Separate track train and control method

Abstract

The present invention discloses a separated rail train and a control method thereof, comprising: a vehicle body having at least two carriages, at least one of which is a temporary vehicle storage carriage, the temporary vehicle storage carriage having a side door for vehicles to enter and exit; a vehicle disposed in the temporary vehicle storage carriage, through which the vehicle can enter and exit the temporary vehicle storage carriage when the side door is opened; a control device disposed in the temporary vehicle storage carriage or in the vehicle, for controlling the vehicle to stop at a designated position after entering the temporary vehicle storage carriage; a positioning device disposed in the carriage, for fixing the position of the vehicle and restricting its movement when not in motion. By configuring the train carriage to allow vehicles to enter and exit, it is possible to simultaneously facilitate the entry and exit of multiple passengers, and by driving the vehicle to board and exit the train, passengers can be assisted in entering and exiting, and the problems of low efficiency and waste of public resources caused by crowded stations can be alleviated.

Description

Technical Field

[0001] The present invention relates to the technical field of rail vehicles, and more particularly to a separated rail train and a control method thereof. Background Art

[0002] Existing high-speed rail stations will cause congestion in and around the stations when facing peak traffic flow. At the same time, a large number of vulnerable groups such as the elderly and children need help from staff and family members when there are dense crowds.

[0003] In order to solve this problem, most people choose to build overpasses or auxiliary transportation to facilitate travel. However, considering the complex passenger flow and large passenger flow in railway stations and high-speed railway stations, the above methods still have many inconveniences.

[0004] In summary, how to alleviate the problem of low efficiency caused by dense passenger flow at a station is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a separated track train and a control method, which has vehicles that can enter and move out of the train, making it convenient for passengers to enter the vehicle in the train compartment and get on and off the train by driving the vehicle, thereby alleviating the problems of inefficiency and waste of public resources caused by dense crowds at the station.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A separated track train, comprising:

[0008] A vehicle body, wherein the vehicle body has at least two compartments, at least one of the compartments is a temporary vehicle storage compartment, and the temporary vehicle storage compartment has a side door for vehicles to enter and exit;

[0009] A vehicle is disposed in the vehicle temporary storage compartment, and when the side door is opened, the vehicle can enter and exit the vehicle temporary storage compartment through the side door;

[0010] a control device, disposed in the vehicle temporary storage compartment or in the vehicle, for controlling the vehicle to stop at a designated position after entering the vehicle temporary storage compartment;

[0011] A positioning device is provided on the carriage and is used to fix the position of the vehicle and restrict its movement when the vehicle is not in motion.

[0012] Preferably, the side doors are flying wing-type side doors, and the flying wing-type side doors are provided on both sides of the traveling direction of the vehicle temporary storage compartment.

[0013] Preferably, the carriage further includes at least one conventional carriage, the doors of the conventional carriage are doors for direct passage of passengers, and the conventional carriage and the vehicle temporary storage carriage are connected by a passage.

[0014] Preferably, it further includes a charging device, which is arranged in the temporary storage compartment of the vehicle and is located at a position corresponding to the charging port of the parked vehicle.

[0015] Preferably, the vehicle body further comprises a connecting device for connecting the vehicle bodies, the connecting device being provided at the front end and the rear end of the vehicle, the connecting device comprising a magnetic device and a telescopic device, the telescopic device being provided at the front end and the rear end of the vehicle, the magnetic device being provided at the protruding end of the telescopic device, and two consecutive vehicles adjacent to each other being connected via the magnetic device;

[0016] The positioning device is a magnetic coupling connection device, which is used to cooperate with the magnetic device in the extended state to fix the position of the vehicle.

[0017] Preferably, the front end of the vehicle body is provided with an air inlet for reducing wind resistance and an air inlet channel connected to the air inlet, a wind turbine generator is provided in the air inlet channel, the wind turbine generator is connected to an energy storage battery device, and the energy storage battery device is connected to a side door opening and closing drive device for controlling the opening and closing of the side door.

