APM vehicle and system

Abstract

The invention provides an APM vehicle and system, and relates to the technical field of traffic systems, the APM vehicle comprises a vehicle structure, a first sensing structure, a second sensing structure and a control structure; the position information of the vehicle structure is monitored through the second sensing structure, when the vehicle structure drives into the branch turnout, the control structure controls the rotating direction of the vehicle structure, so that the vehicle structure drives into the specific branch turnout, after the vehicle structure drives into the specific branch turnout, the pressure between the vehicle structure and the branch turnout is monitored through the first sensing structure, and the control structure controls the vehicle structure according to the pressure. The rotating angle of the vehicle structure is adjusted, so that the pressure between the vehicle structure and the branch turnout is within a normal range, the pressure between the vehicle structure and the branch turnout is prevented from being too large, abrasion between the vehicle structure and the branch turnout is reduced, and the later maintenance cost is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of traffic systems, in particular to an APM vehicle and system. BACKGROUND

[0002] APM (Automated People Mover) is an automated traffic system, which is usually used to transport passengers in airports and urban centers; turnout structure is an important part of railway track equipment, which is used to realize the transition and connection of vehicles from one line to another line.

[0003] The existing turnout structure includes an arc-shaped movable turnout and a fixed turnout, the movable turnout approaches or moves away from the fixed turnout through the bottom ball and the sliding groove at the bottom of the fixed turnout, when the vehicle needs to pass through the turnout, the movement of the movable turnout is manually controlled to make the movable turnout and the fixed turnout approach and align with each other, and then the movable turnout is reset after the vehicle completely passes through.

[0004] When the vehicle passes through the arc-shaped movable turnout, the vehicle contacts the inner side of the movable track, and the movable turnout provides a lateral force to the vehicle to help guide the vehicle to turn to the movable turnout, but when the vehicle contacts the movable turnout, the pressure between the vehicle and the movable turnout increases, resulting in a large friction force, which increases the wear between the vehicle and the movable turnout, resulting in high maintenance cost in the later period. SUMMARY

[0005] The present application provides an APM vehicle and system to solve the problem of excessive pressure between the vehicle and the turnout, which increases the wear between the vehicle and the turnout.

[0006] In one aspect, the present application provides an APM vehicle, comprising:

[0007] a vehicle structure, the vehicle structure is suitable for running on a turnout structure;

[0008] a first sensing structure, the first sensing structure is suitable for being connected with the vehicle structure; the first sensing structure is suitable for monitoring the pressure between the vehicle structure and the turnout structure;

[0009] a second sensing structure, the second sensing structure is suitable for being connected with the vehicle structure; the second sensing structure is suitable for monitoring the position information of the vehicle structure;

[0010] a control structure, the control structure is suitable for controlling the rotation direction of the vehicle structure according to the position information; the control structure is suitable for adjusting the rotation angle of the vehicle structure according to the pressure.

[0011] The present application provides an APM vehicle, the vehicle structure comprises:

[0012] Vehicle body;

[0013] A drive wheel is mounted on the vehicle body and is adapted to travel on the turnout structure.

[0014] A steering mechanism adapted to be connected to the drive wheel and adapted to control the rotation direction of the drive wheel; the steering mechanism adapted to be connected to the control structure; the control structure adapted to adjust the rotation angle of the drive wheel according to the pressure.

[0015] This application provides an APM vehicle, wherein the control structure controls the steering mechanism to drive the drive wheel to rotate at a first angular velocity; when the pressure is a first threshold, the control structure controls the steering mechanism to drive the drive wheel to return to center at the first angular velocity; when the pressure is a second threshold, the control structure controls the steering mechanism to drive the drive wheel to rotate at a second angular velocity; when the pressure is a third threshold, the control structure controls the steering mechanism to drive the drive wheel to rotate at a third angular velocity, wherein the second angular velocity is less than the first angular velocity; the second threshold is greater than the first threshold; the third angular velocity is greater than the first angular velocity; and the third threshold is less than the first threshold.

