Method of controlling a trajectory direction of a vehicle

Abstract

A method comprising controlling at least one of a first distance between a first side of a vehicle and a first guide track and a second distance between a second side of the vehicle and a second guide track, and receiving a directional instruction corresponding to one of the first side and the second side, which side is the directional side. After receiving the directional instruction, a directional distance between the directional side of the vehicle and one of the first guide track and the second guide track, which one is arranged at the directional side of the vehicle, is controlled. In case of no contact between the vehicle and the guide track, e.g. comprising a rail, the distance between the vehicle and the guide track along the track needs to be controlled, preferably to a safety distance. The present concept provides such control.

Description

Technical Field

[0001] Various aspects and embodiments of the present invention relate to guiding vehicles via switches in transportation systems, particularly tube-shaped transportation systems. Background Technology

[0002] In tubular transport systems, contact between vehicles and pipes is minimized, and ideally avoided entirely. This can be achieved, for example, through magnetic levitation. This presents challenges for switching directions from one pipe to another at switches, and this switching process is preferably carried out without contact between the vehicle and the pipe. Furthermore, since vehicles traveling through the pipes are designed to travel at high speeds, safe control of the vehicle's position within the pipe becomes an issue. Summary of the Invention

[0003] Preferably, controls are provided for safely guiding vehicles via switches in a transport system, particularly for guiding maglev vehicles via a tubular transport system (preferably without moving components of the transport system).

[0004] A first aspect provides a method for controlling the trajectory direction of a vehicle moving in a vehicle guidance system including a first guide rail and a second guide rail. The method includes controlling at least one of a first distance between a first lateral side of the vehicle and the first guide rail and a second distance between a second lateral side of the vehicle and the second guide rail, and receiving a direction command corresponding to one of the first and second lateral sides (the side being a directional side). After receiving the direction command, the method controls the directional distance between the directional side of the vehicle and the guide rail, one of the first and second guide rails, positioned on the directional side of the vehicle.

[0005] In the case of a physical turnout with guide rails for guiding the wheels of a vehicle, the distance between the vehicle's (wheels') wheels is irrelevant because the vehicle is guided by contact between the guide rails and the wheels. In the case where there is no contact between the vehicle and, for example, a guide rail including the guide rails, it is necessary to control the distance between the vehicle and the guide rail along the track, preferably controlling this distance to a safe distance.

[0006] One embodiment includes: determining whether a first safety point has been passed; obtaining a default direction corresponding to one of a first lateral side and a second lateral side; and, if the safety point has been passed, controlling a default distance between the default lateral side of the vehicle corresponding to the default direction and a guide rail adjacent to the default lateral side of the first guide rail and the second guide rail.

[0007] As mentioned above, vehicles in a tubular transport system are designed to travel at speeds of several hundred kilometers per hour. At such speeds, and when the vehicles are carrying a large number of people or a considerable amount of cargo, control for safe switching is crucial. Due to the large momentum, changing direction at a switch point or very close to a switch point could lead to dangerous situations. This situation is preferably avoided. Therefore, it is preferable to ignore any instructions to change direction received before reaching the non-return point.

[0008] Another embodiment also includes obtaining a safe distance range, and upon receiving a direction command, if the direction command includes a first direction, checking whether the first distance is within the safe distance range.

[0009] If this is the case, the first distance is controlled within the first distance range; otherwise, the second distance is controlled within the second distance range. If the direction command includes a second direction, it is checked whether the second distance is within the safe distance range. If this is the case, the second distance is controlled within the second distance range; otherwise, the first distance is controlled within the first distance range.

[0010] This means that if the vehicle cannot be steered in the indicated direction at a specific point, it will be guided in the opposite direction. This ensures the vehicle is always steered in the correct direction, thus preventing potential collisions.

[0011] Another embodiment includes: determining whether a second safety point has been passed, and if it has been determined that the second safety point has been passed, controlling at least one of a first distance between a first lateral side of the vehicle and a first guide rail and a second distance between a second lateral side of the vehicle and a second guide rail.

[0012] The second safety point is set beyond the turnout. Therefore, the second safety point indicates that the vehicle's position can be controlled again between the guide rails during normal operation.

