直行磁悬浮轨道（21）连接；个人磁悬浮车（1）在进站口处变轨转入U形外包右侧导向转弯磁悬浮轨道（24），再变轨转入停靠站左侧导向直行磁悬浮轨道（25），停靠站左侧导向直行磁悬浮轨道（25）两侧设置有上下客平台（27）和检修工作台（28），乘客可通过上下客平台（27）乘坐或离开个人磁悬浮车（1），工作人员在检修工作台（28）保养和检修个人磁悬浮车（1），出站时，个人磁悬浮车（1）沿停靠站左侧导向直行磁悬浮轨道（25）前行，在连接处并轨转入U形外包右侧导向转弯磁悬浮轨道（24），在出站口再次并轨连接驶入运行线路；所述磁悬浮轨道交通网控制***由磁悬浮轨道交通网总控计算机***、轨道信号***、车载自动行驶控制***、车站计算机控制***组成；磁悬浮轨道交通网总控计算机***由大型计算机及其辅助***组成，建立有大型数据库和互联网运营网站，负责收集处置来自互联网网站、车载计算机、轨道信号装置和停靠站计算机的信息，自主完成个人磁悬浮车（1）的运行调度、线路设计和故障应急处置等工作；所述车载自动行驶控制***安装于个人磁悬浮车（1）上，由车载计算机、电脑门锁（5）、数据线、信号识别装置、信号发射装置、车载导向控制装置、车载驱动控制装置、辅助运行控制装置、手动紧急控制按钮组成，外部与磁悬浮轨道交通网总控计算机无线连接，传送个人磁悬浮车（1）的信息并接收磁悬浮轨道交通网总控计算机指令，内部连接车载导向装置、车载驱动装置、轨道供电***控制装置和辅助运行***各装置，车载计算机接收乘客目的地信息、磁悬浮轨道交通网总控计算机的运行指令和车载信号装置信息，经计算后对各装置下达指令，自动控制个人磁悬浮车（1）的启动、加速、制动、运行线路识别、转弯、进站和故障应急处理；所述轨道信号***由安装于轨道变轨和并轨处的信号应答装置、遍布于轨道各个部位的运行状态监测装置和轨道分区段自动供电控制装置组成，轨道信号***与磁悬浮轨道交通网总控计算机、车载信号识别装置、车载信号发射装置无线连接，传送轨道信息；所述车站计算机***由停靠站中控计算机和停靠站信号***组成，与磁悬浮轨道交通网总控计算机连接并接受指令，通过收集磁悬浮轨道交通网总控计算机信息、停靠站信号***信息，经中控计算机计算并发送指令到停靠站信号***，通过信号***控制个人磁悬浮车的进站、停靠位置、停靠时间和发车运行；所述供电***由轨道供电***和个人磁悬浮车（1）内部供电***组成，轨道供电***由轨道沿途的变电站、输电线路和轨道供电***组成，轨道沿途每个变电站由不少于两个城市供电线路提供不间断电源，输电线路沿轨道铺设，轨道供电为分区段供电，每个供电区段长度10~100米，每区段供电的启闭由个人磁悬浮车（1）自动控制，个人磁悬浮车（1）的供电由自身携带的蓄电池和感应线圈（10）组成，由感应线圈（10）产生的电流为蓄电池充电，再通过蓄电池为车载设备供电。
  2. 根据权利要求1所述的个人自动控制轻型可变轨磁悬浮轨道交通***，其特征在于，所述辅助运行***由蓄电池、电机、辅助动力轮（2）和旋转导向臂辅助导向轮（11）组成，其主要作用是在个人磁悬浮车（1）运行初始阶段提供动力和导向，在运行初始阶段，由辅助导向轮（11）提供导向，蓄电池向电机提供电力，驱动辅助动力轮（2）让个人磁悬浮车（1）达到一定的初始速度，感应线圈（10）切割电磁线圈（8）的磁力线，产生感应电流和感应磁场，旋转导向臂（3）和n形导向槽（7）获得导向能力，同时悬浮电磁线圈（13）产生感应电流和感应磁场，让个人磁悬浮车（1）浮起来；在个人磁悬浮车（1）运行过程中如发生供电***故障断电或驱动***故障，辅助运行***能够提供动力和导向，使个人磁悬浮车（1）能驶到最近停靠站。
  3. 根据权利要求1所述的个人自动控制轻型可变轨磁悬浮轨道交通***，其特征在于，所述轨道支撑维护***根据行驶的空间位置不同分为架空行驶、地面行驶、地下行驶和水下行驶四种形式，架空行驶轨道支撑维护***由桁架梁（17）和轨道支撑柱（18）组成，磁悬浮轨道（12）安装在桁架梁（17）的顶部，地面行驶轨道支撑维护***由经处理的地面路基（19）和磁悬浮轨道（12）两侧维护结构组成，地下和水下行驶轨道支撑维护***由地下封闭管道（20）及其辅助***组成，在轨道支撑维护***处于架空、地下或水下时，在轨道支撑维护***内设置检修和应急逃生通道，方便日常对设备的检修和维护，在发生火灾、地震、透水等紧急情况时乘客能够通过应急逃生通道迅速转移到安全区域，轨道支撑维护***处于地下或水下时，在轨道支撑维护***内设置的通风、消防和照明装置***。
  4. 根据权利要求1所述的个人自动控制轻型可变轨磁悬浮轨道交通***，其特征在于，所述导向***由位于个人磁悬浮车（1）两侧的旋转导向臂（3）和布置于磁悬浮轨道（12）两侧的n形导向槽（7）内的导向电磁线圈（8）组成，旋转导向臂缠绕有感应线圈（10），可根据导向需求进行水平和垂直方向旋转，n形导向槽（7）两个侧壁上的导向电磁线圈（8）通电时形成两个电磁方向相同的电磁场，旋转导向臂（3）由水平状态旋转为垂直状态时，感应线圈（10）深入到n形导向槽（7）两个电磁线圈（8）的中间位置，个人磁悬浮车（1）运行时感应线圈（10）作切割磁力线运动，感应线圈（10）产生电流，使感应线圈（10）产生与n形导向槽（7）两侧电磁线圈（8）电磁方向相反的电磁场，电磁场相互排斥，把旋转导向臂（3）约束在两个导向电磁线圈（8）的中间部位，个人磁悬浮车（1）通过改变两侧旋转导向臂（3）的状态，选择沿着左侧n形导向槽（7）行驶还是沿着右侧n形导向槽（7）行驶，沿着左侧n形导向槽（7）可引导个人磁悬浮车（1）沿干线直行，沿着右侧n形导向槽（7）可引导个人磁悬浮车（1）右转弯变轨脱离主干线或沿右侧支线轨道并轨进入干线轨道，个人磁悬浮车（1）在两侧导向连接段磁悬浮轨道（23）处切换左右侧导向装置，实现变轨或并轨。
  5. 根据权利要求1所述的个人自动控制轻型可变轨磁悬浮轨道交通***，其特征在于，所述悬浮***，由位于车厢底部两侧的悬浮电磁线圈（13）和位于轨道底部两侧的金属底板（14）组成，车厢底部的悬浮电磁线圈（13）与感应线圈（10）串联，在运行时，感应线圈（10）产生感应电流，电流通过车厢底部悬浮电磁线圈（13），产生垂直于轨道金属底板（14）方向的电磁场，金属底板（14）作切割磁力线运动产生与悬浮电磁线圈（13）磁场方向相反的感应磁场，磁场同极相斥使车厢悬浮在轨道平面底板（9）的表面。
  6. 根据权利要求1所述的个人自动控制轻型可变轨磁悬浮轨道交通***，其特征在于，所述驱动***运用了直线电机工作原理，车载驱动装置（15）即为直线电机次级，安装于个人磁悬浮车（1）的底部，轨道驱动装置（16）即为直线电机初级，安装在磁悬浮轨道（12）上，由轨道供电***提供电源，车载驱动控制装置即为直线电机控制装置，在车载计算机指令下，通过直线电机控制装置控制个人磁悬浮车（1）在轨道上的运行和制动。
  7. 根据权利要求1所述的个人自动控制轻型可变轨磁悬浮轨道交通***，其特征在于，所述轨道连接线是一段右侧导向转弯磁悬浮轨道22，当A、B轨道为两条平行干线轨道时，轨道连接线从右侧转弯先脱离轨道B，从上侧或下侧绕行通过轨道B或轨道A，继续前行到轨道A的右侧，并入目标轨道A；当A、B轨道为两条立体交叉运行干线轨道时，轨道连接线先右转弯脱离轨道B，向上或向下前行到轨道A的右侧，并入目标轨道A，轨道车（1）通过轨道连接线可从在运行干线直行轨道变轨到另一条干线直行轨道。
PCT/CN2020/115628 2019-09-23 2020-09-16 个人自动控制轻型可变轨磁悬浮轨道交通*** WO2021057577A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910898346.0A CN110576752B (zh) 2019-09-23 2019-09-23 个人自动控制轻型可变轨磁悬浮轨道交通***
CN201910898346.0 2019-09-23