[0018] Preferably, the wheels of the vehicle are magnetic levitation universal wheel devices, comprising:

[0019] A magnetic levitation system comprising a permanent magnet for providing a magnetic field and an electromagnetic coil energized to cooperate with the permanent magnet to generate a magnetic field;

[0020] A universal wheel structure includes a fixed shaft, a bearing, and a wheel. The permanent magnet is fixed to the center of the wheel and rotates synchronously with the wheel. The bearings are installed on both sides of the wheel. The wheel can rotate freely in the vertical and horizontal directions.

[0021] A support frame, comprising an upper frame and a lower frame, wherein the upper frame is used to fix the electromagnetic coil to support the magnetic suspension system, and the lower frame is used to contact the ground to support the universal wheel structure; the upper frame is connected to the lower frame;

[0022] A control system comprising a sensor and a controller, wherein the sensor is used to detect the position and motion state of the wheel, and the controller is used to adjust the current of the electromagnetic coil according to the detection information feedback of the sensor to adjust the electromagnetic intensity and achieve a suspended state;

[0023] A power supply is connected to the controller and the electromagnetic coil via a cable.

[0024] Preferably, an acceleration sensor or a position sensor is used to detect the current degree of bumpiness and is provided on the wheel or the fixed shaft;

[0025] A shock absorber body, comprising a damper for absorbing and dissipating motion energy and a spring element for providing supporting force;

[0026] A feedback regulating device, comprising a valve body structure, for connecting to the controller and regulating the flow of the fluid flowing through the shock absorber according to the instructions of the controller

[0027] The controller controls the shock absorber body to adjust the shock absorption level of the shock absorbing device in real time according to the position and movement state of the wheel detected by the acceleration sensor or the position sensor.

[0028] Preferably, the wheel of the vehicle is a universal wheel, the universal wheel is connected to an angle adjustment device, and the angle adjustment device is connected to the control device.

[0029] Preferably, the vehicle is provided with a communication device for exchanging data with the vehicle body and the station's control system to obtain control information for the vehicle;

[0030] The vehicle is provided with a console, which is located at the front or rear end of the vehicle and is used to monitor the external information of the vehicle and to implement manual control in an emergency; the console is provided with an on-board display screen for displaying the external information of the vehicle;

[0031] The driving vehicle is provided with an emergency braking system and an external state detection device for detecting external states, including detecting vehicle information, personnel information and road safety information. The external state detection device is connected to the emergency braking system; the emergency braking system is connected to the console.

[0032] A method for controlling a split track train is applied to any of the split track trains described above, the method comprising:

[0033] Acquiring the vehicle's driving state and location information; when the vehicle's driving state is stopped and the location information is within a preset range, sending a door opening signal to the vehicle;

[0034] Controlling the side door of the vehicle body to open, and controlling the positioning device for fixing the position of the vehicle to release the positioning, so that the vehicle can move;

[0035] The vehicle is controlled to move and align with the side door, and the vehicle is controlled to move out of the side door to the outside of the vehicle body.

[0036] Preferably, in the process of controlling the movement of the vehicle, the position information and surrounding status information of the vehicle are acquired in real time and sent to the controller of the vehicle.

[0037] A separated rail train provided by the present invention includes: a car body, the car body having at least two carriages, at least one of the carriages being a temporary vehicle storage carriage, the temporary vehicle storage carriage having a side door, and the side door being used for the entry and exit of the vehicle; a vehicle, arranged in the temporary vehicle storage carriage, and when the side door is opened, the vehicle can enter and exit the temporary vehicle storage carriage through the side door; a control device, arranged in the temporary vehicle storage carriage or in the vehicle, and used to control the vehicle to stop at a designated position after entering the temporary vehicle storage carriage; a positioning device, arranged in the carriage, and used to fix the position of the vehicle and restrict its movement when it is not in motion.

