CN112000091B - A new type of rail urban road - Google Patents

Abstract

The invention discloses a novel urban rail road, which is used for running a magnetic train and solves the problem that the development of a tramcar is limited due to the fact that the tramcar monopolizes the right of way and the running cost is high in the prior art, and comprises the following steps: the magnetic track nails are arranged on a road, and all the magnetic track nails form a magnetic track of the magnetic train; the magnetic array is arranged on the magnetic track at intervals; the magnetic array coding system is electrically connected with the magnetic array and is used for coding the magnetic array so as to provide position information and magnetic train state detection for the acquired magnetic train; the magnetic guide system is electrically connected with the magnetic array and the magnetic array coding system and is used for track detection and track deviation correction of the magnetic train, so that the economic cost of the magnetic track formed by the magnetic track nails is reduced, the running cost of the magnetic train is reduced, and the development limitation of the magnetic train with the rails is effectively reduced.

Description

A new type of rail urban road

technical field

The invention relates to the technical field of urban traffic, in particular to a new type of rail urban road.

Background technique

With the development of my country's economy and science and technology, my country's urbanization has also entered a period of rapid development, and the scale and structure of cities are undergoing major changes. However, the development of modern transportation brings convenience to people, but also brings Negative effects such as congestion and serious exhaust emissions.

At present, the construction of large-capacity rail transit (such as subway) not only improves the transportation of public transport, but also improves the situation of traffic congestion, but the high construction cost makes its development greatly restricted, and the rail system appears again. With the development of trams, the cost of trams is much lower than that of mass-traffic public transportation.

However, the running cost of building a tram is still higher than that of a bus, and its tracks occupy the road, so it is necessary to change the road to a dedicated tram lane. Due to its exclusive right of way and high operating costs, the development of trams is also affected. limit.

SUMMARY OF THE INVENTION

The main purpose of the present invention is to provide a new type of urban railroad road, which aims to solve the technical problem in the prior art that the development of trams is also restricted due to the exclusive right of way and the high running cost of trams.

In order to achieve the above purpose, the present invention provides a new type of tracked urban road, comprising: magnetic spikes arranged on the road, all the magnetic spikes constitute the magnetic track of the magnetic train; magnetic arrays arranged at intervals on the magnetic track ; a magnetic array encoding system electrically connected to the magnetic array, the magnetic array encoding system is used for encoding the magnetic array to provide position information and state detection of the magnetic train for acquiring the magnetic train; and the magnetic array and the magnetic train. The magnetic guidance system is electrically connected to the magnetic array coding system, and the magnetic guidance system is used for track detection and track deviation correction of the magnetic train.

Further, the magnetic array includes: a magnetic steel nine-square grid composed of nine magnetic steels; the magnetic steel nine-square grid includes: a steering array composed of three magnetic steels and a position array composed of six magnetic steels, the The steering array is the starting row of the magnet nine-square grid.

Further, the magnetic array encoding system includes: a magnetic array information collection module for collecting the magnetic poles of the magnetic steel in the magnetic array where the current magnetic train is located, the steering array and the position array; The magnetic pole of the magnetic steel collected by the array information acquisition module is currently encoded; the encoding identification module is used to identify the current encoding of the encoding module, and compare the current encoding with the preset encoding corresponding to the preset information, and then compare the current encoding with the preset encoding. When the preset codes are consistent, the information corresponding to the preset code is used as the information carried by the current code; the detection module is used to receive the detection code of the magnetic train detected by the magnetic sensor on the magnetic train, and convert the detection code to the detection code. Comparing with the preset sensor output code, the magnetic train information corresponding to the sensor output code that is the same as the detection code is obtained, and the correctness of the magnetic train information is judged.

Further, the magnetic track stud is a pair of NdFeB rare earth magnets, and the pair of NdFeB rare earth magnets placed at a preset distance constitutes the magnetic track.