[0016] This application provides an APM vehicle, wherein the first threshold is greater than or equal to 200N and less than or equal to 500N; and the first angular velocity is greater than 0° / s and less than or equal to 2° / s.

[0017] This application provides an APM vehicle, the vehicle structure of which further includes:

[0018] A speed controller adapted to be connected to the drive wheel, the speed controller adjusting the driving speed of the vehicle body via the drive wheel.

[0019] This application provides an APM vehicle, the vehicle structure of which further includes:

[0020] At least one pair of steering wheels are provided on opposite sides of the vehicle body; the steering wheels are adapted to travel on the branch switch.

[0021] On the other hand, an APM system includes a turnout structure and an APM vehicle that travels on the turnout structure as described above.

[0022] This application provides an APM system, wherein the turnout structure includes:

[0023] Main turnout;

[0024] At least one branch turnout; the branch turnout is adapted to connect with the main turnout;

[0025] Steering guide rails are provided on both sides of the main turnout and the branch turnout;

[0026] When the vehicle body travels on the main switch, the drive wheel is connected to the main switch; when the vehicle structure travels on the branch switch, the drive wheel is connected to the branch switch, and the steering wheel is connected to the steering guide rail.

[0027] This application provides an APM system, which also includes:

[0028] Several third sensing structures are provided, with at least one of the third sensing structures installed on both the main turnout and the branch turnout; the second sensing structure of the APM vehicle monitors the position information of the vehicle structure by sensing the third sensing structures.

[0029] This application provides an APM system, wherein the third sensing structure includes:

[0030] A start beacon is installed on the main turnout;

[0031] At least one end beacon is provided on the branch turnout; when the second sensing structure senses the start beacon, the control structure of the APM vehicle controls the vehicle structure to rotate in the direction of turning into the branch turnout; when the third sensing structure senses the end beacon, the control structure controls the vehicle structure to be adapted to drive the drive wheel back to positive.

[0032] This application provides an APM vehicle and system. The APM vehicle monitors the position information of the vehicle structure through a second sensing structure. When the vehicle structure enters a branch switch, the control structure controls the rotation direction of the vehicle structure, causing the vehicle structure to enter a specific branch switch. After entering the specific branch switch, the first sensing structure monitors the pressure between the vehicle structure and the branch switch. The control structure adjusts the rotation angle of the vehicle structure according to the pressure, so that the pressure between the vehicle structure and the branch switch is within a normal range, thereby preventing excessive pressure between the vehicle structure and the branch switch, reducing wear between the vehicle structure and the branch switch, and reducing later maintenance costs. Attached Figure Description

[0033] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0034] Figure 1 This application provides an overall structural schematic diagram of an APM vehicle.

[0035] Figure 2 This is a schematic diagram of the overall structure of an APM system provided in this application.

[0036] Figure Labels

[0037] 100. Vehicle structure; 110. Vehicle body; 120. Drive wheels; 130. Steering wheels; 140. Steering mechanism;

[0038] 200. First sensing structure;

[0039] 300. Second sensing structure;

[0040] 400. Control structure;

[0041] 500. Turnout structure; 510. Main turnout; 520. Branch turnout; 530. Steering guide rail;

[0042] 600. Third sensing structure; 610. Start beacon; 620. End beacon;

[0043] 700. Speed ​​controller;

[0044] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0045] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0046] First, let me explain the terms used in this application:

[0047] APM (Automated People Mover): An automated transportation system typically used to transport passengers in airports and city centers.

[0048] Turnout structure 500: It is an important component of railway track equipment, used to enable the transition and connection of vehicles from one track to another.

[0049] The existing turnout structure 500 includes: an arc-shaped moving turnout and a fixed turnout. The moving turnout moves closer to or further away from the fixed turnout by means of ball bearings at its bottom and a sliding groove at the bottom of the fixed turnout. When a vehicle needs to pass through the turnout, the movement of the moving turnout needs to be manually controlled so that the moving turnout moves closer to and aligns with the fixed turnout. After the vehicle has completely passed, the moving turnout is reset.