[0038] The separated rail train provided by the present application is designed to allow vehicles to enter and exit the train compartments. The vehicles can carry several passengers. When the train stops at a station, the side doors can be opened to facilitate the entry and exit of the vehicles, thereby driving multiple passengers in and out at the same time. By driving the vehicles to get on and off the train, passengers can enter and exit the train, and alleviate the problems of inefficiency and waste of public resources caused by crowded stations. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0040] Figure 1 A schematic diagram of a separate track train provided by the present invention;

[0041] Figure 2 A schematic structural diagram of a vehicle of a separate track train provided by the present invention;

[0042] Figure 3 A front view of the vehicle provided by the present invention;

[0043] Figure 4 A schematic diagram of the surface structure of the vehicle provided by the present invention;

[0044] Figure 5 This is a flow chart of the separate track train control method provided by the present invention.

[0045] Figure 1-Figure 5 middle:

[0046] 1-car body, 2-vehicle, 3-control device, 4-positioning device;

[0047] 11-Vehicle temporary storage compartment, 12-Side door;

[0048] 21-vehicle door, 22-wheel. DETAILED DESCRIPTION

[0049] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0050] The core of the present invention is to provide a separated track train and a control method. The train has vehicles that can enter and move out of the train, which can facilitate passengers to enter the vehicle in the train compartment and get on and off the train by wirelessly driving the vehicle, alleviating the problems of inefficiency and waste of public resources caused by dense crowds at the station.

[0051] The present application provides a separated rail train, comprising a vehicle body 1, a vehicle 2, a control device 3 and a positioning device 4.

[0052] The vehicle body 1 has at least two compartments, at least one of which is a temporary vehicle storage compartment 11 . The temporary vehicle storage compartment 11 has a side door 12 , and the side door 12 is used for the vehicle 2 to enter and exit.

[0053] The vehicle 2 is placed in the temporary vehicle storage compartment 11. When the side door 12 is opened, the vehicle 2 can enter and exit the temporary vehicle storage compartment 11 through the side door 12.

[0054] The control device 3 is provided in the vehicle temporary storage compartment 11 or in the vehicle 2 and is used to control the vehicle 2 to stop at a designated position after entering the vehicle temporary storage compartment 11;

[0055] The positioning device 4 is provided in the vehicle compartment and is used to fix the position of the vehicle 2 and restrict its movement when the vehicle is not in motion.

[0056] The carriages of the above-mentioned train need to include at least one vehicle temporary storage carriage 11 for arranging the vehicle 2 therein. Of course, the several carriages of the vehicle body 1 may also include other ordinary carriages, and the ordinary carriages and the vehicle temporary storage carriage 11 may be internally connected, or may be internally non-connected.

[0057] The vehicle 2 is placed in the temporary vehicle storage compartment 11 and can be moved by the vehicle body 1, thereby realizing the driving of the entire vehicle 2. The vehicle 2 can carry multiple passengers, so that more passengers can board the train at the same time, and can also carry more passengers when getting off the train. The vehicle 2 can be a car or a multi-passenger vehicle, so that multiple people can ride and use it at the same time.

[0058] The positioning device 4 may be a fixing device provided on the floor or side wall of the vehicle compartment to fix the vehicle 2. When the vehicle 2 enters the vehicle compartment and needs to be parked, the positioning device may be used to further control the stability of the vehicle 2.

[0059] Preferably, the vehicle provided in this application is an unmanned vehicle.

[0060] The separated rail train provided in the present application is configured to allow vehicles to enter and exit the train compartments. The vehicle can carry several passengers. When the train stops at a station, the side doors can be opened to allow vehicle 2 to enter and exit, thereby driving multiple passengers in and out at the same time. By driving the vehicle to get on and off the train, passengers can enter and exit the train, and the problems of inefficiency and waste of public resources caused by crowded stations can be alleviated.

