Intelligent rail trolley control system and method

Abstract

The application discloses an intelligent rail trolley control system and method, which comprises a trolley frame, a driving rear axle arranged on the trolley frame, a steering assembly, a front wheel group, a guide wheel group and a pneumatic device for outputting driving force to the steering assembly to change the steering torque of the steering wheel shaft. The pneumatic device comprises a reversing cylinder and a gas storage tank. The reversing cylinder is a double-acting cylinder. Each gas inlet of the reversing cylinder is connected with at least one gas storage tank. When the reversing cylinder inputs gas from the gas inlet, the gas first enters the gas storage tank at the gas inlet and then enters the reversing cylinder. The application reduces the complexity and cost of the control system, and improves the control accuracy and safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rail transit, in particular to an intelligent rail trolley control system and method. BACKGROUND

[0002] The intelligent rail trolley transportation system is different from the traditional rail transportation tool. The passenger capacity of each trolley is not greater than 5 people. The trolleys are not connected with each other on the track. The trolleys automatically run on the track under the control of the control system and do not need to be driven by a dedicated person. The track of the intelligent rail transportation is also different from the traditional I-shaped steel double-track track. The width of the track is much smaller than that of the traditional track. The running mode includes trolley running on the track or trolley hanging on the track. The running scale is relatively small, and the trolleys generally run in a relatively local range such as a community, a scenic spot, a theme park, and an airport. Therefore, the traditional rail transit control system is too large, complex, and costly. However, since the trolleys are unmanned, the flexibility and accuracy of the control system are very high. In addition, the trolley is small in size, and the smoothness of the track greatly affects the stability of the trolley running. Therefore, how to realize a control system that is simple, low in cost, flexible, accurate, and makes the trolley run more smoothly has been a difficult problem and goal in the field.

[0003] In the prior art, the ULTra pods rely on a signal, sensing, and control system to keep the trolleys running in the middle of the track and maintain a proper gap between the trolleys and the flanges of the track on both sides. The reliability is low, and the cost of the control system is high.

[0004] The side guide wheels of the BYD cloud bus trolleys are closely engaged with the track on both sides, so that the trolleys are kept running in the middle of the track. The side guide wheels on both sides of the trolleys and the flanges of the track on both sides cooperate with each other, which requires high accuracy of the width between the flanges of the track on both sides, high installation accuracy of the side guide wheels on both sides of the trolley, and high accuracy of the size of the guide wheels, thereby increasing the construction and maintenance costs.

[0005] The BYD cloud bus adopts a mobile turnout, so that the number of trolleys passing through the turnout per unit time is limited.

[0006] The ULra pods do not have side guide wheels. Deviation in control may cause rubbing accidents between the trolleys and the flanges of the track. The BYD cloud bus has two side guide wheels that press the flanges of the track on both sides at the same time. The width between the flanges of the track on both sides requires high accuracy, and the installation consistency of the side guide wheels on both sides of different trolleys is also high. In actual application, the BYD cloud bus may shake on a local line. SUMMARY

[0007] Therefore, the present application aims to solve the technical problem of the existing trolley control system being complex and costly.

[0008] To address the aforementioned problems, one aspect of this application provides an intelligent railcar control system, comprising:

[0009] The vehicle frame and a drive rear axle mounted on the frame; and a steering assembly, comprising: a front wheel assembly, each wheel of which is fixed to the frame via a steering wheel axle, the steering wheel axles of which are also connected via steering linkages to synchronize the front wheel assembly; a guide wheel assembly, 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 and right guide wheel support arms are symmetrically L-shaped, and the left and right guide wheels are fixedly connected to their respective steering wheel axles via their respective guide wheel support arms; and a pneumatic device for outputting driving force to the steering assembly to change the steering torque of the steering wheel axles; wherein the pneumatic device includes a reversing cylinder and an air tank, the reversing cylinder being a double-acting cylinder, each air inlet of the reversing cylinder being connected to at least one air tank, and when gas is input into the reversing cylinder from the air inlet, the air first enters the air tank at the air inlet and then enters the reversing cylinder.

