阅读说明：本技术 一种基于大数据的磁悬浮主动导向系统 (Magnetic suspension active guidance system based on big data ) 是由 邓永芳 江洋 杨杰 于 2020-06-28 设计创作，主要内容包括：本发明提供一种基于大数据的磁悬浮主动导向系统,其本发明包括校正系统、数据存储系统、车辆运行系统、控制系统及执行装置。本发明的校正系统,其在磁浮轨道上的不同位置设置有不同的位置标识装置,该位置标识装置能够被安装在车辆上的位置检测装置识别,进而从数据存储系统中调取出车辆在磁浮轨道上运行的位置以及该位置所对应的列车运行控制信息。由此,本发明能够准确的对磁悬浮车辆的位置进行校正,并准确的根据该位置附近轨道的转弯情况或坡度状况相应地通过执行装置准确地调整车辆的运行情况。本发明能够进一步提高磁悬浮列车在复杂条件下运行时系统的智能化程度,提高列车导向的精准性、稳定性。(The invention provides a magnetic suspension active guidance system based on big data. The correction system of the invention is provided with different position identification devices at different positions on the magnetic suspension track, and the position identification devices can be identified by the position detection devices arranged on the vehicle, so as to transfer the position of the vehicle running on the magnetic suspension track and the train running control information corresponding to the position from the data storage system. Therefore, the invention can accurately correct the position of the magnetic suspension vehicle and accurately adjust the running condition of the vehicle through the execution device according to the turning condition or the gradient condition of the track near the position. The invention can further improve the intelligent degree of the system when the magnetic suspension train operates under complex conditions, and improve the accuracy and the stability of train guiding.)

1. A magnetic suspension active guidance system based on big data is characterized by comprising:

the correction system comprises position identification devices arranged on a magnetic suspension track and position detection devices arranged on a vehicle, wherein each position identification device corresponds to a unique position information code, and the position detection devices are used for reading each position identification device to obtain the position information code corresponding to the position identification device;

the data storage system is used for storing track data information, train running information and execution information, wherein the track data information comprises the installation positions of the position identification devices corresponding to the position information codes on the magnetic levitation track, and the execution information comprises train running control information corresponding to the installation positions of the position identification devices on the magnetic levitation track and comprises the running speed, the steering angle or the up-and-down gradient of the train corresponding to the installation positions of the position identification devices on the magnetic levitation track;

the vehicle running system is used for driving the vehicle to run on the magnetic suspension track and recording the running position of the vehicle on the magnetic suspension track;

the control system is used for inquiring the data storage system according to the position information code obtained by the correction system through reading the position identification device, determining the installation position of the position identification device corresponding to the position information code on the magnetic levitation track, comparing the installation position of the position identification device on the magnetic levitation track with the position of the vehicle recorded in the vehicle running system on the magnetic levitation track, and correcting the position of the vehicle recorded in the vehicle running system on the magnetic levitation track according to the installation position of the position identification device on the magnetic levitation track;

and the execution device is used for inquiring the data storage system according to the position information code obtained by the correction system through reading the position identification device, determining the installation position of the position identification device corresponding to the position information code on the magnetic levitation track, and controlling the vehicle according to the train operation control information corresponding to the installation position.

2. The big-data based magnetic levitation active guidance system as claimed in claim 1, wherein the position identification means comprises:

the linear track section sensors are arranged on the linear track sections of the magnetic levitation track, and the installation positions of the linear track section sensors are equal in distance;

the position correction sensor is arranged on the linear track section of the magnetic levitation track, and the installation position of the position correction sensor is arranged in front of the bent track section of the magnetic levitation track;

the distance between the position correction sensor and the bent track section of the magnetic suspension track is smaller than the distance between the linear track section sensors.