[0013] A second aspect provides a control system for controlling the trajectory direction of a vehicle moving in a vehicle guidance system including a first guide rail and a second guide rail. The control system includes a processing module. The processing module is arranged to: determine a first distance between a first lateral side of the vehicle and the first guide rail, and determine a second distance between a second lateral side of the vehicle and the second guide rail. The control system also includes an input module and a control module, the input module being arranged to receive a direction command. The control module is arranged to: perform, based on the direction command, at least one of controlling the first distance based on the determined first distance and controlling the second distance based on the determined second distance.

[0014] The third aspect provides a vehicle for moving in a vehicle guidance system including a first guide rail and a second guide rail, the vehicle including a control system according to the second aspect.

[0015] The fourth aspect provides a vehicle guidance system for guiding vehicles, the vehicle guidance system including a first guide rail and a second guide rail and a control system according to the second aspect. Attached Figure Description

[0016] Its various aspects and embodiments will now be discussed in more detail with reference to the accompanying drawings. In the figures,

[0017] Figure 1 A top view of the transportation system is shown.

[0018] Figure 2 : Shows a cross-section of the transportation system and vehicles; and

[0019] Figure 3 A flowchart describing a method for controlling vehicles in a transportation system is shown. Detailed Implementation

[0020] Figure 1 A turnout in a transportation system 100 is shown. In this embodiment, the transportation system 100 includes interconnecting pipes that connect at the turnout. Figure 1 A first pipe 112, a second pipe 114 extending from the first pipe 112, and a third pipe 116 branching from the first pipe 112 and the second pipe 116 are shown. The transport system 100 is arranged to guide a vehicle 200. The vehicle 200 is preferably suspended on a first support rail 132. The first support rail 132 may be configured to: be above the vehicle 200 and attract the vehicle 200, be below the vehicle 200 and push the vehicle 200 upwards, or a combination thereof.

[0021] Steel rails are installed on the side of the pipe in the transportation system 100 as guide rails. For example... Figure 1 As shown, a first guide rail 122 is provided on the left side. A second guide rail 124 is provided at the lower right of the branch from the first tube 112 to the third tube 116. A third guide rail 126 is provided in the second tube at the upper right, and a fourth guide rail 128 is provided on one side of the third tube. In this embodiment, the guide rails are arranged as continuous tracks, but in another embodiment, they may be arranged as tracks with separating elements.

[0022] At a predetermined distance from the junction in the transport system 100, the first beacon 142 is located in or near the first pipe 112.

[0023] Figure 2A cross-section of a first tube 112 is shown, in which a vehicle 200 is located. On opposite sides of the first tube 112, a first guide rail 122 and a second guide rail 124 are provided. In this embodiment, the guide rails are positioned at substantially the same height, at the midpoint of the first tube 112, and at a 180° circumferential distance. In another embodiment, the guide rails are positioned at different heights and at different circumferential distances, for example, spaced 90° apart.

[0024] In this embodiment, the first support track 132 includes a first support rail 132' and a second support rail 132". In this example, the vehicle 200 is suspended on the support track 132 by means of an electromagnetic support module. The first electromagnetic support module 232' is configured to interact with the first support rail 132', while the second electromagnetic support module 232" is configured to interact with the second support rail 132". The support rail 132 may be provided with a conductor that can be powered to propel the vehicle 200 in the transport system 100, as described in patent application NL2019259.

[0025] While this type of suspension is preferred, other types of modules can also be used to suspend the vehicle 200 in the pipe. This suspension can be located on the side, bottom, or top of the vehicle and can be magnetic, electrical, mechanical, other, or a combination thereof. Preferably, the amount of contact between the transport system and the vehicle 200 is reduced to the minimum possible, or even mitigated to reduce any type of friction.

[0026] An electromagnetic guidance module 234 is disposed on the side (particularly the lateral side) of the vehicle 200. A first electromagnetic guidance module 234' is disposed on the left side, and a second electromagnetic guidance module 234' is disposed on the right side. The electromagnetic modules are controlled by a position control module 220, which controls the current flowing through the electromagnetic modules. The position control module 220 is in turn controlled by a vehicle control module 210. In one example, the position control module 220 and the vehicle control module 210 are disposed in a single housing, or even in a single circuit.

