Intelligent rail trolley control system and method

Abstract

The invention discloses an intelligent small rail car control system and method. The intelligent small rail car control system comprises a car frame and a driving rear axle arranged on the car frame. The steering assembly comprises a front wheel set, a guide wheel set and a pneumatic device, and the pneumatic device is used for outputting driving force to the steering assembly so as to change the steering torque of a steering wheel shaft; wherein the pneumatic device comprises a reversing air cylinder and air storage tanks, the reversing air cylinder is a double-acting air cylinder, each air inlet of the reversing air cylinder is connected with at least one air storage tank, and when the reversing air cylinder inputs air from the air inlets, the air enters the air storage tanks at the air inlets firstly and then enters the reversing air cylinder. According to the invention, the complexity and cost of the control system are reduced, but the control precision and safety are improved.

Description

Technical Field

[0001] The present application relates to the field of rail transit technology, and in particular to an intelligent rail vehicle control system and method. Background Art

[0002] The intelligent rail trolley transportation system is different from traditional rail transportation tools. The passenger capacity of each intelligent rail trolley is usually no more than 5 people. The trolleys are not connected on the track. The trolleys run automatically on the track under the control of the control system without the need for a dedicated driver. The track of intelligent rail transportation is also different from the traditional I-beam double-track track. It is a U-shaped track groove, and its track width is much smaller than that of traditional tracks. Its operation mode includes the trolley running on the track or the trolley hanging on the track. Its operation scale is small, and it generally runs in a relatively local area such as communities, scenic spots, theme parks, and airports. Therefore, the traditional rail transportation control system is too large, complex, and costly for it. However, since the rail trolley is unmanned, the flexibility and accuracy of the control system are very high, and the trolley is small in size, the smoothness of the track has a great impact on the stability of the trolley operation. Therefore, how to achieve a simpler, low-cost, flexible, accurate, and smoother control system for the trolley has always been a difficult problem and goal in this field.

[0003] In the prior art, ULTra pods rely on signals, sensors and control systems to keep the trolley running in the middle of the track and to maintain an appropriate gap between the sides of the trolley and the flange curbs of the track on both sides. This has low reliability and high control system costs.

[0004] The side guide wheels of the BYD Yunba track and the trolley are tightly connected to keep the trolley running on the track. The side guide wheels on both sides of the trolley match the rail flanges on both sides of the track, which requires high precision in the width between the rail flanges on both sides of the track, and high precision in the installation and size of the guide wheels on both sides of the trolley, increasing construction and maintenance costs.

[0005] BYD Yunba uses a mobile turnout, which limits the number of vehicles passing through the turnout per unit time.

[0006] ULra pods do not have side guide wheels, and control deviation may cause collision accidents between the car and the curb. The guide wheels on both sides of BYD Yunba press the track flanges on both sides at the same time. The width accuracy between the track flanges on both sides is required to be high, and the installation consistency requirements for the guide wheels on both sides of different cars are also high. In actual applications, BYD Yunba will experience body shaking on local lines. Summary of the invention

[0007] In view of this, the technical problem to be solved by the present application is to provide an intelligent rail trolley control system and method to solve the problem that the control system of the existing rail trolley is complex and costly.

[0008] In order to solve the above problems, one aspect of the present application provides an intelligent rail trolley control system, comprising:

[0009] A vehicle frame and a driving rear axle arranged on the frame; and a steering assembly, which includes: a front wheel group, each wheel of the front wheel group is fixed to the frame through a steering wheel axle, and the steering wheel axles of the front wheel group are also connected through a steering connecting rod so that the front wheel group is synchronously linked; a guide wheel group, including a left guide wheel, a right guide wheel, and a left guide wheel support arm and a right guide wheel support arm; the left guide wheel support arm and the right guide wheel support arm are symmetrical L-shaped, and the left guide wheel and the right guide wheel are fixedly connected to the corresponding steering wheel axle through their respective guide wheel support arms; and a pneumatic device, used to output driving force to the steering assembly to change the steering torque of the steering wheel axle; wherein the pneumatic device includes a reversing cylinder and an air storage tank, the reversing cylinder is a double-acting cylinder, each air inlet of the reversing cylinder is connected to at least one air storage tank, when the reversing cylinder inputs gas from the air inlet, the intake air first enters the air storage tank at the air inlet and then enters the reversing cylinder.