3. The big data based magnetic levitation active guidance system as claimed in claims 1-3, wherein the linear track segment sensor, the position correction sensor comprises: any one or combination of a photoelectric sensor, a laser sensor, an infrared sensor and a two-dimensional code identification device; each linear track segment sensor and each position correction sensor respectively correspond to a unique position information code;

the position detection device corresponds to the photoelectric sensor, the laser sensor, the infrared sensor and the two-dimensional code identification device and is set to be any one or combination of the photoelectric detection device, the laser detection device, the infrared detection device, the grating detection device and the two-dimensional code scanning detection device.

4. The big data based magnetic levitation active guidance system as claimed in claim 1, wherein the distance between each linear track segment sensor is set between 5-500 meters; each position correction sensor is respectively arranged 0-100 meters in front of the corresponding bent track section of the magnetic suspension track.

5. The big data based magnetic levitation active guidance system as claimed in claim 4, wherein the position correction sensor is further disposed 0-100 m before the uphill start position or the downhill start position of the magnetic levitation track.

6. The active magnetic levitation guidance system based on big data as claimed in claims 1-6, wherein there is a light intensity change, a wavelength change, or a geometric shape change between each of the position identification devices, and the light intensity, wavelength, and/or geometric shape of each of the position identification devices corresponds to only one position information code, or the light intensity change, wavelength change, and/or geometric shape change of each of the position identification devices corresponds to only one position information code.

7. The active guidance system of claim 1, wherein the execution information comprises the running speed, steering angle or up-and-down gradient of the train corresponding to the installation position of each position identification device on the magnetic levitation track.

8. A magnetic suspension active guidance system based on big data as in claim 1-7, characterized by that, the vehicles on the magnetic suspension track are also provided with an executing device, finally the executing device executes the control system command to turn the head of the train by a certain angle until the carriage completely turns through the curve, when the magnetic suspension train turns or goes up and down the slope, the position marking device triggers the fetching of the corresponding data and feeds it back to the control system, then the control system sends its signal to the executing device, finally the head of the train turns by a certain angle or the slope of the up and down slope, finally the active fork connected with the head of the train turns by a certain angle around the center of the centering steel ball, the center of the force transmission steel ball is always on the intersection point of two circles at the center of the raceway, so that the output shaft and the input shaft rotate at the same speed, thus driving the carriage to make corresponding.

9. The active guidance system for magnetic suspension based on big data as claimed in claim 8, wherein the executing device sends command to the executing device by the control system according to the data obtained from the data storage system, so as to make the executing device complete the turning smoothly, and is used to query the data storage system according to the position information code obtained by the calibration system by reading the position identification device, determine the installation position of the position identification device corresponding to the position information code on the magnetic suspension track, and control the vehicle according to the train operation control information corresponding to the installation position.

10. The big data based magnetic levitation active guidance system as claimed in claim 8, wherein the actuator comprises a gimbal and a bogie, the gimbal comprises an active fork, a passive fork, a driving steel ball, and a centering steel ball; the driving fork and the driven fork are respectively provided with four curved surface grooves, 2 crossed annular grooves are formed after assembly and serve as ball tracks, 4 transmission steel balls are placed in the curved surface grooves, and a central steel ball is placed in four grooves in the centers of the two forks for centering.

Technical Field

The invention relates to magnetic suspension rail transit, in particular to a magnetic suspension active guidance system based on big data.

Background

At present, with the rapid increase of urban population, urban traffic systems become more and more complex, and magnetic levitation rail transit trains gradually rise in various countries around the world as an efficient, green and safe traffic mode. The magnetic suspension rail transit train mainly depends on modes such as electromagnetic attraction, electric repulsion, permanent magnet repulsion and the like to suspend the train in the air, so that the non-contact operation between the train and a ground rail is realized. However, the maglev rail transit vehicle inevitably encounters road sections such as turning, ascending, descending and the like during running, and a guiding system is needed to realize the guiding of the vehicle during the running of the vehicle on the road sections.