[0061] On the basis of the above embodiment, the side doors 12 are wing-type side doors, and wing-type side doors are provided on both sides of the vehicle temporary storage compartment 11 in the direction of travel.

[0062] Please refer to Figure 1 The side door 12 is opened in a wing-like manner, which, on the one hand, expands the opening width of the side door 12 and, on the other hand, avoids interference with the vehicle's entry and exit routes.

[0063] Optionally, the above-mentioned flying wing side door can be opened from the top or from the bottom, that is, the fixed rotating part of the side door 12 can be located at the upper part or the lower part of the carriage.

[0064] Based on any of the above embodiments, the carriage further includes at least one conventional carriage, the doors of the conventional carriage are doors for direct passage of passengers, and the conventional carriage and the vehicle temporary storage carriage 11 are connected by a passage.

[0065] Taking into account that the number of passengers getting on and off at each station may be different, two or more vehicle storage compartments 11 can be set up. Of course, multiple conventional compartments can also be set up to connect to the front and back of the vehicle storage compartment 11. Passengers can choose any compartment to ride. When they need to get off the train, they can choose to enter the vehicle storage compartment 11 to board vehicle 2.

[0066] Based on any of the above embodiments, a charging device is further included. The charging device is arranged in the vehicle temporary storage compartment 11 and is located at a position corresponding to the charging port of the parked vehicle.

[0067] The charging device can take various forms, including charging piles and charging guns, and is located inside the vehicle compartment. Optionally, the charging device is equipped with a locking device. A detection device is also located inside the vehicle compartment to detect whether the vehicle has reached a stable parking state or whether the positioning device has secured the vehicle. When stable, it sends a signal to the control device to unlock the charging device. This arrangement helps ensure that the vehicle is not charged while in an unstable state, thus avoiding damage to the charging device.

[0068] Based on any of the above embodiments, it further includes a connecting device for connecting the bodies of the vehicles 2, the connecting device is provided at the front and rear ends of the vehicles 2, the connecting device includes a magnetic device and a telescopic device, the telescopic device is provided at the front and rear ends of the vehicles, the magnetic device is provided at the extended end of the telescopic device, and two consecutive vehicles adjacent to each other are connected by the magnetic device;

[0069] The positioning device 4 is a magnetic coupling connection device, which is used to cooperate with the extended magnetic device to fix the position of the vehicle.

[0070] Based on any of the above embodiments, the front end of the vehicle body 1 is provided with an air inlet for reducing wind resistance and an air inlet channel connected to the air inlet, a wind turbine generator is provided in the air inlet channel, the wind turbine generator is connected to an energy storage battery device, and the energy storage battery device is connected to a side door opening and closing drive device for controlling the opening and closing of the side door 12.

[0071] Optionally, other locations of the vehicle body 1 may also be provided with equipment for facilitating wind power generation. The equipment stores energy by connecting to energy storage equipment. In the stored state, the electric energy can be conveniently used at any time. The weight cost of the battery has a high utilization value for the train's electricity consumption.

[0072] Based on any of the above embodiments, the wheels of the vehicle 2 are magnetic levitation universal wheel devices, including: a magnetic levitation system, a universal wheel structure, a support frame, a power supply device and a control system.

[0073] The magnetic suspension system includes a permanent magnet for providing a magnetic field and an electromagnetic coil which is energized to cooperate with the permanent magnet to generate a magnetic field.

[0074] The universal wheel structure includes a fixed shaft, a bearing and a wheel 22. The permanent magnet is fixed to the center of the wheel 22 and rotates synchronously with the wheel 22. The bearings are installed on both sides of the wheel 22. The wheel 22 can rotate freely in the vertical and horizontal directions.

[0075] The support frame includes an upper frame and a lower frame. The upper frame is used to fix the electromagnetic coil to support the magnetic suspension system, and the lower frame is used to contact the ground to support the universal wheel structure. The upper frame is connected to the lower frame.