[0010] Another aspect of the present application provides a control method for an intelligent rail trolley, which is applied to any of the aforementioned intelligent rail trolley control systems, including: a pressure sensor arranged on the guide wheel detects the pressure between the guide wheel and the adjacent rail flange, and sends the detected pressure data to the control chip; the control chip determines whether the guide wheel is in contact with the rail flange based on the pressure data received from the pressure sensor. If the pressure is less than a preset value, it means that the guide wheel is not in contact with the rail flange, then the control chip adjusts the electrical proportional valve to increase the working air pressure of the reversing cylinder, and increases the steering torque until the pressure is not less than the preset value; when the pressure of the rail flange on the guide wheel is not less than the preset value, it means that the guide wheel has been in contact with the rail flange, then the electrical proportional valve is adjusted to make the pressure of the rail flange on the guide wheel within a set range; wherein, when the reversing cylinder inputs gas from the air inlet, the intake air first enters the air storage tank at the air inlet and then enters the reversing cylinder. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a schematic diagram of the structure of an intelligent rail trolley control system according to one embodiment of the present application;

[0012] Figure 2 The figure shows a schematic diagram of the operation of the intelligent rail vehicle on the track according to one embodiment of the present application;

[0013] Figure 3 for Figure 1 Schematic diagram of the gas circuit structure of the embodiment shown. DETAILED DESCRIPTION

[0014] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer and more understandable, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0015] Words related to directions in this application, such as up, down, top, bottom, inside, outside, high, and low, are based on the position of the intelligent rail trolley in normal use.

[0016] In this application, the safe driving speed is set according to actual needs.

[0017] In the present application, the term "track" includes the road surface portion on which the front and rear wheel groups of the trolley run and the side flange portion on which the guide wheels run.

[0018] In one aspect of the present application, there is provided an intelligent rail vehicle control system, comprising:

[0019] A vehicle frame and a driving rear axle arranged on the frame; and a steering assembly, which includes: a front wheel group, each wheel of the front wheel group is fixed to the frame through a steering wheel axle, and the steering wheel axles of the front wheel group are also connected through a steering connecting rod so that the front wheel group is synchronously linked; a guide wheel group, including a left guide wheel, a right guide wheel, and a left guide wheel support arm and a right guide wheel support arm; the left guide wheel support arm and the right guide wheel support arm are symmetrical L-shaped, and the left guide wheel and the right guide wheel are fixedly connected to the corresponding steering wheel axle through their respective guide wheel support arms; and a pneumatic device, used to output driving force to the steering assembly to change the steering torque of the steering wheel axle; wherein the pneumatic device includes a reversing cylinder and an air storage tank, the reversing cylinder is a double-acting cylinder, each air inlet of the reversing cylinder is connected to at least one air storage tank, when the reversing cylinder inputs gas from the air inlet, the intake air first enters the air storage tank at the air inlet and then enters the reversing cylinder.

[0020] In at least one embodiment, a reversing solenoid valve is provided on the reversing cylinder, and the reversing solenoid valve is controlled by a control signal to open and close the valve.

[0021] In at least one embodiment, the control system further includes a control chip, and the control chip sends a control signal to the reversing solenoid valve according to a set control command.

[0022] In at least one embodiment, a pressure sensor is provided on the guide wheel. The pressure sensor detects the pressure between the guide wheel and the adjacent track flange and sends the detected pressure data to the control chip. The control chip determines whether the guide wheel is in contact with the track flange based on the pressure data.

[0023] In at least one embodiment, a distance measuring device is further provided at the rear of the frame to detect the distance between one side of the frame and the rail flange.

[0024] In at least one embodiment, the control chip outputs a reversing control signal to the reversing solenoid valve to cause the reversing cylinder to change the direction of the torque output.

[0025] In at least one embodiment, the drive rear axle is connected to the vehicle frame through a suspension system, and the drive rear axle includes a differential, a drive motor and a rear wheel set, and the differential and the drive motor drive the rear wheel set.