Further, the magnetic guidance system includes: an analog-to-digital converter for receiving magnetic signals detected by sensors on the train, and converting the magnetic signals into digital signals; a control module electrically connected to the analog-to-digital converter, for using receiving the digital signal, determining whether the magnetic train deviates from the magnetic track according to the digital signal, and guiding the magnetic train on a path when the magnetic train deviates from the magnetic track.

Further, the control module includes: a sensor signal receiving unit for receiving the magnetic signal of the magnetic track induced by the sensor installed on the head of the magnetic train, and the sensors are arranged in sequence from one side of the magnetic train to the other side. , the sensors on both sides are the left sensor and the right sensor respectively; the detection unit is used to detect the magnetic signal received by the sensor receiving unit, and judge that if the left sensor senses the magnetic signal, the magnetic train deviates from the magnetic track to the left, and judges If the magnetic signal sensed by the right sensor is that the magnetic train deviates from the magnetic track to the right, it is judged that the magnetic train does not deviate from the magnetic track if the left sensor and the right sensor do not sense the magnetic signal; the guiding unit is used for according to the detection unit. As a result of the determination, guidance correction is performed on the right deviation or left deviation of the magnetic train so that the magnetic train does not deviate from the magnetic track when the left sensor and the right sensor do not sense the magnetic signal.

Further, the control module further includes: an angle correction unit, configured to calculate the deviation degree of the magnetic train according to the strength of the magnetic signal received by the sensor signal receiving unit and the judgment result of the detection unit, The degree of deflection of the magnetic train calculates the correction angle of the magnetic train to the non-deflected state.

Further, the control module further comprises: a fuzzy controller for processing the digital signal converted by the analog-to-digital converter with a method of fuzzy mathematics, and outputting the processing result to the control module, so that the The control module determines whether the magnetic train deviates from the magnetic track according to the processing result, and guides the magnetic train on a path when the magnetic train deviates from the magnetic track.

Further, the new type of rail urban road further includes: a marshalling station, the marshalling station is arranged on the road and is used to stop some magnetic trains during off-peak hours, so as to adapt to the dynamic change of traffic flow and tide.

The invention provides a new type of tracked urban road, which has the beneficial effects that the use of magnetic road studs as the magnetic track will not form obstacles to the road surface, so that other vehicles or pedestrians can also run on the magnetic track, so they do not have exclusive right of way. , and the economic cost of the track studs is much lower than that of the traditionally laid train tracks, thereby reducing the economic cost of the magnetic track composed of the track studs, thus reducing the operating cost of the magnetic train and effectively reducing the development limit of the tracked magnetic train. .

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings without creative effort.

1 is a schematic structural diagram of a new type of urban railroad road according to an embodiment of the present invention;

2 is a schematic structural diagram of a magnetic array of a new type of rail urban road according to an embodiment of the present invention;

3 is a schematic diagram of the structure of a train on a new type of rail urban road according to an embodiment of the present invention;

4 is a positional relationship diagram between a sensor and a magnetic track on a train on a new tracked urban road according to an embodiment of the present invention;

Fig. 5 is the output characteristic diagram of the switch-type Hall element of the novel rail urban road according to the embodiment of the present invention;

6 is a schematic diagram of the three-dimensional coordinates of any point P of the magnetic field of the magnetic road stud of the novel tracked urban road according to the embodiment of the present invention;

FIG. 7 is a surface diagram of the theoretically estimated magnetic induction intensity components of a new type of rail urban road according to an embodiment of the present invention;

8 is a schematic diagram of a simulated motion of a magnetic train body in a two-dimensional coordinate system of a new type of rail urban road according to an embodiment of the present invention;

FIG. 9 is a schematic diagram showing the relationship between the wheel and the armature voltage of the magnetic train on the new tracked urban road according to the embodiment of the invention.

Detailed ways

In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. The embodiments described above are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.