[0010] Another aspect of this application provides a control method for an intelligent railcar, applied to any of the aforementioned intelligent railcar control systems, comprising: a pressure sensor mounted on a guide wheel detects the pressure between the guide wheel and an adjacent rail flange, and sends the detected pressure data to a control chip; the control chip determines whether the guide wheel is in contact with the rail flange based on the received pressure data from the pressure sensor; if the pressure is less than a preset value, it indicates that the guide wheel is not in contact with the rail flange, and the control chip adjusts an electro-proportional valve to increase the working air pressure of the reversing cylinder, increasing 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 indicates that the guide wheel is in contact with the rail flange, and the electro-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 gas first enters the air storage tank at the air inlet and then enters the reversing cylinder. Attached Figure Description

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

[0012] Figure 2 The diagram shown is a schematic diagram of the operation of an intelligent track vehicle on a track according to one embodiment of this application;

[0013] Figure 3 for Figure 1 A schematic diagram of the gas path structure of the embodiment shown. Detailed Implementation

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

[0015] The words related to the orientation in the present application, such as up, down, top, bottom, inner, outer, high, and low, are taken as the position of the intelligent rail trolley in the normal use state as the reference position.

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

[0017] In the present application, the term "rail" includes the part of the road surface on which the front wheel group and the rear wheel group travel, and the side flange part on which the guide wheels travel.

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

[0019] The frame and the driving rear axle arranged on the frame; and the steering assembly, comprising: a front wheel group, each wheel of the front wheel group is fixed on the frame through a steering axle, and the steering axles of the front wheel group are connected through a steering connecting rod to make the front wheel group move synchronously; a guide wheel group, comprising a left guide wheel, a right guide wheel, 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 on the corresponding steering axles through the respective guide wheel support arms; and a pneumatic device for outputting driving force to the steering assembly to change the steering torque of the steering axles; wherein the pneumatic device comprises a reversing cylinder and a gas storage tank, the reversing cylinder is a double-acting cylinder, each gas inlet of the reversing cylinder is connected with at least one gas storage tank, and when the reversing cylinder inputs gas from the gas inlet, the gas first enters the gas storage tank at the gas inlet and then enters the reversing cylinder.

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

[0021] In at least one embodiment, the control 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.

[0022] In at least one embodiment, a pressure sensor is arranged on the guide wheel, the pressure sensor detects the pressure between the guide wheel and the adjacent rail flange, and sends the detected pressure data to the control chip, and the control chip judges whether the guide wheel is in contact with the rail flange according to the pressure data.

[0023] In at least one embodiment, a distance measuring device is further arranged 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 changes the direction of the torque output of the reversing cylinder by outputting a reversing control signal to the reversing solenoid valve.

[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 comprises a differential and 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 vehicle frame, and when the piston of the reversing cylinder is extended or retracted, the front wheel set and the guide wheel set are turned left or right.

[0027] In at least one embodiment, the pneumatic device comprises a gas pressure source, the gas pressure source is connected to the gas storage tank and the reversing cylinder through an electric proportional valve, and the electric proportional valve controls the gas pressure output by the gas pressure source to the gas storage tank and the reversing cylinder, thereby determining the amount of steering torque output by the reversing cylinder to the front wheel set.

[0028] In at least one embodiment, the control chip adjusts the electric proportional valve according to the pressure detected by the pressure sensor to change the working gas 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 of an intelligent track trolley, which is applied to any of the intelligent track trolley control systems described above, and comprises: a pressure sensor arranged on the guide wheel 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 judges whether the guide wheel is in contact with the track flange according to the pressure data of the pressure sensor, and if the pressure is less than a preset value, it indicates that the guide wheel is not in contact with the track flange, then the control chip adjusts the electric proportional valve to increase the working gas 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 track flange on the guide wheel is not less than the preset value, it indicates that the guide wheel is in contact with the track flange, then the electric proportional valve is adjusted to make the pressure of the track flange on the guide wheel within a set range; wherein when the reversing cylinder inputs gas from the gas inlet, the gas first enters the gas storage tank at the gas inlet and then enters the reversing cylinder.

