CN108263441B - A kind of pipeline transportation vehicle control - Google Patents
A kind of pipeline transportation vehicle control Download PDFInfo
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- CN108263441B CN108263441B CN201711166186.8A CN201711166186A CN108263441B CN 108263441 B CN108263441 B CN 108263441B CN 201711166186 A CN201711166186 A CN 201711166186A CN 108263441 B CN108263441 B CN 108263441B
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention discloses a kind of pipeline transportation vehicle control, comprising: general control system, the general control system obtain goods handling information from information system；Signals of vehicles control system, it is communicated to connect with the general control system, to obtain the goods handling information, the vehicle transport cargo in underground pipeline transportation system is controlled according to the goods handling information, and feeds back the status information of the vehicle to the general control system；Station level control system communicates to connect with the general control system, to obtain the goods handling information, the stop and cargo handling of the vehicle is controlled according to the goods handling information.Congestion and safety problem of the system provided by the present application to solve traffic above-ground in the prior art.Realize the control pipeline-transporting vehicle efficiently technical effect with safe operation.
Description
Technical field
The present invention relates to technical field of pipeline transport more particularly to a kind of pipeline transportation vehicle controls.
Background technique
Currently, with the development of economy, the fields such as logistics, traffic also all obtain the development of increasingly high speed.The purchase of people
The every aspects such as object, cargo send, go on a tour, daily life are all increasingly dependent on public transport, this brings to urban ground traffic
Great pressure, traffic congestion and security issues become increasingly urgent.
In order to solve the traffic above-ground of increasingly congestion, the transport pressure on ground can be alleviated using underground pipeline transportation system
Power, however underground pipeline transportation is a kind of conceptual traffic program of proposition, implements system schema there is no specific at present.
As it can be seen that being badly in need of a kind of efficient, safe and enforceable underground pipeline transportation vehicle control, at present to realize underground
Pipeline transportation scheme, to solve the congestion and safety problem of Current terrestrial traffic.
Summary of the invention
The present invention provides a kind of pipeline transportation vehicle control to solve the congestion and safety problem of Current terrestrial traffic.
The present invention provides a kind of pipeline transportation vehicle controls, are applied in underground pipeline transportation system, comprising:
General control system, the general control system obtain goods handling information from information system；
Signals of vehicles control system is communicated to connect with the general control system, to obtain the goods handling information, according to
Vehicle transport cargo in the goods handling information control underground pipeline transportation system, and feed back the status information of the vehicle
To the general control system；
Station level control system is communicated to connect with the general control system, to obtain the goods handling information, according to described
Goods handling information controls the stop and cargo handling of the vehicle.
Optionally, the signals of vehicles control system further include: ground control system, with the general control system communication link
It connects, to obtain the goods handling information, and according to the goods handling information, generates vehicle scheduling driving information；Vehicle-mounted control
System processed, the vehicle control syetem are installed on vehicle, and the vehicle control syetem is communicated with the ground control system, with
The vehicle scheduling driving information is obtained, and the vehicle driving is controlled according to the vehicle scheduling driving information；Ground face
System, the ground subsystem are mounted in the underground piping of the underground pipeline transportation system, to obtain the underground piping
Orbit occupancy condition information, the ground subsystem and the ground control system and the vehicle control syetem communication link
It connects, the orbit occupancy condition information is fed back into the ground control system and the vehicle control syetem, and then make institute
It states ground control system and adjusts generation vehicle scheduling driving information according to the orbit occupancy condition information, and make described vehicle-mounted
Control system adjusts the control vehicle driving according to the orbit occupancy situation.
Optionally, the ground subsystem includes: transponder, and the transponder is arranged in the underground piping, described
The traffic information of the transponder neighboring area is stored in transponder；The vehicle control syetem can be logical with the transponder
Letter to obtain the traffic information, and adjusts according to the traffic information traveling of the vehicle.
Optionally, the vehicle control syetem includes: automatic protection and control system, is led to the ground control system
Letter, to obtain the vehicle scheduling driving information, and according to the vehicle scheduling driving information and current vehicle running state
Information formation speed controls information and direction controlling information；Automatic traction and braking system are with the automatic protection and control
System communication, to obtain the speed control information and the direction controlling information, and according to the speed control information and described
Direction controlling information controls travel speed and the direction of the vehicle.
Optionally, the vehicle control syetem further include: information collection and transmission system, the information collection and transmitting system
System feeds back to the information of acquisition described automatic for acquiring the vehicle-surroundings environmental information and vehicle running state information
Protection and control system.
Optionally, the information collection and transmission system include any of the following or a variety of combinations: car speed is adopted
Collect module, for acquiring the current driving speed of the vehicle；Alternatively, convoy spacing detecting module, for acquiring the vehicle
With the spacing of front or behind vehicle so that the automatic protection and control system can adjust the vehicle according to the spacing
Travel speed；Alternatively, trackside equipment detecting module, for detecting the storage of the information in the underground piping or sending module, with
Obtain the road information in the underground piping；Alternatively, train-ground communication module, in the underground piping vehicle and ground
The communication of equipment.
Optionally, the car speed acquisition module is velocity sensor or Doppler radar.
Optionally, the convoy spacing detecting module is infrared distance measurement equipment or Microwave Distance Measuring Equipment.
Optionally, the trackside equipment detecting module includes any of the following or a variety of: transponder information receives parsing
Module is mounted on the vehicle, when the vehicle is by the transponder that is mounted in the underground piping, is answered described in acquisition
Answer the traffic information stored in device；Track circuit information receiving module is mounted on the vehicle, when the vehicle is described in
When track section in underground piping, the low frequency and carrier frequency information of the section are obtained, the occupied information of the section is sent out
Give the general control system；Detecting module is identified, is mounted on the vehicle, is mounted in the underground piping by detection
Mark, obtain it is described mark carry information.
Optionally, the train-ground communication module are as follows: the radio receiving transmitting module being mounted on the vehicle, the wireless receiving and dispatching
Module is communicated with ground launch tower；Alternatively, the orientation wireless transmitter module being mounted in the underground piping and being mounted on described
Wireless connection module on vehicle, the orientation wireless transmitter module are communicated with the wireless connection module；Alternatively, being laid on institute
State the coaxial cable with emission port in underground piping；Alternatively, the microwave tube of signal generator and signal receiver；
Rail communication network based on Mobile Internet Protocol IPV6.
Optionally, the station level control system includes: to be mounted on the first detection device of website first end and be mounted on station
Second detection device of point second end, the first end and the second end are respectively the both ends of the website；Control device, institute
It states control device and obtains the first detection information that first detection device is sent and second detection device is sent second
Detection information；When first detection information and second detection information characterize when detecting vehicle, vehicle parking is confirmed
In place；When first detection information characterization detects vehicle, and the second detection information characterization does not detect vehicle, school
The stop position of the just described vehicle.
Optionally, the station level control system further include: site identity is arranged at the pre-determined distance of website, the station
Point identification is corresponding with the website for being provided with the site identity；When wherein, at vehicle driving to the site identity, scanning is obtained
The site identity is taken, and judges whether the site identity is preset stop site identity；If so, then controlling the vehicle
The website is driven into deceleration.
Optionally, the vehicle that the station level control system is used to control multiple websites in the underground pipeline transportation system stops
It leans on and cargo handling；Wherein, the multiple website is classified as large-scale website and substation point, and the large size website is cargo from delivery
Ground is transported to the terminal of the substation point.
Optionally, the multiple website is classified as large-scale website and substation point, comprising: according to the handling capacity or root of website
According to the quantity of other websites of website connection, the multiple website is classified as large-scale website and substation point.