The chinese patent application 201611129008.3 discloses a magnetic-levitation train and a hydraulic guiding device and a guiding method thereof, wherein the guiding method comprises the following steps: when the train passes through a turning road section, a first hydraulic cylinder is driven to move through a sliding table, and simultaneously, the hydraulic cylinder connected with the sliding table is driven to act, so that the magnetic suspension train finishes the turning action;

the suspension type magnetic suspension rail transit system disclosed in the Chinese patent application 201810884768.8 provides a guide system composed of guide wheels, a bogie and other mechanisms. When a train passes through a turning road section, the train is controlled by acting force between the guide wheel and the top beam, and guiding is realized.

The existing guidance system of the maglev train usually utilizes the external force to act on the guidance mechanism of the maglev train when the train runs and receives the external force, so as to force the train to perform corresponding guidance action, thereby realizing the guidance of the maglev train. This may be referred to as passive steering. The passive guiding can not realize active guiding control of the magnetic suspension train, and is also not beneficial to the intellectualization and the safety of the train in the running process. Therefore, in order to further improve the intellectualization, the accuracy and the stability of the system when the magnetic suspension train operates under the complex condition, the invention provides a magnetic suspension active guidance system based on big data.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a magnetic suspension active guiding system based on big data, which can further improve the intelligent degree of the system when a magnetic suspension train operates under complex conditions, and improve the accuracy and stability of train guiding. The invention specifically adopts the following technical scheme:

a magnetic suspension active guidance system based on big data comprises: the correction system comprises position identification devices arranged on a magnetic suspension track and position detection devices arranged on a vehicle, wherein each position identification device corresponds to a unique position information code, and the position detection devices are used for reading each position identification device to obtain the position information code corresponding to the position identification device;

the data storage system is used for storing track data information, train running information and execution information, wherein the track data information comprises the installation positions of the position identification devices corresponding to the position information codes on the magnetic levitation track, and the execution information comprises train running control information corresponding to the installation positions of the position identification devices on the magnetic levitation track and comprises the running speed, the steering angle or the up-and-down gradient of the train corresponding to the installation positions of the position identification devices on the magnetic levitation track;

the vehicle running system is used for driving the vehicle to run on the magnetic suspension track and recording the running position of the vehicle on the magnetic suspension track;

the control system is used for inquiring the data storage system according to the position information code obtained by the correction system through reading the position identification device, determining the installation position of the position identification device corresponding to the position information code on the magnetic levitation track, comparing the installation position of the position identification device on the magnetic levitation track with the position of the vehicle recorded in the vehicle running system on the magnetic levitation track, and correcting the position of the vehicle recorded in the vehicle running system on the magnetic levitation track according to the installation position of the position identification device on the magnetic levitation track;

and the execution device is used for inquiring the data storage system according to the position information code obtained by the correction system through reading the position identification device, determining the installation position of the position identification device corresponding to the position information code on the magnetic levitation track, and controlling the vehicle according to the train operation control information corresponding to the installation position.

Preferably, the position identifying means includes:

the linear track section sensors are arranged on the linear track sections of the magnetic levitation track, and the installation positions of the linear track section sensors are equal in distance;

the position correction sensor is arranged on the linear track section of the magnetic levitation track, and the installation position of the position correction sensor is arranged in front of the bent track section of the magnetic levitation track;

the distance between the position correction sensor and the bent track section of the magnetic suspension track is smaller than the distance between the linear track section sensors.

Preferably, the linear track segment sensor and the position correction sensor include: any one or combination of a photoelectric sensor, a laser sensor, an infrared sensor and a two-dimensional code identification device; each linear track segment sensor and each position correction sensor respectively correspond to a unique position information code;

the position detection device corresponds to the photoelectric sensor, the laser sensor, the infrared sensor and the two-dimensional code identification device and is set to be any one or combination of the photoelectric detection device, the laser detection device, the infrared detection device, the grating detection device and the two-dimensional code scanning detection device.