[0050] When a vehicle passes through a curved moving switch, it comes into contact with the inside of the moving track. The moving switch provides a lateral force to the vehicle, which helps guide the vehicle to turn onto the moving switch. However, when the vehicle comes into contact with the moving switch, the pressure between the vehicle and the moving switch increases, resulting in greater friction and increased wear between the vehicle and the moving switch, leading to higher maintenance costs in the later stages.

[0051] To address the aforementioned issues, this application provides an APM vehicle and control system. A second sensing structure 300 monitors the position information of the vehicle structure 100. When the vehicle structure 100 enters a branch switch 520, a control structure 400 controls the rotation direction of the vehicle structure 100, causing it to enter a specific branch switch 520. After entering the specific branch switch 520, a first sensing structure 200 monitors the pressure between the vehicle structure 100 and the branch switch 520. Based on the pressure, the control structure 400 adjusts the rotation angle of the vehicle structure 100 to keep the pressure between the vehicle structure 100 and the branch switch 520 within a normal range. This prevents excessive pressure between the vehicle structure 100 and the branch switch 520, reduces wear between them, and lowers subsequent maintenance costs.

[0052] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0053] On the one hand, such as Figure 1 As shown, this embodiment provides an APM vehicle, including a vehicle structure 100, a first sensing structure 200, a second sensing structure 300, and a control structure 400. The vehicle structure 100 is adapted to travel on a turnout structure 500; the first sensing structure 200 is adapted to be connected to the vehicle structure 100 and is adapted to monitor the pressure between the vehicle structure 100 and the upper branch turnout 520 of the turnout structure 500; the second sensing structure 300 is adapted to be connected to the vehicle structure 100 and is adapted to monitor the position information of the vehicle structure 100; the control structure 400 is adapted to control the rotation direction of the vehicle structure 100 according to the position information; the control structure 400 is adapted to adjust the rotation angle of the vehicle structure 100 according to the pressure.

[0054] In this embodiment, the first sensing structure 200 is disposed on the vehicle structure 100. The first sensing structure 200 also includes a pressure information processor and a pressure sensor. Specifically, the pressure information processor can be disposed at any position on the vehicle structure 100, and the pressure sensor is connected to the pressure information processor and transmits the pressure information to the pressure information processor. The pressure sensor needs to be disposed on the outermost side of the vehicle structure 100. When the vehicle structure 100 comes into contact with the branch turnout 520, it will first be squeezed by the pressure sensor. The pressure sensor adopts a silicon diaphragm (such as diffused silicon piezoresistive type) and combines it with a Wheatstone bridge structure to convert pressure deformation into resistance change. Then, through circuit processing, a standard electrical signal is output to obtain the pressure between the vehicle structure 100 and the branch turnout 520.

[0055] Specifically, the second sensing structure 300 first monitors the position information of the vehicle structure 100. When the vehicle structure 100 enters the branch turnout 520, the control structure 400 controls the rotation direction of the vehicle structure 100 so that the vehicle structure 100 enters the specific branch turnout 520. After entering the specific branch turnout 520, the first sensing structure 200 monitors the pressure between the vehicle structure 100 and the branch turnout 520. The control structure 400 adjusts the rotation angle of the vehicle structure 100 according to the pressure so that the pressure between the vehicle structure 100 and the branch turnout 520 is within the normal range.

[0056] It should be noted that the branch turnout 520 has a different direction of travel than the original direction of travel. If the travel direction of the vehicle structure 100 is changed solely by the friction between the vehicle structure 100 and the branch turnout 520, it will lead to increased pressure and wear between the two. Therefore, by controlling the travel direction of the vehicle structure 100 to be the same as that of the branch turnout 520 through the control structure 400, the pressure between the vehicle structure 100 and the branch turnout 520 can be greatly reduced, thus reducing wear. Specifically, the branch turnout 520 has a partially curved connecting section. When the vehicle structure 100 turns into the branch turnout 520, the pressure between the vehicle structure 100 and the branch turnout 520 is mainly concentrated between this curved connecting section and the vehicle structure 100. The pressure between the curved connecting section and the vehicle structure 100 drives the change in the travel direction of the vehicle structure 100.