[0076] The control system includes a sensor and a controller. The sensor is used to detect the position and motion state of the wheel 22. The controller is used to adjust the current of the electromagnetic coil according to the detection information feedback of the sensor to adjust the electromagnetic intensity and make it levitate.

[0077] Power supply, the power supply is connected to the controller and the electromagnetic coil through a cable.

[0078] Optionally, the power source can be the energy storage battery device mentioned above, or it can be the power source used by the kinetic energy device on the vehicle 2. It should be noted that the mobile power source on the vehicle 2 is a power source that can be charged by a charging device. Therefore, it can be understood that the energy source of the vehicle 2 can all come from the supply of the charging device in the vehicle compartment.

[0079] On the basis of any of the above embodiments, in order to achieve shock absorption control and safety control of the vehicle, the above structure may further include a sensor for detecting the motion state of the vehicle, a shock absorber, and a controller.

[0080] The above-mentioned sensors mainly include acceleration sensors or position sensors, which are used to detect the current degree of bumpiness and are set on the wheel 22 or the fixed shaft;

[0081] The shock absorber comprises a shock absorber body including a damper for absorbing and consuming motion energy and a spring element for providing a supporting force;

[0082] The feedback adjustment device includes a valve structure that connects to a controller and adjusts the flow of fluid through the shock absorber according to the controller's instructions. The controller is used to control the position and motion of the wheel 22 detected by the shock absorber body via an acceleration sensor or position sensor, and to adjust the shock absorption level of the shock absorber in real time.

[0083] In a specific embodiment, the wheels of the vehicle 2 are universal wheels, the universal wheels are connected to an angle adjustment device, and the angle adjustment device is connected to the control device.

[0084] Based on any of the above specific embodiments, the vehicle 2 is provided with a communication device for exchanging data with the vehicle body and the station control system to obtain control information of the vehicle 2;

[0085] A control console is provided in the vehicle 2, and is located at the front or rear end of the vehicle 2, for monitoring the external information of the vehicle 2 and for implementing manual control in an emergency; the control console is provided with an on-board display screen for displaying the external information of the vehicle;

[0086] The driving vehicle is provided with an emergency braking system and an external state detection device for detecting external states, including detecting vehicle information, personnel information and road safety information. The external state detection device is connected to the emergency braking system; the emergency braking system is connected to the console.

[0087] Since the above-mentioned vehicles can be unmanned vehicles, in order to control the unmanned vehicles, ensure vehicle safety and handle emergency situations, in a specific embodiment, communication equipment is provided on the vehicles, trains and stations to enable data exchange between the vehicles and the control systems of the trains and stations to obtain control information of the vehicles.

[0088] The vehicle's control console has instruments and control devices for controlling the vehicle's driving status, so as to achieve convenient control operations when manual control is required and in emergency situations.

[0089] The technical solution provided in this application utilizes a combination of trains and driverless vehicles, allowing passengers to board driverless vehicles upon arrival at a station and enter the train directly. Upon arrival, the driverless vehicles can also be transported directly out of the station. The train compartments feature wing-shaped doors for easy access by driverless vehicles. When the vehicles return to the train compartments or to their fixed locations at the station, they can automatically charge. The driverless vehicles are connected by a magnetic structure, allowing them to communicate and charge each other.

[0090] The locomotive design of this application incorporates a sustainable energy solution. After passing through the air intake, the wind energy is converted to mechanical energy by a wind turbine generator, powering the opening of the train's side doors 12. The mechanical energy is then converted to electrical energy by the generator to power the train's lights. In this process, the wind energy collected by the air intake is effectively utilized, providing an additional source of power for the train and reducing energy consumption.

[0091] Autonomous vehicles can use magnetically levitated universal wheels with an electromagnetic suspension system mounted on the underside. This system includes multiple electromagnets and sensors. The sensors monitor the vehicle's motion and the position of the wheels 22. The sensors then adjust the current to control the magnetic field generated by the electromagnets, thereby levitating and maneuvering the wheels 22. This achieves stable suspension and height adjustability, giving the vehicle improved performance and maneuverability under varying ground conditions.