Preferably, the distance between each linear track section sensor is set to be 5-500 meters; each position correction sensor is respectively arranged 0-100 meters in front of the corresponding bent track section of the magnetic suspension track.

Preferably, the position correction sensor is also arranged 0-100 m before the uphill starting position or the downhill starting position of the magnetic levitation track.

Preferably, each of the position identification devices has a light intensity change, a wavelength change, or a geometric shape change therebetween, the light intensity, the wavelength, and/or the geometric shape of each of the position identification devices corresponds to a unique one of the position information codes, or the light intensity change, the wavelength change, and/or the geometric shape change of each of the position identification devices corresponds to a unique one of the position information codes.

Preferably, the execution information includes the running speed, steering angle or up-and-down gradient of the train corresponding to the installation position of each position identification device on the magnetic levitation track.

Preferably, the vehicle on the magnetic levitation track is also provided with an execution device, the execution device executes a control system command to enable the locomotive to rotate by a certain angle until the carriage completely rotates through a curve, when the magnetic levitation train turns or goes up and down a slope, the position identification device triggers the corresponding data to be retrieved and feeds the data back to the control system, then the control system sends signals to the execution device, the locomotive finally rotates by a certain angle or the slope of the slope, finally the driving fork connected with the locomotive rotates by a certain angle around the center of the centering steel ball, and the center of the force transmission steel ball is always positioned on the intersection point of two circles at the center of the raceway, so that the output shaft and the input shaft rotate at the same speed, and the carriage is driven to move correspondingly.

Preferably, the control system of the executing device sends a command to the executing device according to the data obtained by querying from the data storage system, so that the executing device can smoothly complete steering, and the control system is used for querying the data storage system according to the position information code obtained by the correction system by reading the position identification device, determining the installation position of the position identification device corresponding to the position information code on the magnetic levitation track, and controlling the vehicle according to the train operation control information corresponding to the installation position.

Preferably, the actuating device comprises a universal joint and a bogie, wherein the universal joint comprises a driving fork, a driven fork, a transmission steel ball and a centering steel ball; the driving fork and the driven fork are respectively provided with four curved surface grooves, 2 crossed annular grooves are formed after assembly and serve as ball tracks, 4 transmission steel balls are placed in the curved surface grooves, and a central steel ball is placed in four grooves in the centers of the two forks for centering.

Advantageous effects

The correction system adopted by the invention is provided with different position identification devices at different positions on the magnetic levitation track, and the position identification devices can be identified by the position detection devices arranged on the vehicle, so that the position of the vehicle running on the magnetic levitation track and the train running control information corresponding to the position are taken out from the data storage system. Therefore, the invention can accurately correct the position of the magnetic suspension vehicle and accurately adjust the running condition of the vehicle through the execution device according to the turning condition or the gradient condition of the track near the position. The invention can further improve the intelligent degree of the system when the magnetic suspension train operates under complex conditions, and improve the accuracy and the stability of train guiding.

Furthermore, the linear track section sensors can be arranged at equal intervals, and the running position of the vehicle is identified through each linear track section sensor so as to calibrate the vehicle running system correspondingly; the invention can also set corresponding position correction sensors at proper positions before turning or ascending and descending according to the specific driving requirements of the turning or ascending and descending, thereby triggering the executing device to correspondingly adjust the running speed, the steering angle or the driving mode of the vehicle according to the track condition. Therefore, the vehicle can run on the magnetic suspension track more stably.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic view of the overall structure of a magnetic levitation train of the present invention;

FIG. 2 is a schematic diagram of the position of a sensor mounted on a magnetic levitation train track provided by the present invention;

FIG. 3 is the universal joint structure diagram of the magnetic levitation train provided by the invention

FIG. 4 is a schematic diagram of an actuator according to the present invention

In the figure, 1 denotes; 2 represents; 3 represents; 4 denotes a first linear track segment sensor; 5 denotes a second linear track segment sensor; 6 denotes a third linear track segment sensor; 7 denotes a first position correction sensor; 8 denotes a fourth linear track segment sensor; and 9 denotes a second position correction sensor. 10. The device comprises an input end driving fork 11, an input end driven fork 12, an output end driving fork 13, an output end driven fork 14 and a bogie.