Publications (1)

Publication Number Publication Date
WO2021057577A1 true WO2021057577A1 (zh) 2021-04-01

Family

ID=68813319

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/115628 WO2021057577A1 (zh) 2019-09-23 2020-09-16 个人自动控制轻型可变轨磁悬浮轨道交通***

Country Status (2)

Country Link
CN (1) CN110576752B (zh)
WO (1) WO2021057577A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113665377A (zh) * 2021-09-09 2021-11-19 华北理工大学 全智能无人操控蓄电式牵引机车运转***

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110576752B (zh) * 2019-09-23 2023-08-22 万泽霈 个人自动控制轻型可变轨磁悬浮轨道交通***
CN111452807A (zh) * 2020-04-10 2020-07-28 张立发 一种管道物流运输***
CN111751079A (zh) * 2020-06-19 2020-10-09 中国舰船研究设计中心 一种永磁式直线同步电机加速的水池试验装置
CN112614376B (zh) * 2020-12-11 2022-11-22 中车唐山机车车辆有限公司 一种车辆的行车控制方法、装置及***
CN113183769B (zh) * 2021-06-04 2022-08-12 西南交通大学 一种中低速磁浮列车的悬浮控制方法
CN113605157B (zh) * 2021-08-12 2023-03-31 江西理工大学 内嵌式永磁悬浮交通悬浮架及轨道机械结构
CN114808558A (zh) * 2022-04-13 2022-07-29 山东启和云梭物流科技有限公司 一种复合异型翼缘轨道***

