661results about "Railway inspection trolleys" patented technology

The self-driven cable transportation system for persons used for the aerial panoramic observation of the environment comprises: A cable suspended over the ground held and tensed by brackets fixed to any natural element available like trees, rocks, etc., or to any type of artificial element, like poles towers, constructions, etc., along this line vehicles driven by the a user's feet run in a safe and comfortable manner to observe the environment without having to stop at the cable's anchoring points. The user has full control of the vehicle's speed, being able to accelerate, break and stop at will, having at all times both hands free. This system may be installed and used on any type of ground with recreation and / or scientific observation purposes.

The invention provides a framework type track gauge and track direction measuring device, comprising a detection beam which is arranged on a track detector car framework; two groups of laser image displacement sensors which are respectively arranged at two ends of the detection beam for detecting the displacement of the track relative to the detection beam; a track direction accelerometer which is used for measuring the displacement of the central point of the detection beam relative to inertial space; a car body inertia correction platform which is used for measuring the posture of the detection beam and correcting the effect of the posture of the detection beam to the measurement data; a distance measurement sensor which is arranged at the countershaft end of a track detector car wheel for measuring the driving distance and driving speed of the track detector car and providing distance sampling time interval; and a data processing platform which is arranged on the detection car for processing the detection data to obtain the track gauge and the track direction detection results; the device solves the safety hidden troubles of an axle box track gauge detection beam and the problem that the track gauge and the track direction can not be measured under high speed.

The invention discloses an intelligent inspection robot. The robot comprises a robot car body, a data collection module (100), a motion control module (200), a data processing module (300) and a main processing module (400), wherein the data collection module (100) is installed on the robot car body and used for collecting the data of the real-time states of infrastructures in a rail traffic system; the motion control module (200) is used for detecting the motion state of the robot car body; the data processing module (300) is used for processing the data of the real-time states; the main processing module (400) is used for controlling the motion control module (200) and the data processing module (300). By means of the intelligent inspection robot, the states of the rail traffic infrastructures can be monitored in real time in the rail traffic running process, faults or fault risks can be found in real time, the time for safe inspection is saved, and the efficiency of the safe inspection is improved.

The invention provides a travel structure of a magnetic levitation type rail polling car, wherein the travel structure is fixedly arranged at the lower part of the bottom board of carriage of the rail polling car and comprises a plurality of floating frames which are sequentially arranged as well as a long stator linear motor traction device and an outer rotor motor driven supporting wheel device which are arranged on the floating frames; wherein the floating frames comprises a plurality of beam frames and corbel frames which are arranged at the two ends of the beam frame; the long stator linear motor traction device comprises a floating magnet module arranged on the corbel frame, a plurality of guiding magnet modules and a plurality of eddy braking magnet modules; the outer rotor motor driven supporting wheel device comprises a motor supporting wheel loading device which is arranged at the two ends of the beam frame and at the inner side of the corbel frame as well as an outer rotor motor supporting wheel arranged at the two ends of the bottom of the beam frame by the loading device. The invention can realize the compatible double traction pattern of long stator linear motor traction and outer rotor motor supporting wheel traction, so that the rail polling car can have the functions of high speed polling and low speed detection.

The invention relates to a comprehensive detection vehicle for a subway tunnel structure. The detection vehicle comprises a positioning system, an acquisition system and a rail flat car, wherein the rail flat car runs on a rail of a subway tunnel, the positioning system and the acquisition system are both installed on the rail flat car, and the positioning system comprises a laser ranging module and an inertial navigation module. The detection vehicle further comprises an independent power supply system and a central control system which are installed on the rail flat car, wherein the independent power supply system is used for supplying power to the acquisition system, the positioning system and the central control system; and the central control system comprises an acquisition industrialpersonal computer and a positioning industrial personal computer which are respectively connected with the acquisition system and the positioning system. Compared with the prior art, the invention has the advantages of high automation degree, realization of multi-functional comprehensive detection of the appearance and the internal multi-parameter of the tunnel structure, longitudinal and circumferential centimeter-level positioning of the tunnel and the like.