The one or more technical solutions provided in the embodiment of the present invention, have at least the following technical effects or advantages:
System provided by the embodiments of the present application, setting general control system to obtain goods handling information from information system, and
The order for carrying out control system transport on the whole is controlled and dispatched as a whole, then signals of vehicles control system is set, with institute
General control system communication connection is stated, the vehicle transport goods in underground pipeline transportation system is controlled according to the goods handling information
Object, that is, realizing vehicle can orderly travel according to the control of general control system.Again by feeding back the status information of the vehicle extremely
The general control system, so that the general control system can be according to the scheduling of the Advance data quality entirety of feedback.Further, it also sets
Station level control system is set, is communicated to connect with the general control system, to obtain the goods handling information, is transported according to the cargo
The stop and cargo handling for sending orderly information to control the vehicle to sum up realize vehicle driving, website vehicle parking and cargo
The orderly progress of handling, avoids the confusion of the unordered traveling of vehicle, ensure that the efficient and safety of system.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the schematic diagram of pipeline transportation vehicle control in the embodiment of the present invention；
Fig. 2 is the schematic diagram of vehicle control syetem in the embodiment of the present invention；
Fig. 3 is the schematic diagram one of train-ground communication module in the embodiment of the present invention；
Fig. 4 is the schematic diagram two of train-ground communication module in the embodiment of the present invention；
Fig. 5 is the schematic diagram three of train-ground communication module in the embodiment of the present invention；
Fig. 6 is the schematic diagram four of train-ground communication module in the embodiment of the present invention；
Fig. 7 is the schematic diagram five of train-ground communication module in the embodiment of the present invention；
The step of Fig. 8 is control method for vehicle in the embodiment of the present invention is schemed；
The step of Fig. 9 is vehicle parking control method in the embodiment of the present invention is schemed；
Figure 10 is the schematic diagram of platform detection device in the embodiment of the present invention；
The step of Figure 11 is middle rolling car of embodiment of the present invention control method one is schemed；
The step of Figure 12 is middle rolling car of embodiment of the present invention control method two is schemed；
Figure 13 is the schematic diagram of website classification in the embodiment of the present invention；
Figure 14 is the schematic diagram of transfer platform in the embodiment of the present invention；
Figure 15 is the structural schematic diagram of stream carrier vehicle system provided in an embodiment of the present invention；
Figure 16 is the bogie of stream carrier vehicle system provided in an embodiment of the present invention and the structural schematic diagram of car body；
Figure 17 is the enlarged diagram of bogie in Figure 16；
Figure 18 is the left view of Figure 17；
Figure 19 is the partial enlarged view of wheel in Figure 17, hub motor, pillar and framework；
Figure 20 be Figure 17 in revoke, the partial enlarged view of rubber bushing and framework；
Figure 21 is the structure left view of stream carrier vehicle system provided in an embodiment of the present invention；
Figure 22 is the partial cutaway schematic of underground piping system provided in an embodiment of the present invention；
Figure 23 is the partial enlarged view of rail end in Figure 22；
Figure 24 is the structural schematic diagram of stream carrier vehicle system provided in an embodiment of the present invention；
Figure 25 is the structural schematic diagram of pipeline provided in an embodiment of the present invention；
Figure 26 is the structural schematic diagram of bogie provided in an embodiment of the present invention；
Figure 27 is the cooperation schematic diagram of vehicle body bottom frame in Figure 26, centre of pull pin, bearing spring and framework；
Figure 28 is the partial enlarged view of centre of pull pin, bearing spring and framework in Figure 26；
Figure 29 is centre of pull pin in Figure 26, the cooperation schematic diagram for drawing flexural pivot and framework；
Figure 30 is the schematic diagram in A-A direction of centre of pull pin and traction flexural pivot in Figure 29；
Figure 31 is that the cooperation of the guided way and directive wheel provided in an embodiment of the present invention for being oriented to stream carrier vehicle is shown
It is intended to；
Figure 32 is the enlarged diagram of guided way in Figure 31；
Figure 33 is that the cooperation of the guided way and directive wheel provided in an embodiment of the present invention for being oriented to stream carrier vehicle is shown
It is intended to；
Figure 34 is the enlarged diagram of guided way in Figure 33；
Figure 35 is the side of the guided way for being oriented to stream carrier vehicle and directive wheel cooperation provided in an embodiment of the present invention
View；
Figure 36 is the closing of the door status diagram of the stream carrier vehicle provided in an embodiment of the present invention with door type structure；
Figure 37 is the car door opening status diagram of the stream carrier vehicle provided in an embodiment of the present invention with door type structure；
Figure 38 is the upper slide and switching mechanism of the stream carrier vehicle provided in an embodiment of the present invention with door type structure
Connection schematic diagram；
Figure 39 is the structural schematic diagram at second of visual angle of Figure 38；
Figure 40 is the partial enlarged view of part A in Figure 39；
Figure 41 is door-plate provided in an embodiment of the present invention, hinge, sliding rail and the schematic cross-section of pulley cooperation；
Figure 42 is the first structural schematic diagram of underground pipeline transportation cargo adapting system provided in an embodiment of the present invention；
Figure 43 is the combination unit structure schematic diagram of underground rotating device in Figure 42；
Figure 44 is the combination unit structure schematic diagram that tourelle is lifted in Figure 42；
Figure 45 is the combination unit structure schematic diagram of ground rotating device in Figure 42；
Figure 46 is the combination unit structure schematic diagram of abnormal cargo apparatus for temporary storage in Figure 42；
Figure 47 is second of structural schematic diagram of underground pipeline transportation cargo adapting system provided in an embodiment of the present invention.
(component that each label represents in diagram successively are as follows: 1 " pipeline, 2 " rails, 3 " by trajectory, 4 " stream carrier vehicles,
5 " bogies, 6 car bodies, 7 frameworks, 8 pin shafts, 9 rubber bushings, 10 wheels, 11 hub motors, 12 electric boxs, 13 revoke, 14 are flowed
Device, 15 pillars, 16 ear mounts, 17 lightening holes, 18 rail levels, 19 limiting blocks, 20 third rails, 21 the 6th rails, 1 ' pipeline,
2 ' car bodies, 3 ' rail groups, 4 ' bogies, 5 ' adapting systems, slide on 201,202 upper frames, 203 centers are every beam, 204 headwalls,
209 observation windows, 210 automatic loading and unloading goods platforms, 211 sliding rails, 212 hinges, 213 door-plates, 214 pulleys, 401 ' wheels, 402 ' structures
Frame, 403 traction flexural pivots, 404 centre of pull pins, 405 bearing springs, 406 brake apparatus, 407 directive wheels, 408 driving devices,
409 pantagraph current collectors, 410 vehicle body bottom frames, 411 grooves, 412 fixed platforms, 413 backstops, 414 second connecting plates, 415 first connections
Plate, 416 convex navels, 417 springs, 418 guided ways, 4181 expand structure, 4182 middle parts, 4183 lower parts, 51 ground rotating devices,
52 second supports, 53 support transfer stations, 54 underground rotating devices, 55 lifting tourelles, 56 abnormal cargo apparatus for temporary storage, 511
Third bracket, 512 third roller-ways, 541 first roller-ways, 542 first supports, 551 transfer fixed frames, 552 transfer lifting frame, 553
It is lifted driving part, 554 first transfer roller-ways, 555 second transfer roller-ways, 561 temporary brackets, 562 temporary roller-ways)
Specific embodiment
The embodiment of the present application is by providing a kind of pipeline transportation vehicle control, to solve traffic above-ground in the prior art
Congestion and safety problem.Realize the control pipeline-transporting vehicle efficiently technical effect with safe operation.
Technical solution in the embodiment of the present application, general thought are as follows:
Pipeline transportation vehicle control, comprising:
General control system, the general control system obtain goods handling information from information system；
Signals of vehicles control system is communicated to connect with the general control system, to obtain the goods handling information, according to
Vehicle transport cargo in the goods handling information control underground pipeline transportation system, and feed back the status information of the vehicle
To the general control system；
Station level control system is communicated to connect with the general control system, to obtain the goods handling information, according to described
Goods handling information controls the stop and cargo handling of the vehicle.
Setting general control system to obtain goods handling information from information system, and controls and dispatch to come from whole as a whole
The order that control system is transported on body, then signals of vehicles control system is set, it is communicated to connect with the general control system, according to
Vehicle transport cargo in the goods handling information control underground pipeline transportation system, that is, realizing vehicle can be according to master control
The control of system orderly travels.Again by the status information of the feedback vehicle to the general control system, in favor of described total
Control system can be according to the scheduling of the Advance data quality entirety of feedback.Further, station level control system is also set up, with the master control
System communication connection, to obtain the goods handling information, controls stopping for the vehicle according to the goods handling orderly information
Lean on and cargo handling, to sum up, realize vehicle driving, the orderly progress of website vehicle parking and cargo handling, avoid vehicle without
The confusion of sequence traveling, ensure that the efficient and safety of system.
It should be noted that pipeline is in the present embodiment are as follows: piping laying in underground and is connected to multiple dresses
Unloading website, rail is fixed in the duct；The bogie of stream carrier vehicle is run on rail；It is set in handling goods station point
Set adapting system；It realizes and makes full use of underground piping (including city integrated pipeline) network, carry out cargo transport in underground.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Embodiment one
As shown in Figure 1, the present embodiment provides a kind of pipeline transportation vehicle controls, comprising:
General control system 1, the general control system 1 obtain goods handling information from information system 2；
Signals of vehicles control system 3 is communicated to connect with the general control system 1, to obtain the goods handling information, root
According to the vehicle transport cargo in goods handling information control underground pipeline transportation system, and feed back the state letter of the vehicle
It ceases to the general control system；
Station level control system 4 is communicated to connect with the general control system 1, to obtain the goods handling information, according to institute
State stop and cargo handling that goods handling information controls the vehicle.
It should be noted that the pipeline transportation vehicle control is for controlling the vehicle in underground pipeline transportation system
Traveling, the system stopped and load and unload goods, the system include general control system 1, signals of vehicles control system 3 and station level control system
System 4.The general control system 1 is responsible for carrying out entire pipeline transportation net whole monitoring and control, signals of vehicles control system
System 3 is for controlling the traveling of vehicle, and the station level control system 4 is for controlling vehicle in the stop of a website and handling goods etc..
Each system is described in detail respectively below:
One, general control system 1.
In the embodiment of the present application, the general control system can be made of one or more groups of calculating equipment, have meter
Calculate function.
The general control system 1 can be communicated with information system 2, obtain the goods handling information in the information system 2,
The cargo transport information may include: the type of cargo, the quantity of cargo, the requirement of the haulage time of cargo, the starting of cargo
The site information etc. that ground and destination, the transportation route of cargo, cargo pass through on the way.
In the specific implementation process, the information system 2 can be the subsystem in the pipeline transportation vehicle control,
It is also possible to other independent Information Acquisition Systems, this is not restricted.
It, can be according to the cargo transport after the general control system 1 obtains the cargo transport information from the information system 2
Information generates scheduling information, and the cargo transport information and the scheduling information are handed down to signals of vehicles control system 3, with
The allotment of the signals of vehicles control system 3 control vehicle is set to go to transport corresponding cargo.
Further, the general control system 1 can also obtain the travel condition of vehicle that the signals of vehicles control system 3 is fed back
Information and location information generate new scheduling information to adjust according to the information of feedback, and certainly, the general control system may be used also
It is sent to the corresponding client of cargo with the travel condition of vehicle information and location information that will acquire, for inquiry.
Further, the general control system 1 can also obtain the website occupied information or rail that the station level control system 4 is sent
Road occupied information, to notify the signals of vehicles control system 3 to adjust route or travel by vehicle.
Two, signals of vehicles control system 3.