[0026] In at least one embodiment, one end of the reversing cylinder is connected to the guide wheel support arm, and the other end is connected to the frame. When the piston of the reversing cylinder is extended and retracted, the front wheel group and the guide wheel group are turned left or right.

[0027] In at least one embodiment, the pneumatic device includes an air pressure source, which is connected to an air storage tank and a reversing cylinder through an electrical proportional valve. The electrical proportional valve controls the air pressure output by the air pressure source to the air storage tank and the reversing cylinder, thereby determining the amount of steering torque output by the reversing cylinder to the front wheel group.

[0028] In at least one embodiment, the control chip adjusts the electrical proportional valve according to the pressure detected by the pressure sensor to change the working air pressure of the reversing cylinder, so that the pressure of the track flange on the guide wheel is within a set range.

[0029] Another aspect of the present application provides a control method for an intelligent rail trolley, which is applied to any of the aforementioned intelligent rail trolley control systems, including: a pressure sensor arranged on the guide wheel detects the pressure between the guide wheel and the adjacent rail flange, and sends the detected pressure data to the control chip; the control chip determines whether the guide wheel is in contact with the rail flange based on the pressure data received from the pressure sensor. If the pressure is less than a preset value, it means that the guide wheel is not in contact with the rail flange, then the control chip adjusts the electrical proportional valve to increase the working air pressure of the reversing cylinder, and increases the steering torque until the pressure is not less than the preset value; when the pressure of the rail flange on the guide wheel is not less than the preset value, it means that the guide wheel has been in contact with the rail flange, then the electrical proportional valve is adjusted to make the pressure of the rail flange on the guide wheel within a set range; wherein, when the reversing cylinder inputs gas from the air inlet, the intake air first enters the air storage tank at the air inlet and then enters the reversing cylinder.

[0030] In at least one embodiment, the distance measuring device detects the distance value between one side of the frame and the track flange. When the distance value is less than a predetermined value and the pressure between the guide wheel and the track flange is not less than a preset value, the control chip determines that the trolley is running in the tangent direction of the track flange; when the distance value is greater than a predetermined value, the control chip determines that the trolley is not running in the tangent direction of the track flange, and the control chip controls the trolley to slow down to a safe speed or controls the reversing cylinder to increase the steering torque output to the front wheel group until the distance value between one side of the frame and the track flange is less than the predetermined value.

[0031] The specific implementation of the present application will be described in detail below with reference to the accompanying drawings.

[0032] like Figure 1 The figure shows a schematic diagram of the structure of the intelligent rail trolley control system of one embodiment of the present application; it includes: a frame 200, which is used to form the basic structure of the trolley; a steering assembly is provided on the trolley, and the steering assembly includes a front wheel group, a guide wheel group and a pneumatic device; wherein the front wheel group is a steering wheel group, including a left front wheel 203, a right front wheel 202, a left steering wheel axle 2031 and a right steering wheel axle 2021; the left front wheel 203 is connected to the frame 200 through the left steering wheel axle 2031; the right front wheel 202 is connected to the frame 200 through the right steering wheel axle 2021; wherein the left steering wheel axle 2013 and the right steering wheel axle 2021 are connected to the frame as a rotating shaft The left steering wheel axle 2031 and the right steering wheel axle 2021 are connected together by a steering link 209, so that the left steering wheel axle 2031 and the right steering wheel axle 2021 can achieve synchronous linkage when turning, that is, the left front wheel and the right front wheel are synchronously connected when swinging; an L-shaped left guide wheel support arm 207 is also provided on the left steering wheel axle 2031, and the far end of the left guide wheel support arm 207 is connected to the left guide wheel 205, so that the left guide wheel 205 rolls along the track flange in the horizontal direction; symmetrically, the right guide wheel support arm 206 connects the right guide wheel 204 to the right steering wheel axle 2021. The driving rear axle is connected to the frame 200 through a suspension system, and the driving rear axle includes a differential 210, a driving motor 211, and a left rear wheel 213 and a right rear wheel 212; the left rear wheel 213 and the right rear wheel 212 are connected together through a driving wheel shaft 225, and serve as driving wheels of the trolley under the action of the driving motor 211. A pneumatic device 208 is also provided on the frame 200, which is used to output driving force to the steering assembly to change the steering torque of the steering wheel shaft. One end of the pneumatic device is connected to the guide wheel support arm, and the other end is connected to the frame. By changing the output direction of the cylinder, the trolley can be turned left or right, run along the left track flange, or run along the right track flange. The frame 200 is also provided with a left safety wheel 215 and a right safety wheel 214. The left safety wheel 215 and the right safety wheel 214 do not contact the track flange when the trolley is running normally. However, when the track turning radius is too small and bends inward (for example, the track turns right in the direction of the trolley's advance), the trolley is guided along the right track flange. At this time, when the turning radius is small, the rear side of the trolley is easy to touch the track flange. At this time, the safety wheel contacts the track flange, effectively avoiding the body from scratching the track flange. The rear end of the frame 200 is also provided with a left distance measuring device 219 and a right distance measuring device 218, which are used to detect the distance between the trolley and the adjacent track flange.