[0092] The driverless car's exterior design can be sleek and streamlined, minimizing the risk of injury to passengers in the event of a scratch or accident. Universal tires make boarding and exiting the vehicle easier, providing greater flexibility in handling crowded conditions. Optionally, a smart screen can be installed on vehicle 2 to display real-time train information and provide entertainment for passengers.

[0093] In addition to the separate track train provided in each of the above embodiments, the present application also provides a control method for the separate track train, which is applied to any of the separate track trains described above. The separate track train control method includes the following steps:

[0094] Step S1, obtaining the driving state and position information of vehicle 2; when the driving state of vehicle 2 is stopped and the position information is within a preset range, sending a door opening signal to vehicle body 1;

[0095] Step S2: Control the side door of the vehicle body 1 to open, and control the positioning device 4 for fixing the position of the vehicle 2 to release the positioning, so that the vehicle 2 can move;

[0096] Step S3 , controlling the vehicle 2 to move and align with the side door 12 , and controlling the vehicle 2 to move out of the side door 12 to the outside of the vehicle body 1 .

[0097] The above-mentioned operating method of the present application is used to realize the use of separated track trains. The operating mode is the control mode of the train and the vehicle. For unmanned vehicles, the operation process is completely implemented by the control devices and controllers of the vehicle and the train. The control process of the two requires data interaction and detection status acquisition, which can be implemented by referring to the description in the above-mentioned embodiment of the separated track train.

[0098] Based on the above content, in the process of controlling the movement of the vehicle, the vehicle's location information and surrounding status information are obtained in real time and sent to the vehicle controller.

[0099] For the structures of other parts except for the various embodiments provided above, please refer to the prior art and will not be described in detail herein.

[0100] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0101] The above is a detailed introduction to the separated track train and its control method provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only intended to help understand the method and core concept of the present invention. It should be noted that for ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A separate track train, characterized in that: include: A vehicle body (1), the vehicle body (1) having at least two carriages, at least one of which is a vehicle temporary storage carriage (11), the vehicle temporary storage carriage (11) having a side door (12), the side door (12) being used for entry and exit of a vehicle (2); A vehicle (2) is arranged in the vehicle temporary storage compartment (11); when the side door (12) is opened, the vehicle (2) can enter and exit the vehicle temporary storage compartment (11) through the side door (12); the vehicle door (21) of the vehicle (2) can be controlled to open or close; A control device (3) is provided in the vehicle temporary storage compartment (11) or in the vehicle (2), and is used to control the vehicle (2) to stop at a designated position after entering the vehicle temporary storage compartment (11); A positioning device (4) is provided on the carriage and is used to fix the position of the vehicle (2) and restrict its movement when it is not in motion; Also included is a charging device, the charging device being disposed in the temporary vehicle storage compartment and located at a position corresponding to a charging port of the parked vehicle; Also included is a connecting device for connecting the bodies of the vehicles (2), the connecting device being arranged at the front end and the rear end of the vehicle (2), the connecting device comprising a magnetic device and a telescopic device, the telescopic device being arranged at the front end and the rear end of the vehicle, the magnetic device being arranged at the protruding end of the telescopic device, and two consecutive vehicles adjacent to each other being connected via the magnetic device; The positioning device (4) is a magnetic attraction matching connection device, which is used to match and connect with the magnetic attraction device in an extended state to fix the position of the vehicle.

2. The separate track train according to claim 1, characterized in that: The side doors (12) are flying wing-type side doors, and the flying wing-type side doors are provided on both sides of the travel direction of the vehicle temporary storage compartment (11).

3. The separate track train according to claim 1, characterized in that: The carriage further comprises at least one conventional carriage, the doors of the conventional carriage being doors for direct passage of passengers, and the conventional carriage and the vehicle temporary storage carriage (11) are connected via a passage.