The signals of vehicles control system 3 is safe, the orderly and efficient traveling for controlling vehicle, is by a series of
Relevant device is constituted, specifically, the signals of vehicles control system 3 further include:
Ground control system 31 is communicated to connect with the general control system 1, to obtain the goods handling information, and root
According to the goods handling information, vehicle scheduling driving information is generated；
Vehicle control syetem 32, the vehicle control syetem 32 are installed on vehicle, the vehicle control syetem with it is described
Ground control system communication, to obtain the vehicle scheduling driving information, and controls according to the vehicle scheduling driving information
The vehicle driving；
Ground subsystem 33, the ground subsystem 33 are mounted in the underground piping of the underground pipeline transportation system,
To obtain the orbit occupancy condition information of the underground piping, the ground subsystem and the ground control system and the vehicle
Borne control system communication connection, feeds back to the ground control system and the vehicle-mounted control for the orbit occupancy condition information
System processed.
Ground control system 31, vehicle control syetem 32 and ground subsystem 33 are illustrated separately below:
1) ground control system 31.
The ground control system 31 is made of one or more groups of calculating equipment, with 1 communication link of general control system
It connects, and the continuity system as the general control system 1, the function mainly having have: monitoring the operating status of transport vehicle and obtain
Obtain the location information of transport vehicle；The dispatched loads that general control system 1 issues are received, then according to the dispatched loads
It goes to send haulage vehicle to receive cargo；According to the format that cargo is dispatched, automatically generated most according to starting point and destination
Shortest path；Key signal mark point information on the optimal path of generation is sent to haulage vehicle according to driving direction sequence,
The mark point can be the label being preset in the underground piping；Connected in real time by wireless network and haulage vehicle holding
It connects, monitors the driving information and status information of vehicle；By track equipment, road ahead occupancy situation is obtained, is according to circumstances adjusted
Traveling plan adjusted is handed down to haulage vehicle by the full line plan of sailing.
As it can be seen that the ground control system 31 has continued the part control function of the general control system 1, advised in path
Draw, vehicle monitoring, vehicle scheduling and vehicle running path adjustment etc. functionally all the general control system 1 is supplemented.
Certainly, in the specific implementation process, which part control is placed on the general control system 1, which part control is placed on the ground control
System 31 processed can be set as needed, and this is not restricted.
2) vehicle control syetem 32.
Vehicle control syetem 32 is used to control operation, the safety and protection of vehicle, as shown in Fig. 2, can be by a series of phases
Gateway subsystem is constituted.By function division, the vehicle control syetem 32 can be divided into:
Automatic protection and control system are communicated with the ground control system, to obtain the vehicle scheduling driving information,
And according to the vehicle scheduling driving information and current vehicle running state information formation speed control information and direction controlling
Information；
Automatic traction and braking system, communicate with the automatic protection and control system, to obtain the speed control letter
Breath and the direction controlling information, and control according to the speed control information and the direction controlling information row of the vehicle
Sail speed and direction；
Information collection and transmission system, the information collection and transmission system are for acquiring the vehicle-surroundings environmental information
With vehicle running state information, and the information of acquisition is fed back into the automatic protection and control system.
Firstly, introducing the automatic protection and control system.
The automatic protection and control system can be one or more groups of equipment for having computing function.
The automatic protection and control system can obtain vehicle-surroundings environment letter from the information collection and transmission system
Breath and vehicle running state information, and the road information issued according to ground control system 31 and general control system 1, in conjunction with institute
The information such as car speed and the braking of automatic traction and braking system feedback are stated, various information are calculated by internal processes
And analysis, formation speed control information and direction controlling information.And formation speed is controlled into information and the transmission of direction controlling information
To the automatic traction and braking system, to control vehicle safety operation.
Wherein, the automatic protection and control system are calculated and are analyzed to various information, and it is excessively close that spacing may be implemented
When automatic vehicle velocity modulation section and/or the automatic safes such as automatic braking when emergency drive.
Then, the automatic traction and braking system are introduced.
The automatic traction and braking system are specially Vehicle Controller.The automatic traction and braking system are mainly used for
The control information of the automatic protection and control system is received, and is executed.Its executive mode is the electricity by controlling haulage vehicle
Machine and brake apparatus are realized.
For example, after receiving the deceleration instruction of the automatic protection and control system, the automatic traction and braking system
The motor for controlling haulage vehicle, slows down.
Further, the information such as the current speed of the vehicle can also be fed back to institute by the automatic traction and braking system
Automatic protection and control system are stated, so that the automatic protection and control system can calculate generation more suitably control information.
Subsequently, the information collection and transmission system are introduced.
Specifically, the accuracy for the control information that the automatic protection and control system generate mainly just is fixed against described
The information that information collection and transmission system obtain.In the specific implementation process, the information can have the vehicle of vehicle Yu front and back vehicle
The received general control system 1 of the traffic information in region, vehicle or ground are currently located away from information, the velocity information of vehicle, vehicle
The information that control system 31 is sent.
The information collection and transmission system mainly include a series of information acquisition module or sensor, are set forth below several
For kind:
The first, car speed acquisition module.
The car speed acquisition module is used to acquire the current driving speed of the vehicle, is specifically as follows velocity pick-up
Device or Doppler radar.
Wherein, the velocity sensor may be mounted on vehicle the travel speed for directly acquiring vehicle, can also install
Car speed is obtained by acquiring vehicle wheel rotational speed mode on tire or transmission device.The Doppler radar is mounted on vehicle
On, come measuring speed by way of testing radar signal reflections duration.
Certainly, in the specific implementation process, the velocity sensor can be both installed or the Doppler radar is installed, led to
It crosses the velocity information for obtaining the two to be compared to correct final speed, to reduce wheel " idle running " and " sliding " bring
Velocity error.
Second, convoy spacing detecting module.
The convoy spacing detecting module is used to acquire the spacing of the vehicle Yu front or behind vehicle so that it is described oneself
Dynamic protection and control system can adjust the travel speed of the vehicle according to the spacing.
In the embodiment of the present application, the convoy spacing detecting module can be infrared distance measurement equipment, be also possible to microwave
Distance-measuring equipment, this is not restricted.
The convoy spacing detecting module may be mounted at the head or tail portion of vehicle, to vehicle front and front vehicle
Spacing all detected.The convoy spacing detecting module can have receive capabilities and emission function, can detect and its
The spacing of his vehicle can also be convenient for the spacing of other vehicle detections and this vehicle.
The third, trackside equipment detecting module.
The trackside equipment detecting module is used to detect information storage or sending module in the underground piping, to obtain
Road information in the underground piping.
In the embodiment of the present application, the trackside equipment detecting module can be one or more of:
Transponder information receives parsing module, is mounted on the vehicle, when the vehicle is by being mounted on the underground
When transponder in pipeline, the traffic information stored in the transponder is obtained.Specifically, the transponder information receives solution
Analysis module, by the transponder antenna, can utilize low-frequency wireless when vehicle driving passes through transponder for transponder antenna
Electric wave reception obtains the content information stored in the transponder, and the content information that will acquire passes to the parsing mould on vehicle
Block is to parse the traffic information that the content information includes, so that the automatic protection and control system can be according to the road conditions
Information controls vehicle driving.
Track circuit information receiving module is mounted on the vehicle, when the vehicle passes through in the underground piping
When track section, the low frequency and carrier frequency information of the section are obtained, the occupied information of the section is sent to the master control
System processed.Specifically, the track circuit information receiving module can be track circuit antenna, when vehicle passes through certain track electricity
Lu Shi obtains the low frequency and frequency information carrying breath of the track circuit storage by the track circuit antenna, and by the low frequency and
Frequency information carrying breath passes to general control system 1 by train-ground communication module, so that the general control system 1 is according to the low frequency and frequency
Information carrying breath determines that the track near the track circuit is occupied.
Detecting module is identified, is mounted on the vehicle, by detecting the mark being mounted in the underground piping, is obtained
The information that the mark carries.In the specific implementation process, in the underground piping can there are many mark, for example, root
Position according to mark arrangement is different, can be divided into mark by the other mark in station and branch road, wherein when vehicle passes through mark by the station
When, the mark detecting module detects mark by the station, obtains the front stored in mark by the station and stops website
Information, including site name, website occupancy situation etc..When vehicle is by mark by the branch road, the mark detecting module
Mark by the branch road is detected, the information in each branch road and branch near storing in mark by the branch road is obtained, including
It stands branch road quantity, branch road route, branch road position etc..According to it is described mark detecting module obtain site information and branch road information,
The route planning information that the automatic protection and control system are prestored in conjunction with original, determines driving direction and the path of vehicle.
4th kind, train-ground communication module.
Communication of the train-ground communication module for vehicle and ground installation in the underground piping.
Specifically, it is contemplated that the problem of the signal interference of underground, the embodiment of the present application provides the vehicle of following several optimizations
Ground communication module in the specific implementation process, can choose following one or more train-ground communications to enhance train-ground communication effect
Module:
As shown in figure 3, radio receiving transmitting module 301 can be installed on vehicle, the radio receiving transmitting module can for GSM,
The radio receiving transmitting module of GPRS or LTE mode is established with ground launch tower 302 and is communicated to connect, to realize train-ground communication.
As shown in figure 4, orientation wireless transmitter module 401 can also be installed in the underground piping, the orientation is wireless
Transmitting module can be WLAN, bluetooth or Zigbee mode, and this is not restricted.It installs and is wirelessly connected on the vehicle again
Module 402, the wireless connection module 402 installed on the vehicle can be strong according to the signal of the orientation wireless transmitter module 401
Weak, the strongest orientation wireless transmitter module of selection signal is attached.Wherein, the wireless connection module on vehicle and the orientation
Wireless transmitter module, which is established, to be wirelessly connected, and the orientation wireless transmitter module passes through the fiber optic network being laid in advance and controls in ground
Communication connection is established in room, to realize train-ground communication.