[0030] In at least one embodiment, the distance between one side of the vehicle frame and the track flange is detected by the distance measuring device, and 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 judges that the trolley is running in the tangential direction of the track flange; when the distance value is greater than the predetermined value, the control chip determines that the trolley is not running in the tangential 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 set until the distance value between one side of the vehicle frame and the track flange is less than the predetermined value.

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

[0032] As Figure 1 The structure of the intelligent rail trolley control system of one embodiment of the present application is shown in the figure; it includes: a trolley frame 200, which is used to form the basic structure of the trolley; a steering assembly is arranged on the trolley, which includes a front wheel group, a guide wheel group, and a pneumatic device; wherein the front wheel group serves as the steering wheel group, which includes a left front wheel 203, a right front wheel 202, a left steering wheel shaft 2031, and a right steering wheel shaft 2021; the left front wheel 203 is connected to the trolley frame 200 through the left steering wheel shaft 2031; the right front wheel 202 is connected to the trolley frame 200 through the right steering wheel shaft 2021; wherein the left steering wheel shaft 2013 and the right steering wheel shaft 2021 are connected to the trolley frame as the pivot, so that the left front wheel and the right front wheel can swing at the required angle in the horizontal direction; the left steering wheel shaft 2031 and the right steering wheel shaft 2021 are connected together by a steering connecting rod 209, so that the left steering wheel shaft 2031 and the right steering wheel shaft 2021 are synchronized when steering, that is, the left front wheel and the right front wheel are synchronized when swinging; the left steering wheel shaft 2031 is also provided with an L-shaped left guide wheel supporting arm 207, and the distal end of the left guide wheel supporting arm 207 is connected with a left guide wheel 205, so that the left guide wheel 205 rolls along the rail flange in the horizontal direction; symmetrically, a right guide wheel supporting arm 206 connects the right guide wheel 204 to the right steering wheel shaft 2021. The drive rear axle is connected to the trolley frame 200 through a suspension system, and the drive rear axle includes a differential 210, a drive motor 211, 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 drive wheel shaft 225, and serve as the drive wheels of the trolley under the action of the drive motor 211. The trolley frame 200 is also provided with a pneumatic device 208, 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 supporting arm, and the other end is connected to the trolley frame. By changing the output direction of the cylinder, the trolley can be steered to the left or to the right, and can run along the left rail flange or the right rail flange. The trolley 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 rail flange when the trolley is running normally, but when the turning radius of the rail is too small and bends inward (for example, the trolley is moving forward, and the rail is turning to the right), the trolley is guided along the right rail flange at this time. When the turning radius is small, the rear side of the trolley is easy to touch the rail flange, and at this time the safety wheel contacts the rail flange, effectively avoiding the scratching of the trolley body and the rail flange. The rear end of the trolley 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 rail flange.

[0033] In one embodiment, the guide wheel supporting arm further includes a movable shaft, a buffer limiting spring set, a bracket, and a thrust sensor.