[0027] By controlling the power supply to the electromagnetic support module 232, the height of the vehicle 200 in the first pipe 112 and its lateral displacement along the length of the pipe can be controlled, for example, but not limited to, the technology disclosed in patent application NL2019259.

[0028] By supplying power to the electromagnetic guidance module 234, the lateral position of the vehicle 200 within the first tube 112 can be controlled. In this embodiment, the electromagnetic guidance module 234 is disposed on the lateral side of the vehicle 200, i.e., on the side excluding the top, bottom, front, and rear sides. In the case where the vehicle 200 is generally cuboid or horizontally cylindrical, this means that the electromagnetic guidance module 234 is disposed on the left and right sides of the vehicle 200. For example, by supplying power to the first electromagnetic guidance module 234', the attractive force between the first electromagnetic guidance module 234' and the first guide rail 122 can be controlled.

[0029] Similarly, by supplying power to the second electromagnetic module 234", the attractive force between the second electromagnetic guiding module 234" and the second guide rail 124 can be controlled. This allows control of the lateral position of the vehicle 200 within the first tube 112. To achieve this control, the first guide rail 122 and the second guide rail 124 are preferably made of ferromagnetic materials, such as steel.

[0030] To precisely control the vehicle 200, it is necessary to determine the lateral position of the vehicle 200 within the first tube 112. Preferably, the distances between the vehicle 200 and the first guide rail 122, and between the vehicle 200 and the second guide rail 124, are determined. Alternatively or additionally, if another guide rail is provided in the first tube 112, the distances between the vehicle and the guide rails on either side of the vehicle are determined.

[0031] The distance between the vehicle 200 and the guide rails on both sides can be determined by the electromagnetic guidance module 234. With a constant current flowing through, for example, the first electromagnetic guidance module 234', the magnetic field in the first electromagnetic guidance module 234' varies according to the distance between the first guide rails 122. Alternatively or additionally, the distance between one side of the vehicle and the other side of the guide rail can be monitored by means of another sensor, including but not limited to: an optical sensor combined with one or more light sources (e.g., LEDs, lasers, or other light sources); other electromagnetic sensing systems including sources and sensors; mechanical sensors; other sensors; or combinations thereof.

[0032] In another embodiment, according to the technology disclosed in patent application NL2019259, the lateral position of the vehicle 200 in the first tube 112 is controlled by means of a first support rail 132 and an electromagnetic support module 232. In this embodiment, the electromagnetic guidance module 234 can be omitted.

[0033] By controlling the distance between one or two lateral sides of the vehicle 200 and the guide rails on the sides of the first tube 112, the second tube 114, and the third tube 116, the vehicle 200 can be controlled to move from the first tube 112 to the second tube 114 or the third tube 116. (The following is in conjunction with...) Figure 1 , Figure 2 and Figure 3 Let's have a more detailed discussion. Figure 3 The process is shown. Figure 3 Its various parts are summarized as follows:

[0034] 302 Start

[0035] 304 Set Default Direction

[0036] 306 Control at least one of the left and right distances

[0037] 308 Receive Direction Command

[0038] 310 Before the first safe point?

[0039] 312 Set the command direction to the default value

[0040] 314 Control the distance from the default side

[0041] 316 Is the lateral distance between the vehicle and the default guide rail within a safe range?

[0042] 318 Set the default side to be the opposite of the previous default side.

[0043] 320 Passing through the second safety point?

[0044] 322 Is the distance to the side opposite to the direction within the control margin?

[0045] The process begins at the terminator 302. At this time, vehicle 200 is located in the transportation system 100 as follows: Figure 1 At the location shown, the first tube 112 has a generally circular cross-section. With the vehicle 200 centered relative to the first support rail 132, the distance between the vehicle 200 and the guide rail can be well controlled by means of the electromagnetic guidance module 234. Preferably, the distance between the lateral side of the vehicle 200 and the guide rail is controlled within a predetermined control distance interval that defines one or more control distances. This interval is selected such that the lateral position of the vehicle 200 can be safely controlled between the switches, within the pipe of the transport system 100.