As shown in figure 5, the coaxial cable with emission port can also be laid in the underground piping using leakage cable mode
501, it is provided with opening on the coaxial cable, passes through wired mode and ground at the terminal of the opening and the coaxial cable
Communication connection is established in middle control.Slot is also provided on the coaxial cable, the slot on outer conductor make cable built-in field and
Coupling is generated between extraneous electric wave, specific coupling mechanism is related to the spread pattern of slot, a part of electromagnetic energy in cable
Amount passes through the energy in the slot receiving pipeline by the Environment communication in slot and pipeline, to realize coaxial cable
With the signal interaction of environment in the underground piping, to realize train-ground communication.
As shown in fig. 6, can also be using the microwave tube 601 with signal generator and signal receiver, specifically, letter
Number generator, which generates, can use microwave signal, the hollow aluminum of fluting of the Signal separator between signal generator and signal receiver
It squeezes on waveguide.At the fluting of waveguide, it is added with slider.Slider a part is contacted with microwave signal, another portion
Dividing can be connect by call wire with transport vehicle, slider can also directly be connect with transport vehicle, to realize car-ground logical
Letter.
As shown in fig. 7, the rail communication network based on Mobile Internet Protocol IPV6 can also be used, haulage vehicle is embedding
Enter into the network of any full IP.
Specifically, the letter that the automatic protection and control system are based on above- mentioned information acquisition and transmission system obtains
Breath is to optimize vehicle control.
3) ground subsystem 33.
The ground subsystem 33 includes a series of orbit occupancy condition informations for obtaining the underground piping and road conditions letter
The equipment of breath, comprising:
Transponder, the transponder are arranged in the underground piping, and the transponder week is stored in the transponder
The traffic information of border region；The vehicle control syetem can be communicated with the transponder, to obtain the traffic information, and according to
The traffic information adjusts the traveling of the vehicle.It is corresponding, the vehicle control syetem further include: transponder information receives solution
Module is analysed, is mounted on the transport vehicle, when the transport vehicle is by the transponder that is mounted in the underground piping, is obtained
The traffic information stored in the transponder.
It is corresponding, in transport vehicle by the transportation route driving process, if detecting transponder, obtain the response
The corresponding traffic information of device；Based on the traffic information, the driving parameters of the transport vehicle are adjusted.
Specifically, in the present embodiment, by pipeline inner orbit, each pre-determined distance (such as: 50 meters, 100 meters) is provided with
Transponder is stored with the traffic information of respective segments track in transponder.In turn, transponder information receives parsing module, installation
On the transport vehicle, when the transport vehicle is by the transponder that is mounted in the underground piping, the transponder is obtained
The traffic information of interior storage.Specifically, the transponder information, which receives parsing module, to be transponder antenna, work as transport vehicle
When driving through transponder, by the transponder antenna, is received in the acquisition transponder and stored using low frequency radio wave
Content information, and the content information that will acquire passes to the parsing module on transport vehicle to parse the content information and includes
Traffic information so that the automatic protection and control system can control transport vehicle traveling according to the traffic information.Under chain
Position machine system, arrangement in orbit, by information such as acquisition meter shaft, track switch, semaphores, obtain track road occupancy situation, so
After pass it to chain host computer and general control system, with for adjusting subsequent vehicle route, guidance vehicle operation.
All kinds of marking arrangements, the trouble road side signs of the station side label and label branch road information that whether are occupied including label website
Deng.It is corresponding, the vehicle control syetem further include: mark detecting module is mounted on the transport vehicle, is installed by detection
Branch road in the underground piping identifies equipment, obtains the information that the branch road mark equipment carries.
In transport vehicle by the transportation route driving process, if detecting branch road mark equipment, the branch road is obtained
Identify the branch road information of equipment instruction；Based on the branch road information and the transportation route, the branch road track for needing to drive into is determined.
In the specific implementation process, in underground piping can there are many mark, for example, according to mark arrangement position
Difference can be divided into the other mark equipment in station and branch road mark equipment, wherein when transport vehicle mark equipment other by station, mark
Detecting module detects other mark equipment of arriving at a station, the information of the front stop website stored in mark equipment by acquisition station, including station
Point title, website occupancy situation etc..When transport vehicle identifies equipment by branch road, mark detecting module detects branch road mark and sets
It is standby, obtain the information in each branch road and branch near storing in mark equipment by branch road, including station branch road quantity, branch road road
Line, branch road position etc..According to site information and branch road information that mark detecting module obtains, the branch automatic protection driven into is determined
The route planning information prestored with control system in conjunction with original, determines driving direction and the path of transport vehicle.
The ground subsystem 33 is mounted in the underground piping of the underground pipeline transportation system, is controlled on the ground
After system 31 sends the vehicle control syetem 32 on transportation route to the transport vehicle for being mounted on the underground pipeline transportation system；Institute
State the location information that ground subsystem 33 monitors the transport vehicle traveling；The ground control system 31 is based on institute's location information,
Determine the occupied state information for the next segment pipe conveying track of the transport vehicle driven towards by the transportation route；It will be described
Occupied state information is sent to the vehicle control syetem of the transport vehicle；
The transport vehicle is by the vehicle control syetem in the transportation route driving process, being mounted on the transport vehicle
32 receive the occupied state information；Based on the occupied state information, driving parameters are adjusted.
Specifically, in the present embodiment, ground control system 31 is each transport vehicle planning transport road in underground piping
Diameter, and transportation route is issued to corresponding transport vehicle, transport vehicle is according to transportation route driving process, ground subsystem
33, it is communicated by being communicated with transport vehicle, or with other equipment of standing, monitors the location information of transport vehicle traveling, it will be locating for transport vehicle
Location information be transmitted to ground control system 31.
When track in the duct is in single track full-duplex mode, i.e., allow transport vehicle two way on track, same
It is easy to appear two transport vehicles travelled in opposite directions on segment pipe track to meet situation, at this time, it may be necessary to obtain front track quilt in time
The state of occupancy, and then when determining that front track is occupied, and thering is transport vehicle to drive into opposite directions, transport vehicle needs are kept away in time
It allows operation, gives another the right of way in website waiting.
Meanwhile track in the duct only allows transport vehicle one-way traffic, meeting when being in single track simplex mode on track
There is the different situation of the speed of each transport vehicle, the speed of transport vehicle is variable, and the transport vehicle speed driven in the front is slower, rear
The transport vehicle speed of traveling is very fast, needs to obtain the occupied state of front track in time, and then occupied according to front track
State, adjust the speed of transport vehicle, lead to car to car impact to avoid speed is too fast.
Meanwhile track in the duct only allows transport vehicle one-way traffic, often when being in single track simplex mode on track
The speed of transport vehicle is fixed, and is driven at a constant speed on line path, when the transport vehicle of front track operation causes because of failure
Parking, it is occupied to make this section of track of vehicle, at this time, it may be necessary to obtain the occupied state of front track in time, and then according to front rail
The occupied state in road, control transport vehicle waits at website, to avoid transport vehicle because that can not know front track occupied state
And two vehicles is caused to meet on this section of track, cause track to block.
So in the present embodiment, ground control system 31 also obtained by the ground subsystem 33 monitored it is each
The information that the driving information and other equipment of standing that transport vehicle is sent are sent, ground control system 31 are based on these information, and determining should
Transport vehicle is travelled the occupied state information of next segment pipe conveying track extremely by transportation route, which is used for table
Whether bright corresponding pipe transporting trajectory is occupied.The transport vehicle is travelled extremely next section by transportation route by ground control system 31
The occupied state information of pipe transporting trajectory is sent to transport vehicle by communication connection, and transport vehicle upon receiving this information, is adjusted
Whole corresponding driving parameters.
Such as: traveling has the second transport vehicle on next segment pipe conveying track that the first transport vehicle will drive into, and occupies shape
State information shows that the segment pipe conveying track is occupied, after the first transport vehicle receives the occupied state information, if the pipeline
Conveying track is the track of full duplex, and the driving direction of the driving direction of the second transport vehicle and the first transport vehicle is on the contrary, then first
Transport vehicle can rest on after current site waiting is given another the right of way and be further continued for travelling.If the driving direction of the second transport vehicle and the first fortune
The driving direction of defeated vehicle is identical, then the first transport vehicle can keep safe distance between vehicles with the second transport vehicle with Reduced Speed Now preset time.
Further, in the present embodiment, ground control system 33 further include:
Stand it is other identify equipment, be arranged in the underground piping of the underground pipeline transportation system away from each website it is default away from
From place, the vehicle control syetem can get mark equipment by the station and refer to when detecting mark equipment by the station
The website shown.
It is corresponding, the vehicle control syetem 32 further include: mark detecting module is mounted on the transport vehicle, passes through
The mark being mounted in the underground piping is detected, the information that the mark carries is obtained.
In turn, transport vehicle is in pressing the transportation route driving process, the other mark equipment if detection is arrived at a station, described in acquisition
The website that other mark equipment instruction information of standing indicates；Website and the transportation route based on the instruction, it is determined whether need
It is stopped in the website of the instruction, wherein in the underground piping of the underground pipeline transportation system, transported in the underground piping
Each branch road track inlet point of each track switch in the underground piping of defeated system is provided with branch road mark equipment.
Specifically, in the present embodiment, predetermined position is provided with the other mark in station before and after each website in underground situations in pipes
Know equipment, the other status information for identifying and being stored with the website in equipment of stand, each website is provided with bypass track, for giving another the right of way or
It overtakes other vehicles.