Detailed Description

In order to make the purpose and technical solution of the embodiments of the present invention clearer, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

The meaning of "and/or" in the present invention means that the respective single or both of them exist individually or in combination.

The term "connected" as used herein may mean either a direct connection between the components or an indirect connection between the components via other components.

The meaning of "front and back" in the invention refers to the running direction of the vehicle on the magnetic suspension track, the front side of the running direction of the vehicle is front, and the reverse is back.

Fig. 1 is a vehicle running on a magnetic levitation track, which is connected with the magnetic levitation track shown in fig. 2 to form a magnetic levitation active guidance system based on big data for controlling the smooth running of the vehicle on the magnetic levitation track according to the present invention.

Specifically, the magnetic levitation active guidance system based on big data comprises:

the correction system comprises at least one position identification device arranged on a magnetic suspension track and at least one position detection device arranged on a vehicle, wherein each position identification device corresponds to a unique position information code, and the position identification device can be specifically set to comprise: a plurality of linear track segment sensors and a plurality of position correction sensors. The linear track section sensors are arranged on the linear track sections of the magnetic suspension track, and the installation positions of the linear track section sensors are equal in distance; the position correction sensor is arranged on the linear track section of the magnetic suspension track, and the installation position of the position correction sensor is arranged in front of the bent track section of the magnetic suspension track;

the magnetic suspension active guidance system based on big data further comprises: the data storage system is used for storing track data information, train operation information and execution information, wherein the track data information comprises installation positions of position identification devices corresponding to position information codes on the magnetic levitation track, and the execution information comprises train operation control information corresponding to the installation positions of the position identification devices on the magnetic levitation track;

the vehicle running system is used for driving the vehicle to run on the magnetic suspension track and recording the running position of the vehicle on the magnetic suspension track;

the control system is used for inquiring the data storage system according to the position information code obtained by the correction system through reading the position identification device, determining the installation position of the position identification device corresponding to the position information code on the magnetic levitation track, comparing the installation position of the position identification device on the magnetic levitation track with the position of the vehicle recorded in the vehicle running system on the magnetic levitation track, and correcting the position of the vehicle recorded in the vehicle running system on the magnetic levitation track according to the installation position of the position identification device on the magnetic levitation track;

and the execution device is used for inquiring the data storage system according to the position information code obtained by the correction system through reading the position identification device, determining the installation position of the position identification device corresponding to the position information code on the magnetic levitation track, and controlling the vehicle according to the train operation control information corresponding to the installation position. The bogie can be arranged on a train and comprises a bogie, a universal joint and other structures, and is mainly used for train steering action. The general process of performing the steering action may be set as: the control system calls the turning angle information of the train and sends the turning angle information to the execution device to realize the turning angle information. The angle when the train runs straight is 0 degrees, and the angle range of train steering is-90 degrees; the universal joint in the actuating device can be composed of a driving fork, a driven fork, a transmission steel ball, a centering steel ball and the like. The driving fork and the driven fork are respectively provided with four curved surface grooves, 2 crossed annular grooves are formed after assembly and serve as ball tracks, 4 transmission steel balls are placed in the grooves, and a central steel ball is placed in four grooves in the centers of the two forks for centering. The universal joint is used for connecting a bogie and a carriage, allowing relative rotation between the bogie and the carriage and ensuring reliable power transmission between two shafts which are not on the same axis. After the control system acquires the relevant information, the train head firstly rotates a certain angle according to the instruction of the control system, and then the train head drives the bogie and the universal joint to swing, so that the carriage is driven to swing a certain angle. In the process of steering transmission, a force transmission point is always positioned on a bisection plane of an intersection angle of two shafts of a universal joint, the principle can be described by a pair of bevel gears with the same size, a contact point P of the two gears is positioned on the bisection plane of the intersection angle of the axes of the two gears, the vertical distances from the point P to the axes of the two shafts are equal, and the peripheral speeds of the two gears at the point P are equal, so that the rotating angular speeds of the two gears are also equal, and the steering driving can be realized.