The invention relates to an electric double-track wheel type flaw detection car. The electric double-track wheel type flaw detection car comprises a car frame, a detection device, a power supply device, a left scanning device, a right scanning device, a left driving wheel, a left driven wheel, a right driving wheel, a right driven wheel, a left coupling device and a right coupling device. The car frame comprises a car body, a left wing, a right wing, a motor assembly, a left extension coupler, a right extension coupler, a left guiding shaft, a left guiding sleeve, a right guiding shaft, a right guiding sleeve, a left guiding device and a right guiding device. The detection device, the power supply device, the motor assembly, the left guiding sleeve and the right guiding sleeve are arranged on the car body; the left driving wheel, the left scanning device, the left coupling device, the left driven wheel, the left guiding device, the right driving wheel, the right scanning device, the right coupling device, the right driven wheel and the right guiding device are arranged on the left wing and the right wing. The flaw detection car is convenient to arrange, disassemble and convey, and can be manually put away and extended, the detection accuracy is improved and the cost is low.

In one embodiment, a railroad scout vehicle system includes a scout vehicle and a processing unit. The scout vehicle may include at least two wheels configured to engage a set of railroad tracks, a motor mechanically coupled to at least one of the wheels, a speed controller, an electromagnetic sensor aimed at the set of railroad tracks, a positioning receiver, a local speed sensing device and a transceiver. The speed controller may be coupled to the motor and configured to control the speed of the scout vehicle in order to maintain an appropriate distance between the scout vehicle and a train traveling behind. The processing unit may be configured to transmit the track status information via the transceiver, receive train speed and position signals from the train via the transceiver.

A maintenance cart in a maintenance system is substituted for a material handling cart in a continuous train of material handling carts circulating on a closed track. The maintenance cart includes both inspection and cleaning functions which may be divided among separate maintenance carts, as desired. Inspection includes location sensing (preferably with a bar-code reader), inspection with one or more television-like cameras and clearance measurements. Cleaning functions include removal of dust and debris from a channel-like track by a vacuum arrangement. The maintenance cart or carts may be continuously left in place or substitute as needed in the train and provide continuous cleaning service and system diagnostics for scheduling repairs prior to failure while in use. The system is particularly advantageous for application to mail sorting systems which are largely unaccessible and which permit only brief time windows during which maintenance, repair and inspection can otherwise be carried out.

RailPods are an alternative personal rapid transit system that operate on and utilize existing railroad infrastructure. RailPods are one to two passenger vehicles that travel on one rail of a traditional railroad track. RailPods provide on-demand transportation to cities and towns where rail exists or can be built.

The invention discloses an intelligent detection system for a rail traffic tunnel. The intelligent detection system comprises guide rails (2), intelligent inspection robots (3), optical fiber sensors(4), station control systems (5) and a central control system (6). The guide rails (2) are arranged on two side walls of the tunnel (1) and used for providing supporting and guiding for the intelligent inspection robots (3); the intelligent inspection robots (3) are arranged on the guide rails (2) and used for real-time monitoring of operating states of a rail traffic system; the optical fiber sensors (4) are arranged on the inner wall of the tunnel (1) and used for real-time monitoring of interior of the tunnel (1); the station control systems (5) are used for processing data transmitted by the optical fiber sensors (4) and the intelligent inspection robots (3); the central control system (6) is used for collecting early warning signals and alarm signals transmitted by each station control system (5) and transmitting to the station control system (5) of a near station. The intelligent detection system has advantages that potential safety risks in the rail traffic tunnel can be found timely and effectively, and accordingly safety and stability of a rail traffic operation system are effectively improved.

The invention provides a double-rail flaw detecting car for subway steel rails. The double-rail flaw detecting car for the subway steel rails comprises a frame, a walking sub system, a flaw detecting sub system, a centring sub system and a control sub system, wherein the walking sub system, the flaw detecting sub system, the centring sub system and the control sub system are all detachably mounted on the frame; in response to the control of the control sub system, the walking sub system drives the frame and parts on the frame to walk along double rails of the subway; the flaw detecting sub system at least comprises flaw detecting wheels, which are positioned on the two sides of the steel rail during detection and used for ultrasonic detection; in response to the control of the control sub system, the centring sub system adjusts the positions and angles of the flaw detecting wheels; and the control sub system controls the walking sub system and the centring sub system in response to outside input or in an automatic way.