Such as: 50 meters of the front and back of website A is respectively arranged with the other mark equipment 2 of station side mark equipment 1 and station, and other mark of standing is set
Standby 1 identifies the mark that website A is stored in equipment 2 with station side.When transport vehicle detects mould by vehicle-mounted trackside equipment
Mark detecting module detection in block arrive at a station other mark equipment 1 when, the mark of website A can be got, by making with transportation route
Compare, determine whether website A is that the transport vehicle needs the website stopped, if not the website that needs are stopped, then transport vehicle from
The bypass of website A passes through.Avoid website it is occupied when, could pass through the website after the completion of needing to wait front truck to unload, guarantee
The timeliness of transport.
In order to determine the occupied state of each segment pipe conveying track in underground piping, each transport vehicle will be by the station that detected
Mark equipment is sent to the ground control system 31, so that the ground control system is based on the transport vehicle hair received
Equipment is identified by the station detected sent, determines the pipe transporting trajectory that the transport vehicle occupies.
Specifically, in the present embodiment, mark equipment by the station of detection is sent to ground control by the transport vehicle in pipeline
System, when ground control system monitors transport vehicle A1, if defeated vehicle A1 will drive towards between website B and website C according to transportation route
When pipe transporting trajectory 1.The other mark equipment 2 of station side mark equipment 1 and station is respectively set before and after website B, is set respectively before and after website C
The other mark equipment 4 in station side mark equipment 3 and station is set, corresponding drive by end station of pipe transporting trajectory 1 identifies equipment as station side mark
Know equipment 2, the corresponding end station side mark equipment that is driven out to of corridor conveying track 1 is the other mark equipment 3 in station.If ground control system connects
Mark equipment is received by station of the transport vehicle away from current time nearest detection as the other mark equipment 2 in station or station is other identifies equipment 3, table
Open conduit conveying track 1 is occupied.
Such as: mark equipment identifies equipment 2 for station is other by the station for the detection nearest away from current time that transport vehicle A2 is sent,
Show that transport vehicle A2 is just being travelled on corridor conveying track 1, pipe transporting trajectory 1 is occupied.And transport vehicle A2 and transport vehicle A1
Driving direction it is consistent, transport vehicle A1 can slow down with keep and transport vehicle A2 between safe distance.For another example: transport vehicle A3 is sent
The detection nearest away from current time station by mark equipment to be that station is other identify equipment 3, show that transport vehicle A3 is just being travelled and transported in corridor
On defeated track 1, pipe transporting trajectory 1 is occupied.And the driving direction of transport vehicle A3 and transport vehicle A1 is on the contrary, transport vehicle A1
Website B can be rested on to give another the right of way to wait.
Further, in the present embodiment, in order to guarantee that fault car sails out of occupied track in time, guarantee the smooth of track
The general character, when the transport vehicle breaks down, the transport vehicle sends fault message to the ground control system；Described in reception
The location information for the scram point that ground control system 31 is sent, wherein in the buried pipe of the underground pipeline transportation system
In road, the predetermined position of every segment pipe conveying track is provided with scram point；Driving path is adjusted, the transport vehicle is controlled
Travel the scram point indicated to the location information.
Corresponding, the ground control system 31 is based on the transport when receiving the fault message of transport vehicle transmission
The location information of vehicle determines the location information of scram point；The location information of the scram point is sent to the fortune
Defeated vehicle.
Specifically, in the present embodiment, the faulty anchor point of every corresponding predetermined position setting of segment pipe track, the event
Barrier anchor point can be set in the middle position of the segment pipe track, it is of course also possible to be other positions, here, the application is not
It is limited.
In transport vehicle traveling when on certain segment pipe track, if a failure occurs, generates fault message and be sent to ground control
System processed, the location information and fault reason information of the transport vehicle are carried in the fault message, and ground control system is connecing
After receiving the fault message, the location information of the transport vehicle based on failure can determine the line path that the failure transport vehicle occupies,
And then determine the location information of the corresponding scram point of this section of track occupied, the location information of scram point is sent to
The failure transport vehicle, failure transport vehicle can be based on the location information, adjust driving path, and traveling to scram point is tieed up
Repair processing.
In turn, when failure transport vehicle cannot when driving, fault message is sent to this section of track and corresponded to by ground control system
Scram point, the staff of scram point can arrange the equipment such as trailer to transport failure after knowing the fault message
Defeated vehicle drags this section of track away from time, alternatively, staff can be rushed in time at the position where failure transport vehicle, transports to failure
Defeated vehicle repairs, and can run in time after transport vehicle Failure elimination.Ensure the safety of driving.
Three, station level control system 4.
In the embodiment of the present application, the station level control system 4 is mainly used for each website in the underground piping
Parking and handling goods control.In order to improve the efficiency of cargo transport, enhancing order can be as shown in figure 13, carries out to website
Classification, the foundation being specifically classified can be size according to website handling capacity, or according to website connect website number come into
Row classification.After marking off large-scale website 1301 and substation point 1302, cargo can be first transported in the large-scale conduct of website 1301
Turn, is transported to each substation from large-scale website further according to goods handling destination.Branch website sectional transports cargo in this way,
It can accelerate the efficiency of entire underground piping network cargo transport.
Certainly, the application is not limited to only be divided into large-scale website 1301 and substation point 1302, can also be as shown in figure 13,
Mark off level Four website from large to small: large-scale website 1301, medium-sized website 1303, branch website 1304 and substation point 1302.In
In specific implementation process, specifically marking off a how many grade websites be can according to need to be arranged.
For example, as shown in figure 13, need to transport to the cargo of substation point C and substation point D, can first consolidated delivery extremely
Large-scale website A, then consolidated delivery are finally transported respectively to substation point C and substation point D from medium-sized website B again to medium-sized website B,
To reduce the consumption of haulage vehicle and the occupancy of transportation route, the utilization rate of transport resource is improved, and then improve conevying efficiency.
When in the embodiment of the present application, in order to realize that vehicle arrives at a station, it can stop automatically in place, in website first end installation the
One detection device and website second end install the second detection device, the first end and the second end are respectively the website
Both ends；And control device is set and obtains the first detection information and second detection device that first detection device is sent
The second detection information sent；When first detection information and second detection information characterize when detecting vehicle, really
Recognize vehicle parking in place；When first detection information characterization detects vehicle, the second detection information characterization is not detected
When to vehicle, the stop position of the vehicle is corrected.
Further, it unloads for convenience, pipeline is unloaded, and that side is reserved to be open, and adds safety door in the opening, works as fortune
When defeated vehicle is accurately stopped in place, safety door is opened.In order to guarantee the safety of vehicle driving, when transport vehicle does not need at the station
When stop, which is to close.
Further, in order to help vehicle that can accurately stop in place, the station level control system further include: site identity, if
It sets at the pre-determined distance of website, the site identity is corresponding with the website for being provided with the site identity.When vehicle driving extremely
When at the site identity, scanning obtains the site identity, and judges whether the site identity is preset stop website
Mark, if so, then controlling the vehicle deceleration drives into the website.
Further, when vehicle is by the site identity, can according to the distance of the site identity to website, and from
The speed of body at that time calculates optimal deceleration acceleration, and slows down according to the deceleration acceleration, to enable the vehicle to just
It is parked in by the safety door of the platform.
In the embodiment of the present application, in order to be able to achieve the accurate transhipment of cargo, station level control system 4 also has both goods information
The function of management and cargo transfer these two aspects, in the following, being described in detail respectively in conjunction with Figure 14；
In a first aspect, goods information management.
Goods information management includes the starting point to cargo, destination, stops website, goods weight, the goods such as type of merchandize
The management of object information.
In the specific implementation process, waybill mission bit stream therein, such as: starting point, destination and the bus stop of cargo
Point etc. information can with as previously mentioned, by client by client's self-setting after, retransmit to information system 2 save, by master control
System 1 processed is issued to signals of vehicles control system 3 and station level control system 4 after communicating acquisition with information system 2 again.It can also be by
General control system 1 is sent directly to after client's self-setting to issue, this is not restricted.
And goods weight, type of merchandize and sealed in unit size and other items information can be to be packaged on ground or website
When obtain and stored by sealed in unit code, the sealed in unit code and the interrelated storage of waybill mission bit stream,
So that can not only find type of merchandize and weight information by the sealed in unit code, it can also find and stop the fortune such as website
Single task information.
Specifically, cargo can both be encapsulated in advance on ground and be generated sealed in unit code, can also website into
Row encapsulation is to generate sealed in unit code, if ground and website are provided with sealed in unit, the sealed in unit on the website
Sealed in unit with the ground is the same model device of same parameter, and has the sequence code for belonging to same set of system, all to guarantee
Transport cargo can be carried out the packaging of integrated system, and possess unduplicated sealed in unit code, avoid the occurrence of sealed in unit code
Chaotic situation.
In the specific implementation process, in addition to above mentioned goods information, when cargo is when website is transported, it is also necessary to obtain cargo and exist
The weight of website handling, the outbound and websites transinformation such as enter the station, and by this part website transinformation also with the cargo
Sealed in unit code carries out supplement binding storage, so that all average informations of cargo during transportation also can be stored effectively.
In consideration of it, as shown in figure 14, station level control system 4 further include:
Data input platform 1401, the data input platform 1401 are used to record the goods information of cargo；
The goods information includes: the weight of the cargo of handling, the arrival information of cargo and outbound information.
For example, it is divided into and is encapsulated on ground and in two kinds of situations of site packages:
The first, encapsulates on ground.
The waybills mission bit stream such as starting point and destination of cargo is sent to information system 2 by client terminal, by master control
System 1 processed is communicated with information system 2 obtains waybill mission bit stream.