[0033] In one of the embodiments, the guide wheel support arm also includes a movable shaft, a buffer limit spring kit, a bracket, and a thrust sensor.

[0034] Figure 2 The figure shows a schematic diagram of the operation of the intelligent rail trolley on the track according to one embodiment of the present application, wherein the trolley runs on the track 101, one of the guide wheels 204 of the guide wheel group contacts the track flange 102 on one side, and the other guide wheel 205 remains in a non-contact state with the track flange; when the trolley needs to turn, the guide wheel 205 approaches and contacts the adjacent track flange 103 under the action of the steering assembly, and the guide wheel 204 will be out of contact with the track flange 102, which means that the turn is successful. Under normal conditions, the double-sided safety wheels 218 always remain non-contacting with the track flange on either side. Under abnormal conditions, the safety wheels 218 contact the guide rail to prevent the vehicle body from rubbing against the track flange.

[0035] like Figure 3 As shown, the pneumatic device 208 includes a reversing cylinder 601 and two air storage tanks. Figure 3 The first air tank 602 and the second air tank 603 in the vehicle are connected; wherein the reversing cylinder 601 is a double-acting cylinder, i.e., it includes two air inlets in opposite directions, so that the cylinder can take in air from any direction and output steering torque in any direction; its first air inlet is connected to the first air tank 602, and the second air inlet is connected to the second air tank 603; when the vehicle needs to turn, the control chip changes the air pressure of the reversing cylinder to change the steering torque output to the front wheel set. At this time, in order to make the reversing process smooth and reduce Less vibration, when gas is input from the first air inlet to the reversing cylinder 601, that is, when the cylinder exerts force in one direction, a part of the intake air first enters the first air storage tank 602 and then enters the reversing cylinder 601, so that the pressurization process of the reversing cylinder 601 from one direction is buffered; when air is input from the other direction, that is, when the cylinder exerts force in the other direction, a part of the intake air first enters the second air inlet connected to the second air storage tank 603, and then enters the reversing cylinder 601, so that the pressurization process of the reversing cylinder 601 from the other direction is buffered. The other ends of the first gas storage tank 602 and the second gas storage tank are connected to a reversing solenoid valve 606, which is a 2-position 5-way solenoid valve to adapt to the setting of the double-acting cylinder to take in air from different directions; the pneumatic device 208 also includes an air pressure source 611, which is used to provide air pressure to the reversing cylinder and the gas storage tank. A filter 610 is also provided at the air outlet of the air pressure source 611, and an electrical proportional valve 609 is also provided between the filter 610 and the reversing solenoid valve, which is used to determine the air pressure provided by the air pressure source 611 to the reversing cylinder 601 according to the instructions of the control chip. The air inlet of the reversing solenoid valve 606 is also connected to a muffler 607. The air pressure source is an air compressor and an air purification device, and the pressure of the air pressure source is preset; the electrical proportional valve connected to the air pressure source is a pressure-type electrical proportional valve, and the air pressure can be set by controlling the electrical signal output.