Thus, the present invention can determine the track position of the vehicle running on the basis of the track information by performing a data processing on the track position information by the position identification device, performing a data encoding on the mounting position of each position indication device on the track in accordance with the encoding method, and applying the entire track with the encoding. Then the system of the invention can call the straight distance information, the turning position information, all information of the curve, the speed matching information of the corresponding road section, the execution operation information of the execution mechanism and the like on the train track through the data storage system, so as to correspondingly control the train vehicles in the running process according to the execution information and drive the train vehicles to carry out running control according to the information stored in the data storage system. Therefore, the invention stores the accurate straight distance information, turning position information, all information of the curve, speed matching information of the corresponding road section, execution operation information of the execution mechanism and the like corresponding to each section of the track into the data storage system, when the magnetic suspension train runs on the corresponding road section, the position identification device triggers the calling of the corresponding data and controls the execution device to execute the accurate control of the train according to the information obtained by calling, so that the train on the magnetic suspension track can be accurately controlled, the running of the train is more stable, and the active guidance is realized by utilizing big data.

Under a specific implementation mode, the position identification devices adopted in the invention can be distributed on the sections of the magnetic suspension train track, such as turning, ascending, descending, straight running and the like. The distance between the position correction sensor of the position identification device and the bent track section of the magnetic suspension track can be generally set to be smaller than the distance between the linear track section sensors, for example, the position correction sensor is arranged at a position 0-100 m away from turning, ascending and descending positions, and one linear track section sensor is arranged at each interval of 5-500 m on a straight road section.

The position identification device can be realized by a photoelectric sensor, a laser sensor, an infrared sensor, a two-dimensional code and the like. When the vehicle runs through the corresponding position identification device, the position information code can be decoded through the position detection device corresponding to the sensor, so that the position information code is obtained, and the position information of the magnetic suspension track corresponding to the code can be obtained by inquiring the data storage system according to the position information code. The position detection device can correspondingly utilize a photoelectric detection device, a laser detection device, an infrared detection device, a grating detection device, a two-dimensional code scanning detection device and the like to realize the detection and decoding of the position information code corresponding to the type of the sensor selected by the position identification device.

The position information of each sensor can be coded by setting different sensors to have different light intensity, wavelength or geometric figure correspondingly, so that the light intensity, wavelength and/or geometric figure of each position identification device can respectively correspond to a unique position information code, or the position identification devices can be set to have different light intensity variation, wavelength variation and/or geometric figure variation, so that the position identification mark respectively corresponds to a unique position information code through the variation, and the mounting position on the magnetic suspension track corresponding to the position identification mark is uniquely determined. The pattern can be a specific geometric pattern, and is distributed on a plane according to a certain rule to form pattern recording data in a black-and-white alternate arrangement mode, and the pattern can establish mapping and corresponding relation between corresponding information and related sensors through a symbol information coding acquisition device similar to a two-dimensional code recognition device, so that the position of the magnetic suspension track can be identified.