Cargo is weighed on ground, is encapsulated, and sealed in unit code is generated, and the sealed in unit code and waybill mission bit stream close
Connection.
When being transported to website A under control of the cargo in general control system 1, the weight sensor of website A setting can be to goods
Object is weighed, then by data input platform 1401 by weighing information and A website delivery information and the sealed in unit
Code associated storage, so that customer can inquire the current shipping situation of cargo.
Second, in site packages.
The waybills mission bit stream such as starting point and destination of cargo is sent to information system 2 by client terminal, by master control
System 1 processed is communicated with information system 2 obtains waybill mission bit stream.
When being transported to website A under control of the cargo in general control system 1, the weight sensor of website A setting can be to goods
Object is weighed, and is packaged to cargo, and sealed in unit code is generated, and the sealed in unit code is associated with waybill mission bit stream,
Data input platform 1401 by weighing information and A website delivery information also with the sealed in unit code associated storage so that
Customer can inquire the current shipping situation of cargo.
After encapsulation generates sealed in unit code and associated storage waybill mission bit stream, so that it may pass through station level control system 4
Carry out cargo transfer transport, second aspect as described below.
Second aspect, cargo transfer.
In the embodiment of the present application, for the ease of the transfer of cargo, as shown in figure 14, the station level control system 4 is also wrapped
It includes:
Cargo transfer platform 1402, positioned at the vehicle parking end of website, for the goods movement dress between website and vehicle
It unloads.
In the specific implementation process, the cargo transfer platform 1402 can be as shown in figure 14 the conveyer belt of rotation,
It can be and grab clamp device, cargo is clamped by pliers and is transported, this is not restricted, also will not enumerate.
Specifically, after vehicle drives into website, as previously mentioned, stopping rear door in place and platform screen door meeting automatically
Open, station level control system 4 or signals of vehicles control system 3 by the state information report of vehicle parking to general control system 1, with
Issuing the general control system 1 can with the status information of heel distance vehicle to station level control system 4, cargo is sent out or cargo is sent into
Instruction, the freight that the general control system 1 can also coordinate ground simultaneously come website carry out obtain pick.
Further, after station level control system 4, which receives the cargo that general control system 1 issues, sends out instruction, the station level
The cargo transfer platform 1402 of control system 4 can be run, by the goods movement on vehicle to platform.When station level control system 4
After receiving the cargo feeding instruction that general control system 1 issues, the cargo transfer platform 1402 of the station level control system 4 can be transported
Row, will be on the goods movement to vehicle on platform.
Clamp device can be grabbed by setting for the goods movement between vehicle and cargo transfer platform 1402 to realize,
Can be set has delivery platform on vehicle, the delivery platform on vehicle is mobile, and the cargo on vehicle is transferred to cargo transfer
Platform 1402, then pass through cargo transfer platform 1402 for the designated position on goods movement to website.
In the specific implementation process, can there are multiple delivery platforms, the goods on each delivery platform on a vehicle
Object destination can be the same or different.
Further, on a website, the cargo transfer platform 1402 also can be set it is multiple, in order to vehicle
In multiple cargos moved respectively, the destination of these cargos can be the same or different, and can pass through different goods
Object transfer platform is got in stocks and is unloaded goods to cargo simultaneously, to improve the website efficiency of loading and unloading.
In the specific implementation process, it for the ease of judging whether cargo has moved out or move into, can be shifted in cargo
Sensing device is set on platform 1402 and/or vehicle, judges whether cargo is transferred by the sensing device.The sense
It answers device to can be weight sensor, is also possible to range sensor, this is not restricted.
Weight sensor sense by taking the sensing device is weight sensor as an example, when needing shipment outward, on vehicle
When should sense weight increase to the weight sensor in weight reduction and/or cargo transfer platform 1402, characterization cargo is
It is moved to website from vehicle, can control car door and shield door is closed, vehicle is driven out to website.When needing to be transported into cargo, vehicle
Weight sensor on senses that the weight sensor on weight increase and/or cargo transfer platform 1402 senses that weight drops
When low, characterization cargo is moved to website from vehicle, can control car door and shield door is closed, vehicle is driven out to website.
Range sensor sense by taking the sensing device is range sensor as an example, when needing shipment outward, on vehicle
Short distance cargo should have been sensed to range sensor of no short distance cargo on vehicle and/or on cargo transfer platform 1402
When on platform, characterization cargo is moved to website from vehicle, can control car door and shield door is closed, vehicle is driven out to station
Point.When needing to be transported into cargo, the range sensor on vehicle has sensed short distance cargo on vehicle and/or cargo shifts
Range sensor on platform 1402 senses no short distance cargo when on platform, and characterization cargo is moved in slave site
Vehicle, can control car door and shield door is closed, and vehicle is driven out to website.
Further, it is transferred to ground for the ease of cargo slave site, the station level control system 4 can also be set and also wrapped
It includes:
Cargo hoistable platform 1403, the cargo hoistable platform 1403 are located at one end of the cargo transfer platform 1402,
For: the cargo on ground is declined to and is moved to the cargo transfer platform 1402, alternatively, by the cargo transfer platform 1402
On goods movement to the cargo hoistable platform 1403 and rise to ground.
In the specific implementation process, as shown in figure 14, cargo hoistable platform 1403 can be the conveyer belt with elevating function；
Cargo hoistable platform 1403 may be to grab clamp device with elevating function, clamps cargo by pliers and moves up and down peace
It moves, this is not restricted, also will not enumerate.
In the specific implementation process, in the cargo transfer platform 1402 or the cargo transfer platform 1402 can be located at
Weight sensor is set on the cargo hoistable platform 1403 of one end, to obtain the weight of the cargo.And the weight that will acquire is logical
It crosses data input platform 1401 and is associated with typing with the sealed in unit code of the cargo.In the following, by taking cargo transports as an example, in conjunction with Figure 14
To illustrate the function mode of each platform of station level control system 4:
When vehicle 1404 has cargo a to need to be transported to website A, control downward driving of the vehicle 1404 in general control system 1
It is stopped to website A, after station level control system 4 judges that vehicle 1404 is stopped in place, the shield door of meeting control site A is opened,
General control system 1 or signals of vehicles control system 3 can be also sent information to, to control car door opening.
Then, the waybill mission bit stream issued according to general control system 1 loads the conveyer belt fortune of cargo a on vehicle 1404
Cargo a is moved to vehicle edge by row, and mobile upper cargo transfer platform 1402, cargo transfer platform 1402 are run cargo a
Move lower vehicle.At this point, determining that cargo a removes vehicle by the sensing device on vehicle 1404 and/or cargo transfer platform 1402
, then the shield door of 4 control site A of station level control system is closed, and can also send information to general control system 1 or signals of vehicles
Control system 3, to control closing of the door, and vehicle 1404 sails out of website A.
Next, cargo a is moved to cargo hoistable platform 1403, cargo hoistable platform by the operation of cargo transfer platform 1402
After sensor on 1403 judges that cargo a has been moved to position, it can begin to ramp up, by goods handling to ground, at this point, website A
Data input platform 1401 can typing cargo a weight and cargo a arrived the information of website A, and by the envelope of information and cargo a
It fills device code and is associated with typing.
Subsequently, Goods Outwards a delivers.
After describing the system, embodiment two, embodiment three and example IV is provided below to introduce lower reality
Apply some concrete functions of system and application in example one.
Embodiment two
Embodiment two is the speed control function of signals of vehicles control system 3 in embodiment one, as shown in figure 8, this implementation
Example provides a kind of control method for vehicle, comprising:
Step S801, detection obtain detectable signal, and the detectable signal is attached in the investigative range of the vehicle
The signal that nearly vehicle issues；
Step S802 controls the speed of the vehicle according to the signal strength of the detectable signal, wherein the signal
Intensity characterizes the spacing of the vehicle and the vehicle nearby, the signal strength and the spacing inverse correlation.
It should be noted that the vehicle can be the vehicle in underground pipeline transportation system described in embodiment one, fortune
Row is in underground piping, and the method is implemented by the signals of vehicles control system 3 in embodiment one, due to buried pipe
Road can only using unmanned, method provided in this embodiment be applied to the underground pipeline transportation system can ensure it is unmanned
The driving safety of vehicle.
The implementation steps of the control method for vehicle are discussed in detail below with reference to Fig. 8:
Firstly, executing step S801, detection obtains detectable signal, and the detectable signal is the detection model positioned at the vehicle
The signal that vehicle issues near in enclosing.
In the embodiment of the present application, the detection obtains detectable signal and can be through the signals of vehicles control system 3
In convoy spacing detecting module come what is realized, the convoy spacing detecting module is installed on vehicle, for acquiring the vehicle
Spacing with front or behind vehicle, so that the automatic protection and control system can adjust the vehicle according to the spacing
Travel speed.
In the embodiment of the present application, the convoy spacing detecting module can be infrared distance measurement equipment, be also possible to microwave
Distance-measuring equipment, this is not restricted.
The convoy spacing detecting module may be mounted at the head or tail portion of vehicle, to vehicle front and front vehicle
Spacing all detected.The convoy spacing detecting module can have receive capabilities and emission function, can receive and be located at
The detectable signal that the convoy spacing detecting module installed on vehicle near in the investigative range issues, with detection and its
The spacing of his vehicle；Also detectable signal can be issued, in order to which other vehicles receive the detectable signal, thus the vehicle of detection and this vehicle
Away from.
As an example it is assumed that the convoy spacing detecting module is Microwave Distance Measuring Equipment, the microwave is installed on A vehicle and is surveyed
Away from equipment, when A vehicle in the process of moving, on the one hand, pass through the Microwave Distance Measuring Equipment and receive the microwave installed on vehicle nearby
The microwave sounding signal that distance-measuring equipment is sent, to determine spacing according to the microwave sounding signal strength；On the other hand, pass through institute
It states Microwave Distance Measuring Equipment and continuously sends out microwave sounding signal, so that neighbouring vehicle is by receiving the microwave sounding signal come really
Fixed and A vehicle spacing.