[0046] The process continues to step 304, where a default direction is set. The default direction is the direction in which vehicle 200 is to be guided in the absence of a specific instruction. The process continues to step 306, where at least one of the left and right distances between vehicle 200 and at least one of the first guide rail 122 and the second guide rail 124 is controlled. The purpose of the control in step 306 is to keep vehicle 200 substantially centered on the first tube 112, at least midway between the first guide rail 122 and the second guide rail 124.

[0047] In step 308, the vehicle control module 210 receives a direction command. In this embodiment, the vehicle control module 210 is disposed within the vehicle 200. Alternatively, the vehicle control module 210 may be disposed in a fixed location where it controls various components of the vehicle 200 via a wireless link. The direction command includes the direction to be oriented: left or right. Alternatively or additionally, the command includes information on whether to continue along a straight line or take a curve. It should be noted that having three or more direction options instead of... Figure 1 The two-way switches shown are also feasible. For such switches, the instruction can include more types of instructions, such as left-right-forward, numbers 1 to 4 in the case of four branches, other instructions, or combinations thereof.

[0048] Upon receiving a direction command, the vehicle control module 210 determines whether the vehicle 200 has passed a first safety point. The first safety point is defined as a specific distance before a turnout and can be a fixed point, or additionally or alternatively a dynamic point. If the safety point is defined as a fixed point, it can be indicated by a beacon in the transport system 100, for example, by a first beacon 142. The vehicle 200 includes a sensor for detecting the first beacon 142, which is connected to the vehicle control module 210.

[0049] In the case of the dynamic position of the first safety point, the position of the first safety point can be defined based on vehicle parameters, including the speed of vehicle 200, the load of vehicle 200, the position data of vehicle 200 (e.g., at least one of yaw, roll, and pitch), other data, or combinations thereof. Alternatively or additionally, the first safety point can be defined as a position in the transport system 100 where the conduit branches at a width such that both the lateral side of vehicle 200 and the distance between the guide rail on that side cannot be controlled simultaneously by a control section or control distance.

[0050] Thus, the first safety point is defined as a no-return point: the vehicle control module 210 ignores any directional commands received beyond this point. After passing this no-return point, the commanded direction is set to the default distance in step 312. If no directional command is received, the default direction defined in step 304 remains unchanged.

[0051] The process described in flowchart 300 will be further illustrated by an example in which an instruction is received for a vehicle to travel from the first pipe segment 112 to the third pipe segment 116.

[0052] In step 314, the distance between vehicle 200 and second guide rail 124 is controlled, since second guide rail 124 corresponds to the side of the vehicle opposite to the commanded direction. Preferably, the distance between vehicle 200 and second guide rail 124 is controlled within a predetermined control distance range. The distance between vehicle 200 and first guide rail 122 is not controlled or is no longer controlled: a single distance on a single side is controlled. As a result, vehicle 200 will travel along second guide rail 124 and turn from first tube 112 to third tube 116. Furthermore, vehicle 200 will switch from first support rail 132 to second support rail 134 located in third tube 116 and then continue its journey through transport system 100.

[0053] Vehicle 200 is guided to maintain a safe distance from the second guide rail 124, but this distance should not be too far from the second guide rail 124 to prevent vehicle 200 from colliding with the wall between the second pipe 114 and the third pipe 116. Therefore, the safe distance or safe distance range is defined and obtained by the vehicle control module 210. This safe distance value or safe distance range is preferably greater than the control distance range. It can be a fixed value or a dynamic value defined based on vehicle parameters, including the vehicle 200's speed, vehicle 200's load, vehicle 200's position data (e.g., at least one of yaw, roll, and pitch), other data, or combinations thereof.

[0054] In step 316, the distance between vehicle 200 and the guide rail on the commanded direction side is checked. If the distance between vehicle 200 and the second guide rail 124 is greater than a safe distance value or outside the safe distance range, and specifically greater than the safe distance range, the process branches to step 318. In step 318, the side opposite to the previous default side is set as the default side. In the example discussed here, this default side will be the right side.