Therefore, when the maglev train runs, the running position of the vehicle can be obtained according to the position identification device, the working mode of the execution device of the maglev train can be timely adjusted according to the running position of the vehicle, and the influence of jolting, turning or ramp on the running stability of the vehicle can be timely responded and eliminated. The invention can also verify the vehicle running system through the position identification device, and eliminate the error of the running data caused by various accidents. The correction system comprises a position identification device arranged on a magnetic suspension track and a position detection device arranged on a magnetic suspension train, wherein the position detection device is connected with a control system, can decode position information on the position identification device through the position detection device and send the information to the control system, then the control system judges whether train position information in a vehicle running system is consistent with train position information obtained by decoding, and if so, the vehicle continues to run according to position information data in a data storage system; if not, the control system can replace the position value in the running system of the vehicle with the decoded position value of the maglev train, thereby realizing the position correction of the maglev train.

In the running process of the train, when the magnetic suspension train runs on a straight line section, the magnetic suspension train triggers the correction device to act, the correction system corrects the current position of the train, and finally the train controls the train to run on the straight line section at a certain speed through the execution device according to the information stored in the data storage system;

when the maglev train is about to drive into a turning road section or a ramp road section, the signal sent by the position identification device can be detected by the position detection device arranged at a distance in front of the turning road section, and then the current position of the maglev train is corrected by the correction system. After the correction is completed, the control system retrieves all previously stored information of the turn or the slope in the data storage system, and controls the vehicle to operate at a speed and a turning angle matching the curve or the slope by the actuator according to the information. For example, the vehicle can be controlled to decelerate the train to a speed which is preset according to the current road section and to control the angle of the train which needs to be turned by the head under a specific turning radius in advance according to the position information of the curve, then the information is sent to the execution device, and finally the execution device executes a control system command to turn the head by a certain angle until the carriage also turns the curve completely.

Therefore, the invention can control the execution device to drive the vehicle to run according to the big data stored in the data storage system by transferring the big data of the maglev train recorded in the data storage system running to different track sections, thereby realizing the actions of straight line, steering, climbing and the like of the maglev train. The data can also be used for eliminating data deviation of the maglev train in the running process, a correction system for correcting the position information of the train is arranged on the maglev active guiding system, and when a position detection device arranged on the train detects a signal sent by a coded position identification device, the control system checks the running data on the train, so that the purpose of correction is achieved.

The executing device can be specifically installed on a magnetic suspension vehicle, and the control system sends a command to the executing device according to the data acquired by inquiring from the data storage system, so that the executing device can smoothly complete steering; the bogie of the executing device can be arranged in the train and mainly completes the train steering action; the universal joint of the actuating system may be provided as a hinge arrangement for connecting the bogie to the intermediate car and allowing relative rotation therebetween.

Taking the running track of the magnetic levitation vehicle shown in fig. 2 as an example, the invention can be specifically applied to the following practical applications: a position correction sensor is arranged on a magnetic suspension track of a straight line segment every 40m along the advancing direction of a vehicle, the position correction sensor can adopt a photoelectric sensor, the photoelectric sensor is sequentially coded into 4, 5 and 6 according to different light intensity according to the corresponding installation position, and the corresponding light intensity levels of the photoelectric sensors coded into 4, 5 and 6 are A, B, C levels respectively. A position correction sensor is arranged 10m before a curve position point with the turning radius of 80m, the position correction sensor is coded to be 7 according to different light intensity in a similar mode, and the corresponding light intensity level is D level. After the vehicle finishes the curve running, the vehicle enters another straight line section, at this time, a position correction sensor can be installed at the position 40m away from the tail end of the curve, the position of the position correction sensor is coded to be 8, and the corresponding light intensity level is E level. A position correction sensor is installed 10m before the curve position point with the turning radius of 65m, and is coded as 9, and the light intensity level of the position correction sensor is F level. Therefore, the position detection device on the vehicle can obtain the track position information loaded into the photoelectric sensor through the coding mode that the light intensity levels are different and correspond to different track position information, so that the photoelectric detection device can decode and inquire according to the track position information, and the corresponding train operation control information is called. As shown in fig. 2.