[0034] Figure 2 The diagram illustrates the operation of an intelligent track vehicle according to one embodiment of this application. The vehicle runs on track 101. One guide wheel 204 of the guide wheel assembly contacts one side of the track flange 102, while the other guide wheel 205 remains in contact with the track flange. When the vehicle needs to turn, the guide wheel 205, under the action of the steering component, approaches and contacts its adjacent track flange 103, while the guide wheel 204 disengages from the track flange 102. This process signifies a successful turn. Under normal conditions, the safety wheels 218 always remain in contact with neither side of the track flange. In abnormal situations, 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 tanks, such as... Figure 3 The system includes a first air tank 602 and a second air tank 603. The reversing cylinder 601 is a double-acting cylinder, comprising two air inlets in opposite directions, allowing the cylinder to intake air from either direction and output steering torque in either direction. Its first air inlet is connected to the first air tank 602, and its 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 it outputs to the front wheels. At this time, to ensure a smooth reversing process and reduce... To minimize vibration, when gas is input into the reversing cylinder 601 from the first air inlet, i.e. when the cylinder exerts force in one direction, a portion of the intake air first enters the first air storage tank 602 and then enters the reversing cylinder 601, thus buffering the pressurization process of the reversing cylinder 601 from one direction. When gas is input from another direction, i.e. when the cylinder exerts force in another direction, a portion 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, thus buffering the pressurization process of the reversing cylinder 601 from another direction. The first air tank 602 and the other end of the second air tank are connected to a reversing solenoid valve 606. This reversing solenoid valve is a 2-position 5-way solenoid valve to accommodate the double-acting cylinder's intake from different directions. The pneumatic device 208 also includes an air pressure source 611, which provides air pressure to the reversing cylinder and the air tanks. A filter 610 is also installed at the outlet of the air pressure source 611. An electro-proportional valve 609 is also installed between the filter 610 and the reversing solenoid valve, which determines the amount of air pressure provided by the air pressure source 611 to the reversing cylinder 601 according to the indication of the control chip. A silencer 607 is also connected to the inlet of the reversing solenoid valve 606. The air pressure source is an air compressor and an air purification device, and the pressure of the air pressure source is preset. The electro-proportional valve connected to the air pressure source is a pressure-type electro-proportional valve, which can set the air pressure through the control electrical signal output.

[0036] The commutation process of this system is as follows:

[0037] A steering torque is applied to the trolley by the push of the reversing cylinder. If the reversing cylinder makes the trolley have a steering torque to the right, the trolley advancing direction and the track direction have an angle, the trolley approaches the right track flange. At this time, the trolley right guide wheel and the right track flange are in contact, and the track flange also produces pressure on the guide wheel in contact with it, and the size of this pressure is related to the angle between the trolley advancing direction and the track, the larger the angle, the greater the pressure, the smaller the angle, the smaller the pressure, and parallel to the track direction, the pressure is 0. Therefore, the pressure of the track flange on the guide wheel also produces a steering torque on the trolley, and the direction of this torque is opposite to the steering torque generated by the reversing cylinder. When the torque is greater than the steering 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 angle between the trolley advancing direction and the track decreases, the pressure of the track flange on the guide wheel decreases, and the steering torque generated by the pressure of the track flange on the guide wheel is equal to the steering torque generated by the reversing cylinder. At this time, the trolley direction no longer changes, and maintains a small angle with the advancing direction of the track 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 contact of the trolley guide wheel with the track flange. After the guide wheel and the track flange are in contact, by setting the cylinder pressure to an appropriate range, the angle between the trolley running direction and the tangent direction of the track is controlled, so that the trolley can not only maintain running along the track flange, but also reduce the energy consumption caused by the inconsistency between the advancing direction and the tangent direction of the track.

[0038] When steering, the working air pressure of the reversing cylinder is first reduced by the electric proportional valve, then the output direction of the cylinder is adjusted, and then the working air pressure of the reversing cylinder is increased according to a certain rule by adjusting the electric proportional valve, so as to control the movement speed of the cylinder and improve the smoothness of steering. When the track enters a curve from a straight track, or enters a straight track from a curve, or the curvature of the curve changes, the direction of the trolley changes, the push of the reversing cylinder piston moves, and the gas in the cylinder is compressed or the volume is increased (the volume in the cylinder increases), so that the pressure in the cylinder increases or decreases.

[0039] Because each of the two air inlets of the cylinder is connected with a small air tank, the volume change caused by the movement of the cylinder piston is relatively small compared with the volume of the small air tank. Therefore, when the track curvature changes, the air pressure change caused by the movement of the reversing cylinder piston by the track flange through the guide wheel is in a small range, which does not affect the smoothness of the trolley running along the track flange. Due to the unevenness of the track flange, the jumping of the guide wheel on the track flange is transmitted to the push rod of the reversing cylinder through the guide wheel support arm, and the push rod pushes the cylinder piston to move. The small air tank is equivalent to an air spring, which reduces the problem of left and right shaking of the trolley caused by the unevenness of the guide wheel.