[0055] This means that instead of guiding vehicle 200 to the third tube 116, vehicle 200 will be guided to the second tube 114. On the other hand, if the distance between vehicle 200 and the second guide rail 124 is within a safe range, the process continues from step 316 to step 320.

[0056] In step 320, the vehicle control module 210 checks whether the second safety control point has been passed. In one embodiment, the second safety control point is a beacon at a fixed location. This fixed location is preferably located near the pipe of the transport system 100 close to the switch. If the second safety control point is a dynamic location, its location can be defined based on vehicle parameters, including the vehicle 200's speed, load, vehicle 200's position data (e.g., at least one of yaw, roll, and pitch), other data, or combinations thereof.

[0057] Figure 1 Second beacon 144 and third beacon 146 are shown. When the direction instructed and followed by vehicle 200 is right-hand, second position 144 defines a second safety point. The second safety point defines a position in the transport system 100 where the vehicle has left the switch and entered another continuous pipe or segment. And after leaving the switch, the lateral position of vehicle 200 can again be controlled from both sides.

[0058] Therefore, if the second safety control point has not yet been passed, the process branch returns to step 314, where the distance between vehicle 200 and the default side guide rail is controlled within the control distance range. If it is determined that the second safety control point has been passed, the process continues to step 322, where it is checked whether the distance between vehicle 200 and another guide rail on the non-command side of the vehicle is within the control distance or control distance range.

[0059] In the example discussed herein, the guide rail on the non-command side beyond the second safety control point is the fourth guide rail 128. If the distance between vehicle 200 and the fourth guide rail 128 is less than the control distance or within the control distance range, the process continues to step 304 for normal operation in another branch of the transport system 100. If the distance between vehicle 200 and the fourth guide rail 128 is greater than the control distance or the control distance range, the process branch returns to step 314.

[0060] As illustrated by the numbered examples below, various aspects and examples of the invention can be summarized. These examples are set to support general innovative concepts and should not be construed as limiting the breadth of the concepts as defined by the claims.

[0061] In the description above, it will be understood that when an element such as a layer, region, or substrate is referred to as "on another element" or "to another element," the element is directly on the other element, or there may be intermediate elements present. It will also be understood that the values ​​given in the description above are given as examples, and other values ​​may be possible and / or attainable.

[0062] Furthermore, the present invention can also be implemented with fewer components than those provided in the embodiments described herein, wherein one component performs multiple functions. Similarly, the invention can be implemented with more components than those shown in the figures, wherein the function performed by one component in the provided embodiments is distributed across multiple components.

[0063] It should be noted that the accompanying drawings are merely schematic diagrams illustrating embodiments of the invention by way of non-limiting example. For clarity and brevity, features described herein are part of the same or different embodiments; however, it should be understood that the scope of the invention may include embodiments having combinations of all or some of the described features. The word "comprising" does not exclude the presence of other features or steps besides those listed in the claims. Furthermore, the words "a" and "an" should not be construed as limited to "only one," but are used to mean "at least one," and do not exclude a plurality.

[0064] Those skilled in the art will readily understand that the various parameters and their values ​​disclosed in the specification can be modified, and the various disclosed and / or claimed embodiments can be combined, without departing from the scope of the invention.

[0065] The reference numerals in the claims do not limit the scope of the claims, but are inserted solely to enhance the readability of the claims.

Claims

1. A method for controlling the trajectory direction of a vehicle moving in a vehicle guidance system including a first guide rail and a second guide rail, the method comprising: Control at least one of a first distance between the first lateral side of the vehicle and the first guide rail and a second distance between the second lateral side of the vehicle and the second guide rail; Receive a direction command corresponding to one of the first lateral side and the second lateral side, wherein the side is the direction side; Control the directional distance between the vehicle's directional side and one of the first and second guide rails located on the vehicle's directional side. The method further includes: Determine whether the first safe point has been passed; Obtain a default orientation corresponding to one of the first lateral side and the second lateral side; If the first safety point has been passed, the default distance between the default lateral side of the vehicle corresponding to the default direction and one of the first and second guide tracks adjacent to the default lateral side is controlled.