Please refer to FIG. 1, which is a new type of tracked urban road, including: magnetic road studs 1, magnetic array 2, magnetic array coding system and magnetic guidance system; magnetic road studs 1 are arranged on the road, and all magnetic road studs 1 are arranged to form a magnetic track 3; the magnetic array 2 is arranged on the magnetic track 3 at intervals; the magnetic array coding system is electrically connected with the magnetic array 2, and the magnetic array coding system is used for coding the magnetic array 2, so as to provide position information and state detection of the magnetic train for obtaining the magnetic train; The magnetic guiding system is electrically connected with the magnetic array 2 and the magnetic array encoding system, and the magnetic guiding system is used for track detection and track deviation correction of the magnetic train.

Please refer to FIG. 2, the magnetic array 2 includes: a magnetic steel nine-square grid composed of nine magnetic steels; the magnetic steel nine-square grid includes: a steering array 21 composed of three magnetic steels, and a position array 22 composed of six magnetic steels. The array 21 is the starting row of the magnetic steel nine-square grid.

The magnetic array coding system includes: a magnetic array information acquisition module, a coding module, a coding identification module and a detection module; the magnetic array information acquisition module is used to collect the magnetic data in the magnetic array 2, the steering array 21 and the position array 22 where the current magnetic train is located. The magnetic pole of the steel; the coding module is used to perform current coding for the magnetic pole of the magnetic steel collected by the magnetic array information acquisition module; the coding recognition module is used to identify the current coding of the coding module, and match the current coding with the preset information corresponding to the preset code In contrast, when it is consistent with the preset code, the information corresponding to the preset code is used as the information carried by the current code; the detection module is used to receive the detection code of the magnetic train detected by the magnetic sensor on the magnetic train, and compare the detection code with the preset code. The sensor output codes are compared to obtain the magnetic train information corresponding to the sensor output code that is the same as the detection code, and the correctness of the magnetic train information is judged.

Among them, the magnetic array code contains the location information of the magnetic train, and road information such as turns, intersections, stations, and sidewalks. The coding area is composed of 10*5 magnetic steels, which is a magnetic array of nine grids, and a group is placed every other distance on the road.

As shown in the left picture in Figure 1, the magnetic train recognizes the magnetic array start sign 4 on the left road during the tracking process. If it keeps moving forward, turn off the tracking mode, start the magnetic array detection mode, and the magnetic array detection is completed. After (three lines) return to the tracking mode.

After entering the magnetic array detection mode, the detection is carried out by branch. The detection information is divided into road information and location information, as shown in the right figure of FIG. 1 . The array composed of the first row and this row is used for the detection of vehicle body position information. It is expressed in binary form, which can represent 1 to 63 (26-1), and is read in the order of the sensor and the number of rows, and a total of 63 kinds of position information can be represented. . The tail row of the magnetic array represents road condition information and assists the magnetic guidance of the model car. The tail row in the right picture of Figure 1 represents the left turn ahead, which ensures that the vehicle is ready for turning in advance and avoids the lag of vehicle body equipment detection.

In this embodiment, the track stud 1 is a pair of NdFeB rare earth magnets, and the pair of NdFeB rare earth magnets placed at a preset distance constitutes a magnetic track 3 .

In actual operation, set the S pole up to 1 and the N pole up to 0 to create a coding library. Take the code when turning left in front of a certain position as an example, as shown in Figure 3, the sensor group abc performs scanning identification in the direction of the arrow, and starts scanning after scanning the start sign, a1b2c3a4b5c6 is the position information code, and a7b8c9 is the road information mark code. The coded information represented by the magnetic array is shown in Table 1.

Table 1

The system is divided into two modes in the process of autonomous walking. When the sensor recognizes the start sign, the code recognition function is activated. The sensor detects the signal as "1", and the signal is not detected as "0", as shown in Figure 3 and Figure 4, abcd is a four-way sensor arranged in sequence from left to right, the detection results and conditions are shown in the table 2 shows:

Table 2

a b c d car mode 0 0 0 1 autopilot mode 0 0 1 1 autopilot mode 0 1 1 0 autopilot mode 1 1 0 0 autopilot mode 1 0 0 0 autopilot mode 1 1 1 0 Activate logo sensing mode

The magnetic guidance system includes: an analog-digital converter and a control module; the digital converter is used for receiving the magnetic signal detected by the sensor on the train, and converting the magnetic signal into a digital signal; the control module is electrically connected with the analog-digital converter for receiving the digital signal signal, and judges whether the magnetic train deviates from the magnetic track 3 according to the digital signal, and guides the magnetic train on a path when the magnetic train deviates from the magnetic track 3 .