[0040] When one side guide wheel and track flange contact, pressure sensor detects the pressure of track flange on guide wheel. Control system changes the working pressure of steering cylinder through proportional control valve according to the required pressure, changes the steering torque of steering cylinder, and finally changes the pressure of track flange on guide wheel, so as to keep it in a reasonable range.

[0041] When guide wheel and track flange are not in contact, such as during the process of changing from left turn to right turn, left guide wheel and left track flange are not in contact, and the pressure sensor detects that the pressure of track flange on guide wheel is less than the preset value. A higher air pressure is output through the proportional control valve to make the steering cylinder generate a larger steering torque to push the steering. When the guide wheel and the track flange are in contact and generate a certain pressure, the control system controls the proportional control valve to adjust the output air pressure according to the pressure value, so as to keep the pressure of the track flange on the guide wheel in a suitable range, and make the trolley run smoothly along the track flange.

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

[0043] The system includes a turnout range detection device. The turnout range detection can be realized in various ways, such as using distance sensors arranged at the rear of the vehicle frame, or setting special distance sensors, or setting indication marks on the track turnout, detecting the indication marks through detection devices, or through built-in maps and satellite positioning, etc. The trolley is judged whether it is in the turnout area range through the turnout range detection device. If the trolley has not completed the steering action outside the turnout range, it should be switched to a safe speed and run in a safe mode. The vehicle should complete the steering before entering the turnout range. If the steering has not been completed when entering the turnout range, it should enter the abnormal processing mode.

[0044] The width between the track flanges on both sides of the outer rail of the turnout is slightly larger than the width of the guide wheel of the trolley, which can ensure that when one guide wheel is in contact with the track flange under pressure, the other guide wheel has no pressure between it and the track 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. When one guide wheel and the track flange have pressure (contact and pressure in the set range), the distance measuring device at the rear end of the same side track flange measures the distance between the track flange within a certain range, which proves that the trolley and the track flange are close to parallel in the tangent direction, and the trolley is running along the track flange. If the distance between the rear end of the trolley and the track flange is large, and the guide wheel has contacted the track flange, the working pressure should be reduced through the proportional control valve to reduce the steering torque.

[0046] By adjusting the input signal of the electric proportional valve, the working pressure of the reversing cylinder is changed, and thus the steering torque is changed.

[0047] By detecting the pressure of the track flange on the guide wheel, it is determined whether the guide wheel is in contact with the track flange. According to the pressure of the track flange on the guide wheel, the electric proportional valve is adjusted to change the working pressure of the reversing cylinder, and thus the pressure of the track flange on the guide wheel is changed to keep the pressure of the track flange on the guide wheel within a set range. When the pressure of the track flange on the guide wheel is less than a preset value, it is determined that the guide wheel is not in contact with the track flange. At this time, the working pressure of the reversing cylinder is increased by adjusting the electric proportional valve to increase the steering torque, so as to ensure that the trolley turns to 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 is determined that the guide wheel is in contact with the track flange. At this time, the electric proportional valve is adjusted to keep the pressure of the track flange on the guide wheel within a set range, so as to ensure that the guide wheel is in contact with the track flange and reduce the pressure of the track flange on the guide wheel as much as possible to reduce the running resistance.

[0048] The working pressure of the reversing cylinder is adjusted to change the steering torque, so as to keep the pressure of the track flange on the guide wheel within a proper range, and thus the trolley runs stably along the track flange and the lateral swing is reduced.

[0049] The present application adopts single-track flange guiding, and the width between the two track flanges allows a certain error, which reduces the difficulty of track design and construction and reduces the track maintenance cost. The trolley has guide wheels, and when the control deviates within a certain range, the trolley is still constrained by the guide wheels and the track flange, and no collision accident between the trolley and the track flange occurs.

[0050] The preferred embodiments of the present application are described above with reference to the accompanying drawings, and the scope of the present application is not limited thereto. Those skilled in the art can make various modifications to the present application without departing from the scope and spirit of the present application, such as using the features of one embodiment in another embodiment to obtain another embodiment. Any modification, equivalent replacement and improvement within the technical concept of the present application should be within the scope of the present application.