4. The separate track train according to claim 1, characterized in that: The front end of the vehicle body (1) is provided with an air inlet for reducing wind resistance and an air inlet channel connected to the air inlet, a wind turbine generator is provided in the air inlet channel, the wind turbine generator is connected to an energy storage battery device, and the energy storage battery device is connected to a side door opening and closing drive device for controlling the opening and closing of the side door (12).

5. The separate track train according to any one of claims 1 to 4, characterized in that: The wheels of the vehicle (2) are magnetic levitation universal wheel devices, comprising: A magnetic levitation system comprising a permanent magnet for providing a magnetic field and an electromagnetic coil energized to cooperate with the permanent magnet to generate a magnetic field; A universal wheel structure comprising a fixed shaft, a bearing and a wheel (22), wherein the permanent magnet is fixed to the center of the wheel (22) and rotates synchronously with the wheel (22), the bearings are mounted on both sides of the wheel (22), and the wheel (22) can rotate freely in the vertical and horizontal directions; A support frame, comprising an upper frame and a lower frame, wherein the upper frame is used to fix the electromagnetic coil to support the magnetic suspension system, and the lower frame is used to contact the ground to support the universal wheel structure; the upper frame is connected to the lower frame; A control system includes a sensor and a controller, wherein the sensor is used to detect the position and motion state of the wheel (22), and the controller is used to adjust the current of the electromagnetic coil according to the detection information feedback of the sensor to adjust the electromagnetic intensity and make the position of the wheel (22) suspended; A power supply is connected to the controller and the electromagnetic coil via a cable.

6. The separate track train according to claim 5, characterized in that: Also includes: An acceleration sensor or a position sensor, used for detecting the current degree of bumpiness, and arranged on the wheel (22) or the fixed shaft; A shock absorber body, comprising a damper for absorbing and dissipating motion energy and a spring element for providing supporting force; a feedback regulating device, comprising a valve body structure, for connecting to the controller and regulating the flow of the fluid flowing through the shock absorber according to an instruction of the controller; The controller controls the position and motion state of the wheel (22) detected by the shock absorber body through an acceleration sensor or a position sensor, and adjusts the shock absorption level of the shock absorption device in real time.

7. The separate track train according to any one of claims 1 to 4, characterized in that: The wheels of the vehicle (2) are universal wheels, the universal wheels are connected to an angle adjustment device, and the angle adjustment device is connected to the control device.

8. The separate track train according to any one of claims 1 to 4, characterized in that: The vehicle (2) is provided with a communication device for performing data interaction with the vehicle body and the control system of the station to obtain control information of the vehicle (2); The vehicle (2) is provided with a control console, which is located at the front end or rear end of the vehicle (2) and is used to monitor external information of the vehicle (2) and to achieve manual control in an emergency; the control console is provided with an on-board display screen for displaying external information of the vehicle; The vehicle is provided with an emergency braking system and an external state detection device for detecting external states, including detecting vehicle information, personnel information and road safety information. The external state detection device is connected to the emergency braking system; the emergency braking system is connected to the console.

9. A method for controlling a separated track train, characterized in that: Applied to the separated track train according to any one of claims 1 to 8, the separated track train control method comprises: Acquiring the vehicle's driving state and location information; when the vehicle's driving state is stopped and the location information is within a preset range, sending a door opening signal to the vehicle; Controlling the side door of the vehicle body to open, and controlling the positioning device for fixing the position of the vehicle to release the positioning, so that the vehicle can move; The vehicle is controlled to move and align with the side door, and the vehicle is controlled to move out of the side door to the outside of the vehicle body.

10. The method for controlling a separate track train according to claim 9, wherein: During the process of controlling the movement of the vehicle, the position information and surrounding status information of the vehicle are acquired in real time and sent to the controller of the vehicle.

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