The invention is a chassis of magnetic suspension test vehicle with guide wheel system, including: underframe, vehicle driving bridge, gear differential, semishaft, rubber tyre wheel, rubber tyre guide wheels, and guide wheel frame. There are several vehicle bridges parallelly fixed on the underframe, and the middle and inside of the underframe are set with the gear differential and the semishaft, respectively, and the rubber tyre wheel are set at tow ends of the underframe, the rubber tyer guide wheels are set on the wheel shafts at two ends of the guide wheel frame and can freely rotate, many groups of guide wheel frames are allocated vertically and symmetrically along the underframe and fixed at the bottom of the two opposite sides of the underframe, the axis of the rubber tyre guide wheel is vertical to that of the rubber tyre wheel, the distance between the flanges of the corresponding guide wheels on two side of the underframe is greater than the width of the guide surface of the guide rail, and thus the flanges provide side location support and guide for the test vehicle safely running on the magnetic suspension railway beams along the railway. It has reasonable structure, smooth running and good guiding performance, and low running noise.

The invention discloses an ultrasonic rail flaw-detection trolley system based on deep learning and a control method thereof. The ultrasonic rail flaw-detection trolley system comprises a flaw-detection system, a trolley controller and a first industrial personal computer, wherein the flaw-detection system comprises a second industrial personal computer, a spraying mechanism, a coating mechanism and an ultrasonic detection wheel connected with the second industrial personal computer; the ultrasonic detection wheel comprises a rubber wheel filled with a coupling agent and an ultrasonic transducer arranged on the rubber wheel; the trolley controller is used for controlling the trolley to move along the rail or brake the trolley and is respectively connected with the first industrial personal computer, the second industrial personal computer, the spraying mechanism and the coating mechanism. A modularized design method is applied to the trolley structure, so that the quick detaching of important parts of the trolley can be realized. The invention also applies the deep learning to the rail flaw-detection application, so that the real-time, efficient and high-accuracy detection for the flaw-detection data can be realized.

Provided is versine trolley-type equipment for inspecting a track irregularity, having sensors respectively provided to a trolley so as to measure a height difference, direction misalignment, gauge irregularity, rail longitudinal slope, cant and the like of railroad rails, and simultaneously measuring the height difference and direction misalignment of a left rail and a right rail so as to reduce a measurement time by half and, also, allowing left and right measurement frames to freely move in a vertical direction within a predetermined range, thereby bringing front and rear trolley wheels of the left and right measurement frames into close contact with the rails all the time even if the rails are warped.

The invention discloses an intelligent operating system and method for a train examination robot of a railway vehicle, and belongs to the field of technical inspection of railway freight trains. The intelligent operating system for the train examination robot of the railway vehicle comprises a train examination robot system, a train examination operation, monitoring and management platform and a train examination wireless network platform; a wheel type robot and an air-control big gate are controlled to combine with an automatic control technology, a laser detection technology, an inactive radio frequency transmission technology, a position self-sensing technology, a machine visual technology and a digital image analysis technology to acquire holographic data of a to-be-detected vehicle; a mode identification technology is utilized to perform treatment and analysis as well as decision-making, so that brake test automation, part quality state diagnosis informatization, fault treatment monitoring and reexamination traceability after train maintenance in train examination operation of the railway vehicle are realized. The intelligent operating system realizes replacing manual examination by robot examination, can be suitable for different environments of train examination application places across the country, can comprehensively improve quality and efficiency of train examination operation, and has relatively great social benefits and economic benefits.

The invention provides a multifunctional flaw detection vehicle for a highland railway steel rail. The multifunctional flaw detection vehicle for the highland railway steel rail comprises a tractor and a detection vehicle; the rear end of the tractor is connected with one end of the detection vehicle to drive the detection vehicle to move; a steel rail flaw detection device is installed on a front steering frame of the detection vehicle and a steel rail contour detection device is installed on a rear steering frame; a rail state routing inspection device is installed below the rear end frame of the detection vehicle; a vehicle set is assembled with advanced train control and communication equipment such as an ITCS and an INMARSAT telephone and successfully introduces the aviation oxygen generator technology. The multifunctional flaw detection vehicle for the highland railway steel rail has the advantages of being simple, reasonable and practical in structure, comprehensive in function, satisfying detection requirements for railway rail ultrasonic detection, a steel rail contour, the steel rail abrasion, the rail cant, a steel rail surface and lateral side and the fastener loss, being good in integral operation stability and satisfying the requirement for the highest continuous operation speed per hour of 80 kilometer per hour of the ultrasonic flaw detection flat rail under the highland environment.