The speed of the vehicle is controlled according to the signal strength of the detectable signal next, executing step S802,
In, the signal strength characterizes the spacing of the vehicle and the vehicle nearby, the signal strength and the spacing inverse correlation.
In the specific implementation process, according to the relationship of signal with different type and transmission range, the inverse correlation be can be into
Inverse ratio is also possible to square being inversely proportional, and is also possible to linear inverse ratio, and this is not restricted, also will not enumerate.
In the embodiment of the present application, the convoy spacing detecting module is mounted on different positions, may be implemented to difference
The judgement of direction vehicle spacing is set forth below for two kinds to take different speed-control schemes:
The first, according to front truck spacing, come control slow down.
Specifically, the head installation of the convoy spacing detecting module being installed as towards the vehicle, i.e., will be described
The receiving unit of convoy spacing detecting module is installed as receiving the direction of vehicle driving front signal, so that the convoy spacing is visited
The detectable signal that vehicle is sent near in front of the vehicle heading can be received by surveying module.At this point, described
What the detectable signal that convoy spacing detecting module receives characterized is the spacing of the vehicle and front vehicles.
In the embodiment of the present application, can the signal strength in advance to the detectable signal be classified, when the detection
When the signal strength of signal is greater than intensity in front of preset level-one, it is believed that the vehicle and the spacing of front vehicles have been subjected to closely, therefore
The vehicle deceleration is automatically controlled, to keep safe distance with front truck.
Further, it in order to guarantee that vehicle can restore with front truck to safe distance in time, can be set when the detectable signal
Signal strength when being greater than intensity in front of preset level-one, control the vehicle and slowed down with the first acceleration, first acceleration
Degree is positively correlated with the signal strength, so that vehicle rapidly slows down when spacing is close, when spacing is also safer, vehicle
Slowly slow down.The positive correlation can be directly proportional, linear proportional, or at multiple upright ratio, this is not restricted, also not
It enumerates again.
Further, it is contemplated that when vehicle and the spacing of front vehicles particularly near when, only slowing down may also lead to accident, therefore
Multiple ranks can be set: when the signal strength of the detectable signal is greater than intensity in front of preset level-one and is less than or equal to default
Second level in front of intensity when, control the vehicle deceleration；When the signal strength of the detectable signal is greater than in front of preset second level
When intensity, the vehicle braking is controlled, intensity is greater than intensity in front of the level-one in front of the second level.
Second, according to rear car spacing, come control accelerate.
Specifically, the tail portion installation of the convoy spacing detecting module being installed as towards the vehicle, i.e., will be described
The receiving unit of convoy spacing detecting module is installed as receiving the direction of vehicle driving rear signal, so that the convoy spacing is visited
The detectable signal that vehicle is sent near the vehicle heading rear can be received by surveying module.At this point, described
What the detectable signal that convoy spacing detecting module receives characterized is the spacing of the vehicle and front vehicle.
In view of to keep safe distance between vehicles with front vehicle, can be set when the signal strength of the detectable signal is greater than in advance
If level-one rear intensity when, control the vehicle and accelerate.
To it is aforementioned the first deceleration it is similar, when the detectable signal signal strength be greater than preset level-one rear intensity
When, it controls the vehicle and is accelerated with the second acceleration, second acceleration and the signal strength are positively correlated.The positive correlation
It can be directly proportional, linear proportional, or at multiple upright ratio, this is not restricted, also will not enumerate.
Certainly, in the specific implementation process, it is contemplated that accelerate to be possible to danger vehicle distance occur with front truck suddenly, therefore can be with
Setting, when the signal strength of the detectable signal is greater than preset level-one rear intensity, signal of giving notice to front vehicle,
To notify front vehicle to slow down.
In the specific implementation process, the convoy spacing detecting module is installed on the head that can be only oriented to the vehicle,
The convoy spacing detecting module is installed in the tail portion that can be only oriented to the vehicle, can also tail portion and face towards the vehicle
It is respectively mounted the convoy spacing detecting module to the head of the vehicle, this is not restricted.
Embodiment three
Embodiment three is the parking toll function of station level control system 4 in embodiment one, as shown in figure 9, the present embodiment mentions
For a kind of vehicle parking control method, comprising:
Step S901 obtains the first detection information of the first detection device transmission for being mounted on website first end and is mounted on
The second detection information that second detection device of website second end is sent, the first end and the second end are respectively the station
The both ends of point；
Step S902, when first detection information and second detection information characterize when detecting vehicle, confirmation
Vehicle parking is in place；
Step S903, when first detection information characterization detects vehicle, the second detection information characterization is not visited
When measuring vehicle, the stop position of the vehicle is corrected.
It should be noted that method provided in this embodiment is implemented by the station level control system 4 in embodiment one
's.Vehicle therein can be the vehicle in underground pipeline transportation system described in embodiment one, run in underground piping, by
Can only be using unmanned in underground piping, method provided in this embodiment, which is applied to the underground pipeline transportation system, to be ensured
The stop accuracy of automatic driving vehicle.
In the following, the implementation steps of the vehicle parking control method are discussed in detail in conjunction with Fig. 9 and Figure 10:
Firstly, executing step S901, obtains and be mounted on the first detection letter that the first detection device of website first end is sent
Cease and be mounted on the second detection information that the second detection device of website second end is sent, the first end and the second end point
Not Wei the website both ends.
Specifically, as shown in Figure 10, one detection device 1001 of each installation, the detection device are distinguished at the both ends of platform
For having detected whether in front of occlusion, to generate corresponding detection information.In the specific implementation process, shown detection device
It can be infrared detector, optical detector or microwave detector, this is not restricted, also will not enumerate.
As an example it is assumed that the detection device is infrared detection device, when first detection to front
When being blocked, it is believed that vehicle has been stopped to first detection device, then generates and sends characterization and detect the first of vehicle
Detection information；When first detection is not blocked to front, it is believed that vehicle is stopped not yet to described the
Before one detection device, then the first detection information that characterization does not detect vehicle is generated and sent.
Next, selection executes step S902, when described according to first detection information and second detection information
First detection information and second detection information characterize when detecting vehicle, and confirmation vehicle parking is in place；Or execute step
S903, when first detection information characterization detects vehicle, and the second detection information characterization does not detect vehicle, school
The stop position of the just described vehicle.
Specifically, since the both ends for stopping platform are fitted with the detection device, when vehicle drives into from one end, meeting
The detection device of one end, then the detection device of the amount of blocking one end are first blocked, if the detection device at both ends all detects vehicle, and
It continues for some time, it is believed that have haulage vehicle stop, and vehicle has been stopped in place.If vehicle drives into, only hide
The detection device for driving into side has been kept off, but has never blocked the detection device of the other end, then has illustrated that vehicle parking is no in place,
It also needs to be moved along a distance again.If vehicle drives into, the detection device for driving into end is first blocked, then blocks the spy of two sides
Device is surveyed, the detection device for being driven out to side is finally persistently blocked, then illustrates that vehicle misses stop position, need back to move one section
Distance.
To sum up, it when first detection information and second detection information characterize and detect vehicle, and persistently presets
When duration, it is believed that vehicle has been stopped in place, when only detection information characterization in one end detects vehicle, and lasting preset duration
When, it is believed that vehicle is not stopped in place also, or has already passed by best stop position.
After confirming that vehicle is not stopped in place, need to correct the stop position of the vehicle, in the embodiment of the present application,
Antidote in two kinds of unmanned situations is provided:
The first, corrects by assistant parking device.
Specifically, website can provide assistant parking device, and the assistant parking device can be to be mounted on platform
Push rod or drawstring, or mobile handcart is pulled a cart, and this is not restricted.
It, can be first according to first detection information and described second when the assistant parking device is push rod or drawstring
Detection information judges direction that the vehicle needs to continue to move to, can be where the detection device not detect vehicle
One end needs mobile direction as the vehicle.After determining moving direction, signals of vehicles control system is sent information to
3, braking is released to control the vehicle, then push rod is stretched out or drawstring is fixed with the vehicle, then pass through the push rod or drawstring
Active force along determine direction move the vehicle, after the detection device at platform both ends all detects the vehicle, then receive
Return the push rod or drawstring；And signals of vehicles control system 3 is sent information to, enter Brake stop state to control the vehicle.
It, can be first according to first detection information and described when the assistant parking device is mobile handcart or when pulling a cart
Second detection information judges direction that the vehicle needs to continue to move to, can be not detect the detection device institute of vehicle
One end, mobile direction is needed as the vehicle.After determining moving direction, signals of vehicles control is sent information to
System 3 releases braking to control the vehicle, then controls the mobile handcart or pull a cart to be driven out to and contact the vehicle, then lead to
It crosses the mobile handcart or the thrust pulled a cart or pulling force and moves the vehicle along the direction determined, when the detection device at platform both ends
After all detecting the vehicle, controls the cart or pull a cart to sail back and stop place；And send information to signals of vehicles control system
System 3, enters Brake stop state to control the vehicle.
Certainly, in the specific implementation process, the form of the assistant parking device is not limited to push rod, drawstring, mobile handcart
Or pull a cart, as long as the device that can be used for moving the vehicle belongs to the assistant parking device, this is not restricted.
Second, vehicle itself calibration.