[0057] Furthermore, the APM vehicle provided in this application embodiment includes a vehicle structure 100 comprising a vehicle body 110, drive wheels 120, and a steering structure; wherein the drive wheels 120 are disposed on the vehicle body 110; wherein the steering mechanism 140 is adapted to be connected to the drive wheels 120, the steering mechanism 140 is adapted to control the rotation direction of the drive wheels 120, the steering mechanism 140 is adapted to be connected to the control structure 400, and the control structure 400 is adapted to adjust the rotation angle of the drive wheels 120 according to pressure.

[0058] It should be noted that there are several first sensing structures 200. Specifically, the number of first sensing structures 200 is the same as the number of drive wheels 120. Each first sensing structure 200 monitors the pressure between each pair of drive wheels 120 and the branch turnout 520.

[0059] Specifically, the drive wheels 120 are located at the bottom of the vehicle body 110. All drive wheels 120 are arranged in pairs, with the pairs positioned on both sides of the vehicle body 110. The number of drive wheels 120 is selected based on factors such as the length of the vehicle body 110. In this embodiment, the drive mechanism is located on the vehicle body 110. As an alternative implementation, the drive mechanism can also control the drive wheels 120 remotely.

[0060] It should be noted that the steering mechanism 140 controls the steering of the drive wheel 120 in a manner similar to the rotation principle of a regular car. The driver turns the steering wheel to rotate the steering column, and the pinion at the end of the steering column meshes with the laterally arranged rack, converting the rotational motion into linear motion. The two ends of the rack are connected to the drive wheel 120 through the steering tie rod, which in turn drives the drive wheel 120 to steer.

[0061] Furthermore, in the APM vehicle provided in this application embodiment, the vehicle structure 100 enters the branch turnout 520, and the control structure 400 controls the steering mechanism 140 to drive the drive wheel 120 to rotate at a first angular velocity; when the pressure is a first threshold, the control structure 400 controls the steering mechanism 140 to drive the drive wheel 120 to return to center at a first angular velocity; when the pressure is a second threshold, the control structure 400 controls the steering mechanism 140 to drive the drive wheel 120 to rotate at a second angular velocity; when the pressure is a third threshold, the control structure 400 controls the steering mechanism 140 to drive the drive wheel 120 to rotate at a third angular velocity.

[0062] It should be noted that the control structure 400 can adjust the drive wheel 120 to switch between different angular velocities according to different pressure conditions, thereby ensuring that the pressure is within the normal range when the vehicle structure 100 is in motion.

[0063] Specifically, when the vehicle body 110 enters the branch turnout 520, the control structure 400 controls the drive wheel 120 to rotate at a first angular velocity in the direction of entering the branch turnout 520. When the pressure is at a first threshold, the control structure 400 controls the drive wheel 120 to rotate at the first angular velocity, meaning the rotational angular velocity of the drive wheel does not need to be changed. If the pressure is less than the first threshold, the control structure 400 controls the drive wheel 120 to rotate in the direction closer to the arc-shaped connecting section of the branch turnout 520. If the pressure is greater than the first threshold, the control structure 400 controls the drive wheel 120 to rotate in the direction away from the arc-shaped connecting end of the branch turnout 520.

[0064] Furthermore, in the APM vehicle provided in this application embodiment, the first threshold is greater than or equal to 200N and less than or equal to 500N; the first angular velocity is greater than 0° / s and less than or equal to 2° / s; the second angular velocity is less than the first angular velocity; the second threshold is greater than the first threshold; the third angular velocity is greater than the first angular velocity; and the third threshold is less than the first threshold.

[0065] It should be noted that the second angular velocity is less than the first angular velocity. For example, if the second angular velocity is -2° / s, the drive wheel 120 will rotate at an angular velocity of 2° / s in the direction away from the guide switch 530.