The invention discloses self-walking intelligent tour inspection equipment for an overhead line system. The self-walking intelligent tour inspection equipment comprises a frame assembly, as well as an equipment console, an overhead line system detection module, a gauge equipment parameter detection module, a drive module and a pedal which are connected to the frame assembly. The equipment console comprises a system host, and a display, a carried charge speed controller, a power switch, a forward / backward switch button, a detection start-stop switch and an electronic brake controller which are connected with the system host, and the overhead line system detection module is connected with the system host. According to the invention, an overhead line system all-parameter measurer is installed on an electrically driven frame, a man-carrying function is fulfilled, thus on-line monitoring on the overhead line system is conveniently realized, and the self-walking intelligent tour inspection equipment for the overhead line system has the advantages of high measurement precision, simple operation, low cost, and high measurement efficiency of track cars and the like.

The invention discloses a mobile contact rail detection device, which comprises a trolley arranged on a rail, wherein one side of the trolley is telescopically provided with a measurement unit capableof extending into the lower part of a contact rail, and the trolley is provided with a host in communication connection with the measurement unit; the measurement unit is configured to comprise a first industrial camera, a second industrial camera and a laser, the first industrial camera and the second industrial camera are matched with the contact rail to acquire 3D point cloud and / or picture information; and the laser is arranged on one side of the second industrial camera. According to the mobile contact rail detection device provided by the invention, a measurement probe can be erected below the contact rail through the arranged telescopic measurement unit on the premise of ensuring a reliable measurement reference so as to carry out continuous scanning measurement on the contact rail. The measurement probe is stored in the main body after being used, so that the measurement probe is protected, and the volume of equipment during transportation is reduced.

The invention discloses a full-automatic railway track detection vehicle capable of avoiding trains. The detection vehicle is composed of three parts, namely a frame, contractible wheel devices and a vehicle body lifting device, wherein each contractible wheel device is represented as a Pi-shaped component (Pi: ratio of circumference to diameter) formed by welding three stainless steel rectangular pipes in the form of two transverse pipes and one vertical pipe; two ends of the vertical rectangular pipes are connected with two power motors and track wheels by virtue of hinges and are provided with shock absorbers; the power motors are coaxially connected to the track wheels; the two transverse rectangular pipes are connected to the frame by virtue of chutes; push rod motors are connected between the contractible wheel devices and the frame; the contractible wheel devices are respectively connected to the left and right ends of the frame; the vehicle body lifting device is composed of rhombic jacks and a support frame; the upper part of each rhombic jack is connected to the frame and the lower part of each rhombic jack is connected to the support frame; the rhombic jacks are respectively arranged in the front and at the back of the frame; and the lower part of a lifting platform is connected to a vehicle body by virtue of a plurality of lifting rods. Since the track wheels are connected to the vehicle body by virtue of the contractible wheel devices and the chutes, the detection vehicle disclosed by the invention can change tread, reduce volume and can be hidden in the track, so as to avoid trains conveniently.

The invention provides a railway line equipment appearance inspecting system. A detection vehicle is used as a carrying platform. The railway line equipment appearance inspecting system comprises an overhead contact line inspecting device, a track inspecting device, a trackside electric service inspecting device, a mileage collecting device and a data processing server, wherein the overhead contact line inspecting device is used for obtaining an appearance image of an overhead contact line; the track inspecting device is used for obtaining an appearance image of a track; the trackside electricservice inspecting device is used for obtaining an appearance image of railway communication signal equipment; the mileage collecting device is used for obtaining a running distance of the detectionvehicle; the data processing server is used for processing the three images to obtain corresponding appearance damage information and determining damage positions of the overhead contact line appearance, the track appearance and the railway communication signal equipment appearance according to the appearance damage information and the corresponding running distances; the overhead contact line inspecting device and the mileage collecting device are mounted at the roof of the detection vehicle; the track inspecting device and the trackside electric service inspecting device are mounted at the bottom of the detection vehicle; and the data processing server is mounted in the detection vehicle. According to the railway line equipment appearance inspecting system, the railway line equipment appearance can be automatically inspected, and therefore the labor and time are saved, and the inspecting efficiency is enhanced.