[0036] The switching process of this system is:

[0037] A steering torque is applied to the trolley to the left or right by the push of the reversing cylinder. If the reversing cylinder causes the trolley to have a steering torque to the right, an angle will appear between the trolley's forward direction and the track direction, and the trolley approaches the right track flange. At this time, the right guide wheel of the trolley is in contact with the right track flange, and the track flange also generates pressure on the guide wheel in contact with it, and the magnitude of this pressure is related to the angle between the trolley's forward direction and the track. The greater the angle, the greater the pressure, and the smaller the angle, the smaller the pressure. When it is parallel to the track direction, the pressure is 0. Therefore, the pressure of the track flange on the guide wheel also generates a steering torque on the trolley. This torque is opposite to the steering torque generated by the reversing cylinder. When this torque is greater than the reversing torque generated by the reversing cylinder, the trolley turns in the opposite direction, and the angle between the trolley and the track flange decreases. When the trolley's forward direction and the angle between the track and the angle between the track flange and the guide wheel decrease, the pressure of the track flange on the guide wheel decreases. When the steering torque generated by the pressure of the track flange on the guide wheel is the same as the steering torque generated by the reversing cylinder, the trolley's direction will no longer change and maintain a smaller angle with the track's forward direction or the tangent direction of the track flange. When the guide wheel has not yet contacted the track flange, increasing the cylinder pressure can speed up the trolley's guide wheel to contact the track flange. After the guide wheel and the track flange contact, by setting the cylinder pressure to an appropriate range, the angle between the trolley's running direction and the track's tangent direction is controlled, so that the trolley can maintain running along the track flange while reducing the energy consumption caused by the inconsistency between the forward direction and the track's tangent direction.

[0038] When turning, the working pressure of the reversing cylinder is first reduced through the electrical proportional valve, and then the output direction of the cylinder is adjusted. Then, the working pressure of the reversing cylinder is increased according to a certain rule by adjusting the electrical proportional valve, thereby controlling the movement speed of the cylinder and improving the smoothness of the turning. When the track enters a curve from a straight road, or from a curve to a straight road, or the curvature of the curve changes, the direction of the trolley changes, pushing the piston of the reversing cylinder to move, compressing the gas in the cylinder or increasing its volume (increasing the volume inside the cylinder), and increasing or decreasing the pressure inside the cylinder.

[0039] Since the two air inlets of the cylinder are each connected to a small air tank, the volume change caused by the movement of the cylinder piston accounts for a relatively small proportion of the volume of the small air tank. Therefore, when the curvature of the track changes, the track flange pushes the reversing cylinder piston to move through the guide wheel, causing the air pressure change to be within a smaller range, which will not affect the smoothness of the trolley running along the track flange. Due to the unevenness of the track flange, the vibration of the guide wheel on the track flange is transmitted to the push rod of the reversing cylinder through the guide wheel support arm, pushing the cylinder piston to move. The small air tank is equivalent to an air spring, which reduces the problem of the trolley shaking left and right due to the unevenness of the guide wheel.

[0040] When the guide wheel on one side contacts the rail flange, the pressure sensor detects the pressure of the rail flange on the guide wheel. The control system changes the air pressure through the proportional control valve according to the required pressure, thereby changing the working air pressure of the direction cylinder, changing the thrust of the reversing cylinder, and finally changing the pressure of the rail flange on the guide wheel to keep it within a reasonable range.

[0041] When the guide wheel and the track flange are not in contact, for example, when turning from left to right, the left guide wheel and the left track flange are not in contact, and the pressure sensor detects that the pressure of the track flange on the guide wheel is less than the preset value, and a higher air pressure is output through the proportional control valve, so that the reversing cylinder generates a larger steering torque to promote the steering. When the guide wheel and the track flange are in contact and a certain pressure is generated, the control system controls the proportional control valve to adjust the output air pressure according to this pressure value, so that the pressure of the track flange on the guide wheel is kept in an appropriate range, so that the trolley can run reliably and smoothly along the track flange.

[0042] The trolley should complete the steering operation before entering the turnout. The condition for judging whether the steering operation is completed is that when the steering is set to right turn, the reversing cylinder has changed to output force to the right, and the pressure of the right track flange on the right guide wheel reaches the preset value range. The same logic applies to left turn.