[0066] Furthermore, in the APM vehicle provided in this application embodiment, the vehicle structure 100 further includes a speed controller 700, which is adapted to be connected to the drive wheel 120. The speed controller 700 adjusts the driving speed of the vehicle body 110 through the drive wheel 120; the speed controller 700 controls the rotational speed of the drive wheel 120, thereby controlling the driving speed of the vehicle body 110.

[0067] It should be noted that when the vehicle structure 100 travels at too high a speed, the pressure between the vehicle structure 100 and the branch turnout 520 will also be too high due to inertia. Therefore, when the vehicle structure 100 is about to reach the branch turnout 520, the speed controller 700 needs to reduce the speed of the vehicle structure 100 in advance. By reducing the speed of the vehicle structure 100, the pressure is reduced, thereby reducing the wear between the vehicle structure 100 and the branch turnout 520 and reducing the later maintenance costs.

[0068] Furthermore, in the APM vehicle provided in this embodiment, the vehicle structure 100 further includes at least one pair of steering wheels 130, which are disposed on opposite sides of the vehicle body 110 and adapted to connect with the turnout structure 500. During the turning process, the steering wheels 130 on both sides of the vehicle body 110 are in rolling contact with the turnout structure 500. The steering wheels 130 replace sliding friction with rolling friction, significantly reducing motion resistance, thereby reducing wear between the vehicle structure 100 and the turnout structure 500 and reducing subsequent maintenance costs.

[0069] On the other hand, such as Figure 2 As shown, this application provides an APM system, including a turnout structure 500 and an APM vehicle traveling on the turnout structure 500.

[0070] Furthermore, an APM system provided in this application embodiment includes a turnout structure 500 comprising a main turnout 510, at least one branch turnout 520, and a steering guide rail 530. The branch turnout 520 is adapted to connect with the main turnout 510. The steering guide rail 530 is disposed on both sides of the main turnout 510 and the branch turnout 520, and is adapted to connect with the steering wheel 130. Generally, the guide rail on the vehicle's original travel route is the main turnout 510, and the guide rail on the route to be turned into is the branch turnout 520.

[0071] It should be noted that when the vehicle body 110 travels on the main turnout 510, the drive wheel 120 is connected to the main turnout 510 and travels on it; when the vehicle body 110 travels on the branch turnout 520, the drive wheel 120 is connected to the branch turnout 520 and travels on it, while the steering wheel 130 is connected to the steering guide rail 530. The steering wheel 130 uses rolling friction instead of sliding friction, which significantly reduces the resistance to movement, thereby reducing the wear between the vehicle structure 100 and the steering guide rail 530.

[0072] In this embodiment, there is one branch turnout 520, and the number of branch turnouts 520 can be increased reasonably according to actual needs. It should be noted that the main turnout 510 and the branch turnout 520 are specifically planar tracks, and the drive wheel 120 rolls directly on the planar tracks.

[0073] Furthermore, the APM system provided in this application embodiment also includes a plurality of third sensing structures 600, which are disposed on the main turnout and the branch turnout 520. The second sensing structure 300 is adapted to sense the third sensing structures 600. The second sensing structure 300 senses the third sensing structures 600 to monitor the position information of the vehicle structure 100.

[0074] It should be noted that the second sensing structure 300 and the third sensing structure 600 are proximity sensors. Their core principle is to detect the presence of an object by changes in electromagnetic field, capacitance, or light signal, and output a switch or electrical signal. Specifically, they can be inductive proximity sensors. When the second sensing structure 300 and the third sensing structure 600 are close together, an electromagnetic coil generates a high-frequency magnetic field. When a metal object is close, eddy currents are generated, causing a change in the magnetic field and triggering a switch signal. Therefore, when the vehicle structure 100, carrying the second sensing structure 300, passes over the third sensing structure 600, the position information of the vehicle structure 100 can be inferred.