Please refer to Figure 3 and Figure 4. When the car is driving along the magnetic track, the sensor group in front collects the current signal and outputs the signal to the controller. When the ab sensor is on, the car body is shifted to the right; when the bc sensor is on , the car body is centered; when the cd sensor is on, the car body deviates to the left.

The judgment method is as follows:

The electrons are affected by the Lorentz force and also by the electric field force, and the electrons reach dynamic equilibrium when the two forces are equal. At this time, the electric field established between the two sides is called the Hall electric field, and the corresponding voltage is called the Hall voltage. The above phenomenon is called the Hall effect. The Hall voltage formula is as Equation 1, and Equation 1 is as follows:

为霍尔系数，霍尔元件的作用原理即为霍尔效应，其作用机理是在半导体薄片的两侧通电，垂直方向上通磁场，在半导体的两侧产生大小和控制电流和磁场成正比的电动势。霍尔电路将霍尔元件和集成电路拼装集成，制作成霍尔集成开的电路。霍尔集成电路分为线性型和开关型，线性型可获得与场强成正比的输出电压，开关型可在一定范围的磁场中获得ON-OFF电压。in,

It is the Hall coefficient, and the principle of the Hall element is the Hall effect. Its mechanism is to pass electricity on both sides of the semiconductor sheet, and to pass the magnetic field in the vertical direction. electromotive force. The Hall circuit assembles and integrates the Hall element and the integrated circuit to make a Hall integrated circuit. Hall integrated circuits are divided into linear type and switching type. The linear type can obtain an output voltage proportional to the field strength, and the switching type can obtain ON-OFF voltage in a certain range of magnetic fields.

As shown in Figure 5, the output characteristics of the switching Hall element reflect the relationship between the magnetic induction intensity B and the change of the sensor output voltage. The output characteristics have a certain degree of delay. When the field strength B is less than B _RP , the sensor output voltage is a high voltage; when it is greater than B _OP , the sensor output voltage drops from a high voltage to a low voltage. Then the magnetic sensor uses this characteristic to work.

单位矢量表示，则根据公式2，公式2如下所示：At a certain point P(x, y, z) on the magnetic nail, the magnetic field B of the magnetic nail is

Unit vector representation, then according to Equation 2, Equation 2 is as follows:

The magnetization M is 895kA/m according to the parameters of NdFeB rare earth permanent magnets of various brands, and the magnetic field intensity is estimated by Matlab, as shown in Figure 6 and Figure 7.

The basic guide rail based on the magnetic array 2 can use pairs of neodymium-iron-boron rare earth magnets, and place a pair at intervals, which is flexible and can also change the route in real time as needed. That is, the idea of path identification is transformed into the idea of track identification of magnetic steel. During the identification process, the Hall sensor is used as a magnetic field detection sensor. When the magnetic nail is between the Hall sensors, the magnetic field of the same strength detected on both sides, if the field strength detected by one of the sensors is larger, it can be considered that the vehicle body has been Deviation, should be corrected at this time.

The control module includes: a sensor signal receiving unit, a detection unit and a guiding unit; the sensor signal receiving unit is used to receive the magnetic signal of the magnetic track 3 induced by the sensor installed on the head of the magnetic train, and the sensors are arranged in sequence from one side of the magnetic train to the other side. There are four sensors, and the sensors on both sides are the left sensor and the right sensor respectively; the detection unit is used to detect the magnetic signal received by the sensor receiving unit, and determine that if the magnetic signal sensed by the left sensor is that the magnetic train deviates from the magnetic track 3 to the left, determine If the magnetic signal sensed by the right sensor is that the magnetic train deviates from the magnetic track 3 to the right, it is judged that if the left sensor and the right sensor do not sense the magnetic signal, the magnetic train has not deviated from the magnetic track 3; The guidance correction is performed for the right deviation or left deviation of the magnetic train so that the magnetic track 3 is not deviated when the left sensor and the right sensor do not sense the magnetic signal.