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5146853A (en) * 1989-07-07 1992-09-15 Suppes Galen J Compact magnetic levitation transportation system
US5794535A (en) * 1997-04-10 1998-08-18 Pardes; Herman I. Switching mechanism for transit modules
KR20100104850A (ko) * 2009-03-19 2010-09-29 주식회사 포스코아이씨티 Ｐｒｔ차량용 선로 분기 및 합류장치
CN204999310U (zh) * 2015-09-29 2016-01-27 深圳市信宇人科技有限公司 具有磁悬浮输送功能的装载小车
CN106809223A (zh) * 2017-02-16 2017-06-09 常文作 一种智能轨道交通***
CN109649412A (zh) * 2017-10-10 2019-04-19 李喜春 一种轻型空轨交通运载***
CN110576752A (zh) * 2019-09-23 2019-12-17 万泽霈 个人自动控制轻型可变轨磁悬浮轨道交通***

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7677180B2 (en) * 2005-06-09 2010-03-16 International Business Machines Corporation Apparatus and method for steering transport vehicles in semiconductor processing
CN106864464B (zh) * 2017-02-23 2018-07-06 万普华 个人悬挂式双轨道双动力自动控制轻型轨道交通***
CN107856676A (zh) * 2017-10-29 2018-03-30 葛超 磁悬浮无人驾驶微型车空中轨道交通网
CN108657012B (zh) * 2018-06-12 2023-12-29 胡铁林 高速磁悬浮列车及悬浮机构

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5146853A (en) * 1989-07-07 1992-09-15 Suppes Galen J Compact magnetic levitation transportation system
US5794535A (en) * 1997-04-10 1998-08-18 Pardes; Herman I. Switching mechanism for transit modules
KR20100104850A (ko) * 2009-03-19 2010-09-29 주식회사 포스코아이씨티 Ｐｒｔ차량용 선로 분기 및 합류장치
CN204999310U (zh) * 2015-09-29 2016-01-27 深圳市信宇人科技有限公司 具有磁悬浮输送功能的装载小车
CN106809223A (zh) * 2017-02-16 2017-06-09 常文作 一种智能轨道交通***
CN109649412A (zh) * 2017-10-10 2019-04-19 李喜春 一种轻型空轨交通运载***
CN110576752A (zh) * 2019-09-23 2019-12-17 万泽霈 个人自动控制轻型可变轨磁悬浮轨道交通***

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113665377A (zh) * 2021-09-09 2021-11-19 华北理工大学 全智能无人操控蓄电式牵引机车运转***
CN113665377B (zh) * 2021-09-09 2024-02-09 华北理工大学 全智能无人操控蓄电式牵引机车运转***

Also Published As

Publication number Publication date
CN110576752A (zh) 2019-12-17
CN110576752B (zh) 2023-08-22

Similar Documents

Publication Publication Date Title
WO2021057577A1 (zh) 个人自动控制轻型可变轨磁悬浮轨道交通***
WO2018153339A1 (zh) 个人悬挂式双轨道双动力自动控制轻型轨道交通***
JP6719389B2 (ja) 大運送力直通軌道交通システム
AU2017382377B2 (en) Elevated transportation system
US11318964B2 (en) Mobile cabin, rail, and three-dimensional rail transit system
CN109532868B (zh) 一种微轨交通***
WO2004068438A1 (fr) Systeme de circulation de mini-vehicules sur des rails
CN107839696B (zh) 一种永磁轴式直驱空地共享立体快速轨道交通***
CN201186654Y (zh) 一种城市轨道交通***
CN202098411U (zh) 架空单轨吊车公共交通***
CN102806917A (zh) 架空单轨吊车公共交通***
RU2015154527A (ru) Специализированное надземное средство общественного транспорта
CN109898372B (zh) 永磁式磁悬浮轨道交通的道岔***及其控制方法
WO2023198134A1 (zh) 一种基于复合异型翼缘轨道的高速巴士公交***
CN101607557A (zh) 一种高速磁浮交通***
US11364940B1 (en) Adaptive route rail system with passive switches
CN107060390B (zh) 一种轨道车辆停靠站
EP4252879A2 (en) Autonomous vehicle transportation systems and methods
WO2004005101A1 (fr) Systeme de transit a rails de guidage aeriens
RU125947U1 (ru) Транспортная система
CN214737036U (zh) 一种用于轨道***的捷变装置
CN112498421B (zh) 一种智能发车***及多式联运复合轨道运输***
CN114889663A (zh) 一种基于复合异型翼缘轨道的高速智能公交***
JP2011207245A (ja) 簡易交通システム
CN102303612A (zh) 双层轨立体快速交通***

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20867548

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20867548

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 20867548

Country of ref document: EP

Kind code of ref document: A1