Claims

1. A smart 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 set, each wheel of the front wheel set being fixed to the vehicle frame via a steering axle, the steering axles of the front wheel set being connected via a steering linkage to cause the front wheel set to move synchronously; a guide wheel set, comprising a left guide wheel, a right guide wheel, a left guide wheel arm and a right guide wheel arm, the left and right guide wheel arms being symmetrical L-shaped, the left and right guide wheels being fixed to the corresponding steering axles via the respective guide wheel arms; and a pneumatic device for outputting a driving force to the steering assembly to change a steering torque of the steering axles; wherein the pneumatic device comprises a reversing cylinder and a gas reservoir, the reversing cylinder being a double-acting cylinder, each gas inlet of the reversing cylinder being connected to at least one gas reservoir, when the reversing cylinder inputs gas from the gas inlet, the gas first enters the gas reservoir at the gas inlet and then enters the reversing cylinder, one end of the reversing cylinder being connected to the guide wheel arm and the other end being connected to the vehicle frame, when the piston of the reversing cylinder extends and retracts, the front wheel set and the guide wheel set are steered to the left or to the right, the reversing cylinder being provided with a reversing solenoid valve; a control chip, the control chip sending a control signal to the reversing solenoid valve according to a set control command, the reversing solenoid valve being controlled to open and close the valve by the control signal; wherein the guide wheel is provided with a pressure sensor, the pressure sensor detecting the pressure between the guide wheel and the adjacent rail flange and sending the detected pressure data to the control chip, the control chip determining whether the guide wheel is in contact with the rail flange according to the pressure data. The rear of the vehicle frame is further provided with a distance measuring device to detect the distance between one side of the vehicle frame and the rail flange.

2. The intelligent railcar control system of claim 1, wherein: The control chip outputs a reversing control signal to the reversing solenoid valve to change the direction of the torque output by the reversing cylinder.

3. The intelligent railcar control system of claim 2, wherein: The driving rear axle is connected to the vehicle frame via a suspension system, the driving rear axle comprising a differential, a driving motor and a rear wheel set, the differential and the driving motor driving the rear wheel set.

4. The intelligent railcar control system of claim 3, wherein: The pneumatic device further comprises a gas pressure source, the gas pressure source being connected to the gas reservoir and the reversing cylinder via an electric proportional valve, the electric proportional valve controlling the gas pressure output by the gas pressure source to the gas reservoir and the reversing cylinder, thereby determining the amount of steering torque output by the reversing cylinder to the front wheel set.

5. The intelligent railcar control system of claim 4, wherein: The control chip adjusts the electric proportional valve according to the pressure detected by the pressure sensor to change the working gas pressure of the reversing cylinder, thereby causing the pressure of the rail flange on the guide wheel to be within a set range.

6. The intelligent railcar control system of claim 5, wherein: 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.

7. A control method of an intelligent rail trolley, applied to the intelligent rail trolley control system of claim 6, characterized in that ​ ​ The control chip judges whether the guide wheel is in contact with the track flange according to the received pressure data of the pressure sensor. If the pressure is less than a preset value, it indicates that the guide wheel is not in contact with the track flange, and the control chip adjusts the electric proportional valve to increase the working air pressure of the reversing cylinder to increase the steering torque until the pressure is not less than the preset value. When the pressure of the track flange on the guide wheel is not less than the preset value, it indicates that the guide wheel has contacted the track flange, and the electric proportional valve is adjusted to make the pressure of the track flange on the guide wheel in a set range. When the reversing cylinder inputs gas from the air inlet, the air first enters the gas tank at the air inlet and then enters the reversing cylinder.

8. The control method according to claim 7, characterized in that: The distance between the side of the vehicle frame and the track flange is detected by the distance measuring device. When the distance 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 judges that the trolley is running along the tangent direction of the track flange. When the distance is greater than the predetermined value, the control chip determines that the trolley is not running along 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 between the side of the vehicle frame and the track flange is less than the predetermined value.

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