The sensor is installed under the head of the vehicle, as shown in Figure 3 and Figure 4 , the sensor abcd is used for both the detection of the magnetic track and the detection of the magnetic array 2 . The design requirements of the sensor are: to be able to detect magnetic signals and to automatically guide, to be able to detect magnetic array codes, and to be easy to load and unload.

The installed magnetic sensor is equivalent to a four-way sensor group, and each sensor can sense the magnetic signal from the magnetic track. When the sensor is working, the sensor light on the sensor is on after detecting the magnetic field, and the output is low voltage; otherwise, the sensor light is off, and the sensor output is high voltage.

The algorithm design of the path guidance is as follows: when the car is driving along the magnetic track, the sensor group in front collects the current signal and outputs the signal to the controller. When the ab sensor is on, the car body deviates to the right; when the bc sensor is on , the car body is centered; when the cd sensor is on, the car body deviates to the left.

According to the light and off of the sensor, the approximate lateral position of the car body can be known. After the controller collects the corresponding high-voltage or low-voltage signal, it gives the corresponding command to ensure the normal operation of the magnetic train.

When the car runs along the magnetic track, the sensor arranged in front realizes the real-time detection of the magnetic signal, so as to judge the lateral position of the car body. , it is determined as "0" if it is not detected, and the measured detection results are shown in Table 3:

table 3

a b c d trolley location 0 0 0 1 Left deviation 2.0cm 0 0 1 1 Left deviation 1.0cm 0 1 1 0 Centered 1 1 0 0 Right deviation 1.0cm 1 0 0 0 Right deviation 2.0cm

The control module further includes: an angle correction unit, the angle correction unit is used to calculate the deviation degree of the magnetic train according to the strength of the magnetic signal received by the sensor signal receiving unit and the judgment result of the detection unit, and according to the deviation degree of the magnetic train Calculate the corrected angle of the magnetic train to the undeflected state.

The control module also includes: a fuzzy controller, the fuzzy controller is used to process the digital signal converted by the analog-to-digital converter by the method of fuzzy mathematics, and output the processing result to the control module, so that the control module judges whether the magnetic train is not based on the processing result. When the magnetic train deviates from the magnetic track 3 , and the magnetic train deviates from the magnetic track 3 , the path guidance of the magnetic train is performed.

Fuzzy control is a control method using the basic ideas and theories of fuzzy mathematics. Traditional control theory methods are suitable for systems with strong control ability, but for systems that are difficult to describe precisely, fuzzy mathematics is needed to deal with these control problems. When using fuzzy control, firstly, the fuzzy rules are established based on considerable experience, the sensor signal is fuzzified, the fuzzy rules are built after input, and finally the results are sent to the actuator.

The head of the magnetic guided magnetic train is equipped with four Hall sensors, each sensor can detect the magnetic signal from the magnetic track, and the function of the fuzzy control is that when the car body deviates from the center of the track, according to the detected signal information Adjust the turning angle of the magnetic train: when the magnetic train deviates far, increase the adjustment of the turning force; when the magnetic train deviates closer, moderately adjust the turning angle of the trolley.

In the process of controlling the autonomous operation of the car body, the main research is the motion characteristics of the car body's turning and rectification. As shown in Figure 8, the car body is simplified as a rectangular cuboid, the set point P is the center of gravity of the car body, and the local coordinate system is set . L is the track of the two wheels, H is the track of the front and rear wheels, the set wheel radius is r, and the turning radius of the car body is R.