[0043] The system includes a switch range detection device. The switch range detection can be achieved in a variety of ways, such as using a distance sensor set at the rear of the frame, or setting a special distance sensor, or setting an indicator mark at the track switch, detecting the indicator mark through a detection device, or through built-in maps and satellite positioning; judging whether the trolley is within the switch area through a switch range field detection device. When the trolley fails to complete the turning action outside the switch range, it should switch to a safe speed and enter a safe mode of operation. The vehicle must complete the turn before entering the switch range. If the turn is not completed after entering the switch range, it should enter the exception handling mode.

[0044] The width between the rail flanges on both sides of the outer rail of the turnout is slightly larger than the width of the trolley guide wheel, which can ensure that when one guide wheel is pressed to contact the rail flange, there is no pressure between the other guide wheel and the rail flange.

[0045] Distance measuring devices are installed on both sides of the rear end of the trolley to measure the distance between the trolley and the track flange. If there is pressure between the guide wheel and the track flange (contact and pressure is within the set range), and the distance between the track flange and the distance measuring device at the rear end of the same side is within a certain range, it proves that the tangent direction of the trolley and the track flange is nearly parallel, and the trolley is running along the track flange. If the distance between the rear end of the trolley and the track flange is measured to be large, and the guide wheel has contacted the track flange, the working air pressure should be reduced through the proportional control valve to reduce the steering torque.

[0046] By adjusting and changing the input signal of the electrical proportional valve, the working air pressure of the reversing cylinder is changed, thereby changing the size of the steering torque.

[0047] By detecting the pressure of the track flange on the guide wheel, it is determined whether the trolley guide wheel is in contact with the track flange. According to the pressure of the track flange on the guide wheel, the electrical proportional valve is adjusted to change the working air pressure of the reversing cylinder, thereby changing the pressure of the track flange on the guide wheel, so that the pressure of the track flange on the guide wheel is within the set range. When the pressure of the track flange on the guide wheel is less than the preset value, it means that the guide wheel is not in contact with the track flange. At this time, the working air pressure of the reversing cylinder can be increased by adjusting the electrical proportional valve to increase the steering torque to ensure that the trolley turns in the set direction and the guide wheel (in the preset direction) approaches the track flange. When the pressure of the track flange on the guide wheel is not less than the preset value, it means that the guide wheel has contacted the track flange. In this case, the electrical proportional valve should be adjusted to make the pressure of the track flange on the guide wheel within the set range, which not only ensures that the guide wheel is in contact with the track flange, but also minimizes the pressure of the track flange on the guide wheel and reduces the running resistance.

[0048] Adjust the working air pressure of the reversing cylinder and change the steering torque to keep the pressure of the track flange on the guide wheel within an appropriate range, so that the trolley can run stably along the track flange and reduce lateral swing.

[0049] The present invention adopts a single track flange guide, and the width between the track flanges on both sides allows a certain error, which reduces the difficulty of track design and construction and reduces the track maintenance cost. The present invention has a trolley with a guide wheel. When deviation occurs within a certain control range, the trolley is still constrained by the guide wheel and the track flange, and there will be no collision accident between the trolley and the track flange.

[0050] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the present invention is not limited thereby. A person skilled in the art may implement the present invention in a variety of variations without departing from the scope and essence of the present invention, such as using a feature of one embodiment to obtain another embodiment. Any modification, equivalent substitution and improvement made within the technical concept of the present invention shall be within the scope of the present invention.

Claims

1. An intelligent rail trolley control system, comprising: A vehicle frame and a driving rear axle arranged on the vehicle frame; and A steering assembly comprising: A front wheel assembly, wherein each wheel of the front wheel assembly is fixed to the vehicle frame via a steering wheel axle, and the steering wheel axles of the front wheel assembly are also connected via a steering link, so that the front wheel assembly is synchronously linked; a guide wheel assembly, comprising a left guide wheel, a right guide wheel, and a left guide wheel support arm and a right guide wheel support arm; the left guide wheel support arm and the right guide wheel support arm are symmetrically L-shaped, and the left guide wheel and the right guide wheel are fixedly connected to the corresponding steering wheel axles via their respective guide wheel support arms; and A pneumatic device, used to output a driving force to the steering assembly to change the steering torque of the steering wheel shaft; Among them, the pneumatic device includes a reversing cylinder and an air storage tank. The reversing cylinder is a double-acting cylinder. Each air inlet of the reversing cylinder is connected to at least one air storage tank. When the reversing cylinder inputs gas from the air inlet, the intake air first enters the air storage tank at the air inlet and then enters the reversing cylinder.