[0075] Furthermore, in an embodiment of this application, an APM system is provided, wherein the third sensing structure 600 includes a start beacon 610 and at least one end beacon 620; the start beacon 610 is disposed on the main turnout, and the end beacon 620 is disposed on the branch turnout 520; when the second sensing structure 300 passes over the start beacon 610, the steering laser is adapted to drive the drive wheel 120 to rotate in the direction of turning into the branch turnout 520; when the third sensing structure 600 passes over the end beacon 620, the steering mechanism 140 is adapted to drive the drive wheel 120 back to center.

[0076] It should be noted that, in order to more accurately control the steering of the vehicle structure 100, the number of second sensing structures 300 is the same as and corresponds to the number of drive wheels 120. This allows for precise control of the steering of each pair of drive wheels 120. When the first second sensing structure 300 passes the start beacon 610 along the driving direction of the vehicle structure 100, the specific position of the first pair of drive wheels 120 can be determined. When the second sensing structure passes the start beacon 610, the specific position of the second pair of drive wheels can be determined, and so on. The specific position of each pair of drive wheels 120 can be accurately determined, thereby controlling each pair of drive wheels 120 separately. The same applies when the second sensing structure 300 passes the end beacon 620.

[0077] Specifically, taking a 30° right turn as an example, before the vehicle structure 100 enters the branch turnout 520, the staff adjusts the speed of the drive wheel 120 through the speed controller 700 to reduce the speed of the vehicle structure 100 by 0.5 m / s². It should be ensured that when the first second sensing structure 300 passes the starting beacon 610, the speed of the vehicle structure 100 is 5 km / s, and the vehicle continues to decelerate.

[0078] When the vehicle structure 100 decelerates to 10 m / s, the control structure 400 controls all drive wheels 120 to turn right at a speed of 1° / s. Simultaneously, the first sensing structure 200 monitors the pressure between the vehicle structure 100 and the branch switch 520. When the pressure is less than 200 N, the control structure 400 uses the steering mechanism 140 to rotate the drive wheels 120 at a second angular velocity until the pressure is between 200 N and 500 N, with a second angular velocity of 3° / s. When the pressure is greater than 500 N, the control structure 400 uses the steering mechanism 140 to rotate the drive wheels 120 at a third angular velocity until the pressure is between 200 N and 500 N, with a third angular velocity of -0.4° / s.

[0079] When the vehicle structure 100 decelerates to 5 m / s, the control structure 400 controls all drive wheels 120 to quickly turn 30° to the right. Then, the first sensing structure 200 monitors the pressure. When the pressure is between 200 N and 500 N, the control structure 400 keeps the drive wheels 120 stationary. When the pressure is less than 200 N, the control structure 400 uses the steering mechanism 140 to rotate the drive wheels 120 at a second angular velocity until the pressure is between 200 N and 500 N, with a second angular velocity of 2.5° / s. When the pressure is greater than 500 N, the control structure 400 uses the steering mechanism 140 to rotate the drive wheels 120 at a third angular velocity until the pressure is between 200 N and 500 N, with a second angular velocity of -0.2° / s.

[0080] The vehicle structure 100 continues to travel. When the first second sensing structure 300 in the vehicle's travel direction senses the end beacon 620, it indicates that the first drive wheel 120 has reached the end beacon 620. At this time, the control structure 400 controls this drive wheel 120 to return to the center position, and simultaneously, the first sensing structure 200 connected to this drive wheel 120 exits monitoring. When the second sensing structure 300 in the vehicle's travel direction senses the end beacon 620, the same operation is performed on the second drive wheel 120, until all second sensing structures 300 sense the end beacon 620. After all drive wheels 120 return to the center position, the turnout operation is completed, and the speed controller 700 controls the drive wheels 120 to travel at normal speed.