In the research process, factors such as ground friction coefficient are ignored, and the linear velocities of the left and right wheels are set as V _L and _VR respectively, and the angular velocity is set as ω, then the central linear velocity is shown in formula 3, and formula 3 is as follows:

V _p =(v _r +v _L )/2

Thus, the angular velocity is obtained. The angular velocity is shown in Equation 4. Equation 4 is expressed as follows:

ω=(V _R -V _L )/L

The relationship between the linear speed of the left and right motors is shown in formula 5, and formula 5 is expressed as follows:

Thus, Equation 6 can be derived, which is expressed as follows:

Thus, the differential speed ΔV is obtained as shown in formula 7, which is expressed as follows:

In the analysis process, ignoring the resistance received by the wheel rotation, then the rotation angle Δθ≈θ, tanθ≈θ, then there are formulas 8 and 9 respectively expressed as follows:

When Δt→0, there is a formula 10 and formula 11 is expressed as follows:

When θ→0, sinθ=θ. Laplace transform on t, the formula 12 and the formula 13 are expressed as follows:

θ(s)(V _R -V _L )Ls

d(s)=(V _R +V _L )θ/2s

Let the armature voltage of the motor be U, the time constant Tm, and the radius of the wheel to be exactly the same as the parameters. According to the relationship between one-cycle rotation and armature voltage as shown in Figure 9, the transfer function of the motor is expressed as Equation 14 as follows:

To sum up, the trajectory deviation relationship of the car body is obtained as formula 15, which is expressed as follows:

The relationship between the sensor deviation and the signal reception is obtained above, and the deviation value table of the deviation d is made according to the table. The right deviation is positive, and the left deviation is negative. Then as shown in Table 4:

Table 4 trolley location Deviation d Left deviation 2.0cm -2 Left deviation 1.0cm -1 Center offset 0cm 0 Right deviation 1.0cm 1 Right deviation 2.0cm 2

To fuzzify the deviation situation, the fuzzy set of deviation d={NB, NS, ZR, PS, PB} can be set, and di is d i+1 after a certain time change, then the variation dd=d i+1- d i, dd={NB, NS, ZR, PS, PB}.

The fuzzy set of rotation angle θ is: θ={NB, NS, ZR, PS, PB}. The membership degree of the trolley offset is [-2, 2], the change rate of the distance deviation is [-4, 4], and the proposed rotation angle range is [-30, 30].

Build fuzzy rules in MATLAB. The membership functions of the variable d, the rate of change dd and the output angle θ are obtained to calculate the output angle and improve the guidance control of autonomous driving.

The new rail urban road also includes: marshalling yards. The marshalling yards are set on the road to stop some magnetic trains during non-peak travel hours to adapt to the dynamic changes of traffic flow and tide.

By setting the marshalling station, it is possible to make a part of the magnetic trains leave the fleet and enter the marshalling station during non-peak hours, realizing the flexible marshalling function of non-rigid connection and large-capacity transportation and adapting to the dynamic changes of traffic flow and tide.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are only illustrative. For example, the division of the modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or modules, and may be in electrical, mechanical or other forms.

The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, may be located in one place, or may be distributed to multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist physically alone, or two or more modules may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware, and can also be implemented in the form of software function modules.

If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: U disk, removable hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes.

It should be noted that, for the convenience of description, the foregoing method embodiments are all expressed as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence. As in accordance with the present invention, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily all necessary to the present invention.

In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

The above is a description of a new type of rail urban road provided by the present invention. For those skilled in the art, according to the idea of the embodiment of the present invention, there will be changes in the specific implementation and application scope. In conclusion, The contents of this specification should not be construed as limiting the present invention.

Claims (6)

1. A novel urban rail road is characterized by comprising:

the magnetic track nails are arranged on a road, and all the magnetic track nails form a magnetic track of the magnetic train;

the magnetic array is arranged on the magnetic track at intervals;

the magnetic array coding system is electrically connected with the magnetic array and is used for coding the magnetic array so as to provide position information and magnetic train state detection for the acquired magnetic train;

the magnetic guiding system is electrically connected with the magnetic array and the magnetic array coding system and is used for track detection and track deviation correction of the magnetic train;

the magnetic array includes:

a magnetic steel nine-square grid consisting of nine magnetic steels;

the magnetic steel nine-square grid comprises: the steering array comprises three magnetic steels and a position array comprising six magnetic steels, wherein the steering array is a starting row of the magnetic steel Sudoku;