2. The method according to claim 1, wherein, Determining whether the first safe point has been passed includes at least one of the following: Determine whether the vehicle has passed the beacon comprised of the vehicle guidance system; and Determine whether both the first distance and the second distance can be controlled within the control distance. If it is determined that the first distance cannot be controlled if the second distance does not exceed the control distance, then the first safety point has been passed.

3. The method according to any one of claims 1-2, further comprising: Obtain the safe distance range, and upon receiving the direction command, If the direction instruction includes a first direction If the first distance is within the safe distance range, then the first distance will be controlled within the first distance range; If the first distance is outside the safe distance range, then the second distance is controlled within the second distance range; and If the direction instruction includes a second direction If the second distance is within the safe distance range, then the second distance will be controlled within the second distance range; If the second distance is outside the safe distance range, then the first distance is controlled within the first distance range.

4. The method according to claim 3, wherein, The safe distance range is based on at least one of the following: The speed of the vehicle; The curvature of the guide rail; The load of the vehicle; The acceleration of the vehicle; The total mass of the vehicle; The position of the vehicle in the vehicle guidance system; and The vehicle's yaw, roll, and pitch are at least one of the following.

5. The method according to any one of claims 1-2, further comprising: Determine whether the second safe point has been passed; If it has been determined that the second safety point has been passed, then control at least one of the first distance between the first lateral side of the vehicle and the first guide rail and the second distance between the second lateral side of the vehicle and the second guide rail.

6. The method according to any one of claims 1-2, wherein: The first distance is the distance between the first guide rail and the first magnet module disposed on the first lateral side of the vehicle; The second distance is the distance between the second guide rail and the second magnet module disposed on the second lateral side of the vehicle; and The control distance includes controlling the magnetic force between the guide rail and the magnet module.

7. The method according to claim 6, wherein, The first magnet module and the second magnet module include electromagnets, and controlling the magnetic force includes controlling the current level flowing through the electromagnets.

8. The method according to claim 6, wherein, The first magnet module can be adjusted to a first magnet position relative to the vehicle and the second magnet module can be adjusted to a second magnet position relative to the vehicle, and the control of the magnetic force includes adjusting at least one of the first magnet position and the second magnet position.

9. A control system for controlling the trajectory direction of a vehicle moving in a vehicle guidance system including a first guide rail and a second guide rail, the control system comprising: The processing module is arranged as follows Determine a first distance between the first lateral side of the vehicle and the first guide rail; Determine a second distance between the second lateral side of the vehicle and the second guide rail; The input module is configured to receive direction commands. A control module is arranged to perform at least one of the following based on the direction command: The first distance is controlled based on a determined first distance; and The second distance is controlled based on a determined second distance. The processing module is further arranged as follows: Determine whether the first safe point has been passed; Obtain a default orientation corresponding to one of the first lateral side and the second lateral side; If the first safety point has been passed, the default distance between the default lateral side of the vehicle corresponding to the default direction and one of the first and second guide tracks adjacent to the default lateral side is controlled.

10. A vehicle moving in a vehicle guidance system including a first guide rail and a second guide rail, said vehicle including the control system according to claim 9.

11. The vehicle of claim 10, further comprising a first magnet module disposed on the first lateral side of the vehicle and a second magnet module disposed on the second lateral side of the vehicle, wherein, The control system is arranged as follows: The first distance is controlled by controlling the first magnetic force between the first magnet module and the first guide rail; and The second distance is controlled by controlling the second magnetic force between the second magnet module and the second guide rail.

12. The vehicle according to claim 10 or 11, wherein, The control system is configured to control: A first current flows through the first magnet module disposed on the first lateral side of the vehicle; and A second current flows through the second magnet module located on the second lateral side of the vehicle.

13. A vehicle guidance system for guiding vehicles, the vehicle guidance system comprising a first guide rail and a second guide rail, and a control system according to claim 9.

14. The vehicle guidance system of claim 13, comprising interconnected conduits, wherein, The first guide rail and the second guide rail are provided along at least a portion of the inner wall of the pipe.

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