[0081] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0082] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. An APM vehicle, characterized in that, include: Vehicle structure (100) adapted to run on turnout structure (500); A first sensing structure (200) is adapted to be connected to the vehicle structure (100); the first sensing structure (200) is adapted to monitor the pressure between the vehicle structure (100) and the upper branch turnout (520) of the turnout structure (500); A second sensing structure (300) is adapted to be connected to the vehicle structure (100); the second sensing structure (300) is adapted to monitor the position information of the vehicle structure (100); A control structure (400) is adapted to control the rotation direction of the vehicle structure (100) according to the position information; the control structure (400) is adapted to adjust the rotation angle of the vehicle structure (100) according to the pressure.

2. The APM vehicle according to claim 1, characterized in that, The vehicle structure (100) includes: Vehicle body (110); A drive wheel (120) is disposed on the vehicle body (110) and is adapted to travel on the turnout structure (500); A steering mechanism (140) is adapted to be connected to the drive wheel (120) and to control the rotation direction of the drive wheel (120); the steering mechanism (140) is adapted to be connected to the control structure (400); the control structure (400) is adapted to adjust the rotation angle of the drive wheel (120) according to the pressure.

3. The APM vehicle according to claim 2, characterized in that, The control structure (400) controls the steering mechanism (140) to drive the drive wheel (120) to rotate at a first angular velocity; when the pressure is a first threshold, the control structure (400) controls the steering mechanism (140) to drive the drive wheel (120) to return to center at the first angular velocity; when the pressure is a second threshold, the control structure (400) controls the steering mechanism (140) to drive the drive wheel (120) to rotate at a second angular velocity; when the pressure is a third threshold, the control structure (140) controls the steering mechanism (140) to drive the drive wheel (120) to rotate at a third angular velocity, wherein the second angular velocity is less than the first angular velocity; the second threshold is greater than the first threshold; the third angular velocity is greater than the first angular velocity; and the third threshold is less than the first threshold.

4. The APM vehicle according to claim 3, characterized in that, The first threshold is greater than or equal to 200N and less than or equal to 500N; the first angular velocity is greater than 0° / s and less than or equal to 2° / s.

5. The APM vehicle according to claim 3, characterized in that, The vehicle structure (100) also includes: A speed controller (700) adapted to be connected to the drive wheel (120) and the speed controller (700) adjusting the driving speed of the vehicle body (110) via the drive wheel (120).

6. The APM vehicle according to any one of claims 2-5, characterized in that, The vehicle structure (100) also includes: At least one pair of steering wheels (130) are provided on opposite sides of the vehicle body (110); the steering wheels (130) are adapted to travel on the branch turnout (520).

7. An APM system, characterized in that, The APM vehicle comprising a turnout structure (500) and traveling on the turnout structure (500) according to any one of claims 1-6.

8. The APM system according to claim 7, characterized in that, The turnout structure (500) includes: Main turnout (510); At least one branch turnout (520); the branch turnout (520) is adapted to connect with the main turnout (510); A steering guide rail (530) is provided on both sides of the main turnout (510) and the branch turnout (520); When the vehicle body (110) travels on the main switch (510), the drive wheel (120) is connected to the main switch (510); when the vehicle structure (110) travels on the branch switch (520), the drive wheel (120) is connected to the branch switch (520), and the steering wheel (130) is connected to the steering guide rail (530).

9. The APM system according to claim 8, characterized in that, Also includes: A plurality of third sensing structures (600) are provided, at least one of the third sensing structures (600) is provided on both the main turnout (510) and the branch turnout (520); the second sensing structure (300) of the APM vehicle senses the third sensing structures (600) to monitor the position information of the vehicle structure (100) of the APM vehicle.

10. The APM system according to claim 9, characterized in that, The third sensing structure (600) includes: A start beacon (610) is provided on the main turnout (510); At least one end beacon (620) is provided on the branch turnout (520); when the second sensing structure (300) senses the start beacon (610), the control structure (400) of the APM vehicle controls the vehicle structure (100) to rotate in the direction of turning into the branch turnout (520); when the third sensing structure (600) senses the end beacon (620), the control structure (400) controls the vehicle structure (100) to be adapted to drive the drive wheel (120) back to center.

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