2. The intelligent rail vehicle control system according to claim 1 is characterized in that: The reversing cylinder is provided with a reversing solenoid valve; the reversing solenoid valve is controlled by a control signal to open and close the valve.

3. The intelligent rail vehicle control system according to claim 2 is characterized in that: The system further comprises a control chip, and the control chip sends a control signal to the reversing solenoid valve according to a set control command.

4. The intelligent rail vehicle control system according to claim 3 is characterized in that: The guide wheel is provided with a pressure sensor, which detects the pressure between the guide wheel and the adjacent track flange and sends the detected pressure data to the control chip. The control chip determines whether the guide wheel is in contact with the track flange based on the pressure data.

5. The intelligent rail vehicle control system according to claim 1 is characterized in that: A distance measuring device is also arranged at the rear of the frame to detect the distance between one side of the frame and the rail flange.

6. The intelligent rail vehicle control system according to claim 4 is characterized in that: The control chip outputs a reversing control signal to the reversing solenoid valve to cause the reversing cylinder to change the direction of torque output.

7. The intelligent rail vehicle control system according to claim 1 is characterized in that: The driving rear axle is connected to the vehicle frame through a suspension system, and the driving rear axle comprises a differential, a driving motor and a rear wheel set, and the differential and the driving motor drive the rear wheel set.

8. The intelligent rail vehicle control system according to claim 1 is characterized in that: One end of the reversing cylinder is connected to the guide wheel support arm, and the other end is connected to the vehicle frame. When the piston of the reversing cylinder is extended and retracted, the front wheel group and the guide wheel group are turned left or right.

9. The intelligent rail vehicle control system according to claim 4 is characterized in that: The pneumatic device includes an air pressure source, which is connected to the air tank and the reversing cylinder through an electrical proportional valve. The electrical proportional valve controls the air pressure output by the air pressure source to the air tank and the reversing cylinder, thereby determining the amount of steering torque output by the reversing cylinder to the front wheel group.

10. The intelligent rail vehicle control system according to claim 9, characterized in that: The control chip adjusts the electrical proportional valve according to the pressure detected by the pressure sensor to change the working air pressure of the reversing cylinder, so that the pressure of the track flange on the guide wheel is within a set range.

11. A control method for an intelligent rail vehicle, applied to the intelligent rail vehicle control system according to any one of claims 1 to 10, characterized in that include: The pressure sensor arranged on the guide wheel detects the pressure between the guide wheel and the adjacent rail flange, and sends the detected pressure data to the control chip; The control chip determines whether the guide wheel is in contact with the track flange based on the pressure data received from the pressure sensor. If the pressure is less than the preset value, it means that the guide wheel is not in contact with the track flange. The control chip then adjusts the electrical proportional valve to increase the working air pressure of the reversing cylinder and increases the steering torque until the pressure is no less than the preset value. When the pressure of the track flange on the guide wheel is no less than the preset value, it means that the guide wheel is in contact with the track flange. The control chip then adjusts the electrical proportional valve to keep the pressure of the track flange on the guide wheel within the set range. When the reversing cylinder inputs gas from the air inlet, the intake air first enters the air storage tank at the air inlet and then enters the reversing cylinder.

12. The control method according to claim 11, characterized in that: The distance measuring device detects the distance between one side of the frame and the rail flange. When the distance is less than a preset value and the pressure between the guide wheel and the rail flange is not less than a preset value, the control chip determines that the trolley is running in the tangent direction of the rail flange. When the distance value is greater than the preset value, the control chip determines that the trolley is not running along the tangent direction of the track flange. The control chip controls the trolley to slow down to a safe speed or controls the reversing cylinder to increase the steering torque output to the front wheel group until the distance value between one side of the frame and the track flange is less than the preset value.

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