The invention relates to the technical field of diesel locomotives, in particular to an ice and snow removing locomotive. The ice and snow removing locomotive comprises a locomotive body, a first cab, a second cab, line snow removing devices, an auxiliary room, a cooling room, an electric room, a power room and an ice removing pantograph. The first cab is arranged at one end of the locomotive body, the second cab is arranged at the other end of the locomotive body, the line snow removing devices are arranged below the first and the second cabs, the auxiliary room is arranged on one side of the second cab, the cooling room is arranged on one side of the auxiliary room, the electric room is arranged on one side of the first cab, the power room is arranged on one side of the electric room, and the ice removing pantograph is arranged between the electric room and the power room. The ice and snow removing locomotive is an ice and snow removing device which has the advantages of simple, compact and reasonable structure, convenience and quickness in assembly, reliability in connection and strong maintenability. The ice and snow removing locomotive quickly and effectively removes sleet from a contact network and snow on lines, between steel rails and on two sides of a steel rail, achieves greatly improved working reliability, fills the gap in research on dedicated ice and snow removing locomotives at home and abroad, and is easy to use and popularize.

The invention relates to an electric rail-defect detecting car which comprises rail wheels, a car frame and a rail-defect detector, wherein the car frame (2) comprises base plates, a support rod and an upper connecting rod; a base plate (21) is provided with a front base plate and a rear base plate, the front base plate is connected with the rear base plate (21) by a hinge (12); a battery box (11) is installed on the front base plate of the car frame, and a drive motor (3) is installed on the rear base plate; the support rod (22) behind the car frame is connected with the upper connecting rod (23) by a positioning pin (4); the front end of the upper connecting rod is fixed on the front base plate after being bent, and the front end of the base plate is fixedly connected with a detector instrument; and the rail-defect detector (10) is installed on the detector bracket. The invention has the characteristics of higher defecting efficiency and flexibility.

The invention discloses an automatic track settlement measuring device and method based on angle measurement. The device comprises a walking system, a measuring system and a collecting, computing and storing system. The walking system is used for providing a carrying platform and walking power in the testing process. The measuring system is used for carrying out settlement measuring point positioning and angle measuring. The collecting, computing and storing system is used for sampling measuring point positioning information and angle measuring information and carrying out computing and storing with the format according to the set rule. The walking system is arranged on a track through walking wheels and advances with the constant speed along the track. The measuring system and the collecting, computing and storing system are connected through a data transmission cable and are arranged on a car frame platform of the walking system. The automatic track settlement measuring device and method based on angle measurement are easy and convenient to operate, fast in test, high in practicality and capable of being widely applied to automatic continuous tests on the track settlement in the track project.

The invention relates to the field of high-speed rail smoothness detection and in particular to a high-speed rail smoothness detection system and method based on satellite positioning and inertial navigation. The system and method can obtain high-precision external geometric parameters of a rail by arranging the GT-CORS base station network by establishing a GNSS reference station on the CPII. Through a gauge detection device, a sleeper identification device, an odometer on a rail detection vehicle and in combination with the acquisition of the accurate coordinate results of three GNSS antennas, the rail parameters can be calculated to guide the precise rail adjustment. Large-scale satellite positioning monitoring point networking method millimeter-level joint solution and three-antenna GNSS rail inspection equipment short baseline fast and millimeter-level solution method achieves precision of plane 1 to 2mm and an elevation measurement error of + / - 2.5mm. The method avoids the dependence on CPIII, increases rail detection speed from the original 100m / h to 1000m / h d, greatly improves the detection efficiency of the external parameters of the rail, significantly reduces economic cost, and has broad technical development and application prospects.

The mixed powered electrically driven magnetic suspension track round inspection vehicle in the traffic engineering field includes carriage, engine, power generator, accumulator set, motor, interaxis differential, vehicle body, instrument steering stage, driving axis, wheels, side guide wheel, maintenance elevator, and track inspection system. The engine output is connected to the power generator mechanically, the power generator, the accumulator set and the motor are connected via cable, and the motor output is connected to the interaxis differential mechanically, so as to drive the driving axis and the wheels. The present invention may be used for bi-directional engineering drawing and automatic detection of the magnetic suspension track beam with its track detection system. The present invention has reasonable system composition, good energy source configuration, saving in energy and bi-directional smooth running for automatic detection.