the magnetic guidance system includes:

the analog-digital converter is used for receiving the magnetic signals detected by the sensors on the train and converting the magnetic signals into digital signals;

the control module is electrically connected with the analog-digital converter and used for receiving the digital signal, judging whether the magnetic train deviates from the magnetic track according to the digital signal and guiding the path of the magnetic train under the condition that the magnetic train deviates from the magnetic track;

the control module further comprises: a fuzzy controller, configured to process the digital signal converted by the adc by a fuzzy mathematical method, and output a processing result to the control module, so that the control module determines whether the magnetic train deviates from the magnetic track according to the processing result, and guides the magnetic train to a route when the magnetic train deviates from the magnetic track, where the fuzzy mathematical method is used to process the magnetic train, where a fuzzy set d of the deviation may be set to { NB, NS, ZR, PS, PB }, and d i is d i +1 after a certain time, and a variation dd is d i +1-d i, and dd { NB, NS, ZR, PS, PB }; the fuzzy set of rotation angles theta is: θ ═ NB, NS, ZR, PS, PB }; the membership degree of the trolley offset is [ -2, 2], the change rate of the distance deviation is [ -4,4], and the range of the set rotation angle is [ -30, 30 ]; and establishing a fuzzy rule in MATLAB to obtain a membership function of the variable d, the change rate dd and the output angle theta, so as to calculate the output angle and improve the guidance control of autonomous driving.

2. A new urban rail road according to claim 1, characterized in that,

the magnetic array encoding system includes:

the magnetic array information acquisition module is used for acquiring magnetic poles of the magnetic steel in the steering array and the position array in the magnetic array where the current magnetic train is located;

the encoding module is used for carrying out current encoding on the magnetic poles of the magnetic steel acquired by the magnetic array information acquisition module;

the code identification module is used for identifying the current code of the code module, comparing the current code with a preset code corresponding to preset information, and taking the information corresponding to the preset code as the information carried by the current code when the current code is consistent with the preset code;

the detection module is used for receiving a detection code of a magnetic sensor on the magnetic train for detecting the magnetic train, comparing the detection code with a preset sensor output code to obtain magnetic train information corresponding to the sensor output code which is the same as the detection code, and judging the correctness of the magnetic train information.

3. A new urban rail road according to claim 1, characterized in that,

the magnetic spike is a neodymium iron boron rare earth magnetic steel pair, and the neodymium iron boron rare earth magnetic steel pair arranged at a preset distance forms the magnetic track.

4. A new urban rail road according to claim 1, characterized in that,

the control module includes:

the sensor signal receiving unit is used for receiving magnetic signals of a sensor induction magnetic track arranged on the head of the magnetic train, four sensors are sequentially arranged from one side to the other side of the magnetic train, and the sensors on the two sides are a left sensor and a right sensor respectively;

the detection unit is used for detecting the magnetic signals received by the sensor receiving unit, judging whether the magnetic signals sensed by the left sensor are magnetic tracks deviated from the left direction of the magnetic train, judging whether the magnetic signals sensed by the right sensor are magnetic tracks deviated from the right direction of the magnetic train, and judging whether the magnetic signals sensed by the left sensor and the right sensor are magnetic tracks not deviated from the magnetic train;

and the guiding unit is used for guiding and correcting the right deviation or the left deviation of the magnetic train according to the judgment result of the detection unit so as to ensure that the magnetic track is not deviated under the condition that the left sensor and the right sensor do not sense the magnetic signal.

5. A new type of urban railed road according to claim 4,

the control module further comprises:

and the angle correction unit is used for calculating the offset degree of the magnetic train according to the strength of the magnetic signal received by the sensor signal receiving unit and the judgment result of the detection unit, and calculating the correction angle of the magnetic train to the non-offset state according to the offset degree of the magnetic train.

6. A new urban rail road according to claim 1, characterized in that,

further comprising: the marshalling station is arranged on a road and used for parking part of the magnetic train in the non-trip peak period so as to adapt to the dynamic change of traffic flow tide.

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