The track information and the vehicle running big data information corresponding to the position identification devices with codes of 4, 5 and 6 are stored in a data memory in a binary coding mode, and the track information and the vehicle running big data information comprise speed information of 80km/h of the magnetic levitation vehicle on a straight road section, and information of 0 degree of turning angle. A data storage system can be arranged behind the position correction sensor 7 to record the information that the vehicle needs to keep the speed of 72km/h on the curve behind the sensor 7, and the turning radius corresponding to the turning position is 80m, and the turning angle of the vehicle on the turning road section is 38 degrees. Therefore, the executing device can correspondingly control the vehicle to realize smooth steering according to the information. Similarly, after the vehicle is driven to the position correcting sensor 9, the data storage system can record that the vehicle needs to maintain a speed of 68km/h on the road section, and the vehicle is controlled to execute a turning angle of 58 degrees at a turning radius of 65 m.

Therefore, when the position detection device identifies that the magnetic levitation vehicle runs at the end of a 1000m straight road section along the track shown in fig. 2 according to each position identification device, the photoelectric detection device on the vehicle detects that the position correction sensor 4 sends out a position signal with the light intensity level of A, then the photoelectric detection device decodes the position signal to obtain the position information of the correction sensor, the position information is 40m, the information is sent to the control system, the control system checks the position information of the running data in the vehicle running system, the position information of the vehicle in the vehicle running system is 40m and is consistent with the position information of the position correction sensor 4, no error exists in the running process of the vehicle, no adjustment is needed, and the control system retrieves the big data of the vehicle running in the straight line section from the data storage system and controls the vehicle to run in a straight line at the speed of 80 km/h. When the vehicle passes through the position correction sensors 5 and 6, the vehicle runs without error, no adjustment is needed, and the vehicle continues to run at the speed of 80 km/h.

When the magnetic levitation vehicle is going to enter a turning road section with the radius of 80m, in order to eliminate errors of data of the magnetic levitation vehicle in the running process and ensure that running data of a curve is correct, a position detection device detects that a signal with the light intensity level of D is sent by a position correction sensor 7 at 10m before the curve starts, the signal is decoded to obtain the actual position of the vehicle as 990m, a photoelectric detection device sends the information to a control system, the control system checks the position information of the running data on the vehicle, the position information of the vehicle in the vehicle running system is 990m, the position information is consistent with the position information of the position correction sensor 7 as 990m, and the two data have no deviation, at the moment, the control system calls the position sensor 7 in a data storage system, the vehicle needs to keep the speed information of 72km/h and the turning angle information of 38 degrees, which is needed by the vehicle on the turning road section with the radius of 80m, the vehicle is decelerated in advance. When entering a curve, the vehicle turns at the speed of 72km/h, the turning angle information with the turning angle of 38 degrees is sent to the executing device, and finally the executing device executes a control system command to turn the head of the vehicle by 38 degrees until the carriage completely turns through the curve. After the turn is completed, the vehicle continues to advance at a speed of 80 km/h.

When the magnetic levitation vehicle drives into the front 10m of the turning road section with the radius of 65m, the photoelectric detection device on the magnetic levitation vehicle receives the position signal with the light intensity level of F level sent by the position correction sensor 9, the position of the sensor 9 is obtained by decoding, the position of the vehicle in the vehicle running system is 1108m, the control system checks the position information of the two, the position of the two is deviated, and the control system replaces the position value (1108 m) of the magnetic levitation vehicle in the vehicle running system with the position value (1105 m) of the magnetic levitation vehicle obtained by decoding, so that the position correction of the magnetic levitation vehicle is realized. After the control system calls the position correction sensor 9, the speed information of the vehicle which needs to be kept at 68km/h and the turning angle information of the vehicle which needs to be turned at 58 degrees on a turning section with a turning radius of 65m are kept, and finally the information is sent to the execution device for execution.

The above are merely embodiments of the present invention, which are described in detail and with particularity, and therefore should not be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the spirit of the present invention, and these changes and modifications are within the scope of the present invention.