The invention discloses a recurrence railway detecting vehicle and detecting method, which is characterized in that: two same reference small vehicles and detected small vehicle via connecting bar are inversely connected to form the frame of detecting vehicle, while the small vehicle is formed by three-point support; the support is arranged with walking wheels; the inner side of rail is contacted with small wheels, a rail surface distortion measurer, a displacement sensor, a suspension measuring rod, a tension device, a corner sensor and a control-display part, which uses the recurrence method to process dynamic continuous measure on the height, horizontal level, rail direction, rail distance and rail surface distortion of railway, with high detecting accuracy, quick speed, simple structure, lower cost, and the application for self-detection and daily maintenance.

The invention discloses a tunnel detecting vehicle, which relates to the technical field of tunnel detecting equipment. The technical scheme mainly comprises a vehicle body, a detecting mechanism anda recording mechanism are installed on the vehicle body, and an arc-shaped box top plate arranged concentric with the tunnel top wall is fixed on the vehicle body. A detection mechanism includes a support plate concentrically fixed to a side of the box top plate remote from the vehicle body, a plurality of detection rods are arranged on the support plate along the radial direction through the boxtop plate, the plurality of detection rods are uniformly distributed along the circumference of the support plate, the detection rods slide relative to the support plate and the box top plate along the radial direction, the detection rods are connected with elastic resetting members, and one end of the detection rods close to the vehicle body is provided with a drawing line assembly; The recordingmechanism comprises a storage roller and an unwinding roller, wherein the storage roller is connected with a driving assembly for driving the storage roller to rotate. The invention solves the problem that the prevention measures cannot be made by photographing and collecting the internal cracks of the tunnel by the camera at present, and can detect the position of the cracks with high probability before the cracks are generated, so that the prevention measures can be made.

The invention provides a data acquisition method and a tunnel inspection car, and belongs to the technical field of imaging detection. The data acquisition method is applied to the tunnel inspection car, and the tunnel inspection car comprises a control device and at least one group of imaging devices, wherein the at least one group of imaging devices are electrically connected with the control device. The method comprises the following steps: controlling the at least one group of imaging devices to reciprocate along a preset trajectory by the controller; and when the moving direction of the imaging devices is opposite to the direction of travel of the tunnel inspection car, and the difference between the motion velocity of the imaging devices and the motion speed of the tunnel inspection car is within a preset range, controlling the imaging devices to acquire image data of a tunnel inner wall by the control device. The scheme of the invention can effectively avoid the motion blur generated by the acquired images of the tunnel inner wall, so as to improve the image acquisition efficiency of the tunnel inspection car and meanwhile improve the quality of the acquired images.

The invention discloses a comprehensive operation vehicle for a multifunctional metro contact network. The comprehensive operation vehicle comprises a vehicle body, a walking system is arranged at the bottom of the vehicle body, a cab is arranged at one side of the vehicle body, a fixed operation platform with set height is arranged in the middle of the vehicle body, a crank arm aerial operation platform is arranged at the other side of the vehicle body, a pantograph and a contact network detection system are arranged at the top of the vehicle body, and an insulator cleaning system is arranged below the fixed operation platform. The comprehensive operation vehicle has the advantages that the contact network which abuts against the operation vehicle is cleaned, maintained and detected through the fixed operation platform, the operation range of the operation vehicle is broadened through the aerial operation platform, the operation vehicle smoothly bypasses the complex contact network, a tunnel wall is seamlessly repaired in a full-section mode, all the systems of the whole operation vehicle are arranged reasonably, and the comprehensive operation vehicle is a vehicle special for tracks, can have three functions of contact network overhauling, aerial operation and insulator cleaning, and is wide in operation range.

The invention discloses an automatic traveling detecting device suitable for an air train track and belongs to the field of air train track detection. An air train trolley capable of automatically operating on the track and convenient to dismount and place is arranged on the air train track, and various information collecting sensors, a navigation communication system and an obstacle cleaning mechanism are arranged on the air train track, so that the operation state of the air train track is automatically detected, the specific positions of damaged parts are fed back in real time, and obstacles in the air train track are cleared. The automatic traveling detecting device suitable for the air train track is simple in structure, easy to operate and control and capable of greatly improving theoverhauling efficiency of the air train track, reducing the overhauling cost of the air train track, and ensuing normal and stable operation of the air train track.