Specifically, after confirming that the vehicle is not stopped in place, can by the signals of vehicles control system 3 come
Control vehicle is automatically corrected to correct parking stall.Certainly, it also needs first according to first detection information and described second
Detection information judges direction that the vehicle needs to continue to move to, can be where the detection device not detect vehicle
One end needs mobile direction as the vehicle.After determining moving direction, signals of vehicles control system is sent information to
3, braking is released to control the vehicle, the vehicle is then controlled and moves or move backward along the direction advance determined, work as platform
After the detection device at both ends all detects the vehicle, retransmit information to signals of vehicles control system 3, with control the vehicle into
Enter Brake stop state.
Certainly, it in addition to the mode of above two correction vehicle parking position, can also solve to correct using mobile station
Parking position, that is, it is mobile station that the platform, which is arranged, by the mobile stop position to correct vehicle of platform, is not limited herein
System.
Further, in the embodiment of the present application, for the ease of loading and unloading goods, shield door, the shielding are provided on platform
Door is between first detection device and second detection device, and the shield door is in normally off, when vehicle stops
After in place, the shield door of the website is automatically turned on, and opens the car door of the vehicle, in order to carry out unloading operation.
After discharged, station level control system 4 can be according to the signal that finishes of the characterization cargo completion of discharge received, control
System closes the shield door, and sends train signal to the vehicle, to remind the vehicle driving.
Example IV
Example IV is that function is arranged in the travel route of ground subsystem 33 in embodiment one, and the present embodiment provides a kind of rows
Vehicle control method is applied to haulage vehicle, as shown in figure 11, comprising:
S1101: the transportation route that the ground control system of the underground pipeline transportation system is sent is received；
S1102: by the transport vehicle in the transportation route driving process, receiving the ground control system transmission
By the occupied state information for next segment pipe conveying track that the transportation route is driven towards；
S1103: being based on the occupied state information, adjusts driving parameters.
Wherein, by the transportation route driving process, if detecting branch road mark equipment, the branch road mark is obtained
Know the branch road information of equipment instruction；Based on the branch road information and the transportation route, the branch road track for needing to drive into is determined,
In, in the underground piping of the underground pipeline transportation system, finger is provided at each branch road track inlet point of each track switch
Show the branch road mark equipment of the branch road track.
Wherein, by the transportation route driving process, the other mark equipment if detection is arrived at a station obtains mark by the station
Know the website of equipment instruction information instruction；Website and the transportation route based on the instruction, it is determined whether need described
The website of instruction is stopped, wherein in the underground piping of the underground pipeline transportation system, in the underground pipeline transportation system
Underground piping in each track switch each branch road track inlet point be provided with branch road mark equipment.
Wherein, by the transportation route driving process, if detecting transponder, it is corresponding to obtain the transponder
Traffic information；Based on the traffic information, the driving parameters of the transport vehicle are adjusted.
Wherein, mark equipment by the station detected also is sent to the ground control system by transport vehicle, so that describedly
Equipment is identified by the station detected that face control system is sent based on the transport vehicle received, determines that the transport vehicle occupies
Pipe transporting trajectory.
Wherein, the method also includes:
When the transport vehicle breaks down, Xiang Suoshu ground control system sends fault message；
Receive the location information for the scram point that the ground control system is sent, wherein transport in the underground piping
In the underground piping of defeated system, the predetermined position of every segment pipe conveying track is provided with scram point；
Driving path is adjusted, the transport vehicle is controlled and travels the scram point indicated to the location information.
In addition, please referring to Figure 12, the present embodiment also provides a kind of traffic control method, applied to described in embodiment one
Ground control system 31, comprising:
S1201: the transport vehicle of transportation route to the underground pipeline transportation system is sent；
S1202: the location information of the transport vehicle traveling is monitored；
S1203: it is based on institute's location information, determines the next segment pipe of the transport vehicle driven towards by the transportation route
The occupied state information of conveying track；
S1204: being sent to the transport vehicle for the occupied state information so that the transport vehicle be based on the occupancy
Status information adjusts driving parameters.
Wherein, described to be based on institute's location information, determine next section driven towards by the transportation route of the transport vehicle
The occupied state information of pipe transporting trajectory, comprising:
It obtains and identifies equipment by the station detected that the transport vehicle that the ground control system is monitored is sent, wherein In
In the underground piping of the underground pipeline transportation system, driving into end and being driven out to end for every segment pipe conveying track is provided with station side
Equipment is identified, passes through when driving into end of the segment pipe conveying track in transport vehicle, the transport vehicle will detect by corresponding station
Mark equipment is sent to ground control system, passes through when being driven out to end of the segment pipe conveying track, the transport vehicle in transport vehicle
Mark equipment by corresponding station will be detected and be sent to ground control system；
Equipment is identified by the station detected sent based on the transport vehicle received, judges next segment pipe transport rail
Whether transport vehicle has been travelled on road；
If so, determining that the occupied state information indicates that next segment pipe conveying track is in occupied shape
State, if not, determining that the occupied state information indicates that next segment pipe conveying track is in unappropriated state.
Wherein, described to be based on institute's location information, determine next section driven towards by the transportation route of the transport vehicle
The occupied state information of pipe transporting trajectory, comprising:
Obtain the track circuit information that the transport vehicle that the ground control system is monitored is sent, wherein in the underground
In the underground piping of pipeline, track circuit is laid in every segment pipe conveying track, when transport vehicle is travelled in the section pipe
When on road conveying track, the orbit information that the logical track circuit of segment pipe transport is sent is sent to ground control system by transport vehicle
System；
Based on the orbit information that the transport vehicle received is sent, judge whether travel on next segment pipe conveying track
There is transport vehicle；
If so, determining that the occupied state information indicates that next segment pipe conveying track is in occupied shape
State, if not, determining that the occupied state information indicates that next segment pipe conveying track is in unappropriated state.
Wherein, described to be based on institute's location information, determine next section driven towards by the transportation route of the transport vehicle
The occupied state information of pipe transporting trajectory, comprising:
Obtain the detection information that the meter shaft that the ground control system is monitored is sent, wherein transport in the underground piping
In the underground piping of defeated system, meter shaft is laid in every segment pipe conveying track, when transport vehicle is travelled in the segment pipe conveying track
When upper, detection information is sent to the ground control system after detecting the transport vehicle by meter shaft；
Based on the detection information that the meter shaft received is sent, judge whether travelled on next segment pipe conveying track
Transport vehicle；
If so, determining that the occupied state information indicates that next segment pipe conveying track is in occupied shape
State, if not, determining that the occupied state information indicates that next segment pipe conveying track is in unappropriated state.
Wherein, the method also includes:
When receiving the fault message of transport vehicle transmission, based on the location information of the transport vehicle, scram is determined
The location information of point；
The location information of the scram point is sent to the transport vehicle.
Above pipeline-transporting vehicle system can be implemented as pipelines transportation system, be described below two kinds:
The first pipeline:
Referring to attached drawing 25, the system include: pipeline 1 ', at least one rail group 3 ', stream carrier vehicle, Power Supply Assembly and
Adapting system 5 '；Pipeline 1 ' is embedded in underground, is connected to multiple handling goods station point；Rail group 3 ' is fixed on underground piping 1 '
In inner wall；Rail group 3 ' includes two rails disposed in parallel；Stream carrier vehicle includes: to run in rail group 3 '
Bogie 4 ', the car body 2 ' being arranged on bogie 4 '；Electric energy needed for Power Supply Assembly is used to provide operation to stream carrier vehicle；
Adapting system 5 ' includes: underground rotating device 54, lifting device and ground rotating device 51；The setting of adapting system 5 ' is in handling goods
Website, for the cargo machine for collecting load on stream carrier vehicle to be transported to the unloading warehouse of ground surface platform, or by the goods in warehouse of unloading
Object machine for collecting load is transported on stream carrier vehicle.
Further, the both ends connection Large Underground of pipeline 1 ' loads and unloads goods station point；The intermediate connection of pipeline 1 ' has more root knots
The end connection small underground of structure and the identical branch pipe(tube) of pipeline 1 ', branch pipe(tube) loads and unloads goods station point；Branch pipe(tube) is internally provided with knot
Structure and quantity and the identical traveling branch rail group of rail group 3 ', traveling branch rail group are connected with corresponding rail group 3 '.Pass through pipe
Road 1 ' and branch pipe(tube) realize the cargo transport between each large-scale and small underground handling goods station point, improve conevying efficiency.Pipeline
1 ' and branch pipe(tube) in be provided with multiple ventilating parts and multiple illuminace components, in order to personnel enter in pipeline 1 ' overhaul or
Replace component.
A kind of specific structure of pipeline 1 ' and rail group 3 ' in the pipeline of the application is described below:
1:
The material of pipeline 1 ' is steel or concrete, and section is circle；One rail group 3 ' is set in circular pipe 1 ', this
When, rail group 3 ' includes: the first rail and the second rail, and the center line about circular pipe 1 ' is symmetrical, the first traveling
The material of rail and the second rail is steel；First rail and the second rail by fastener or are weldingly fixed on pipeline 1 '
On, alternatively, the first rail and the second rail and pipeline 1 ' are made by integrally formed, since stream carrier vehicle itself has
Standby certain weight, higher to the structural requirement of rail group 3 ' He pipeline 1 ' in fully loaded with cargo transported, steel pipe
1 ' and rail group 3 ' integral strength and rigidity it is higher, the suspention and transport for being able to satisfy stream carrier vehicle require, and guarantee good
Structural stability.Steel pipe 1 ' has good closure, adapts to underground environment, avoids soil and water from entering transport logical
Road guarantees transportation environment.
Pipeline 1 ' arranges one by trajectory, is arranged on the inner wall at the top of pipeline 1 '；Power supply part is connected by trajectory, to pass
Transmission of electricity can give stream carrier vehicle；It is fixed on the inner wall at the top of pipeline 1 ' by trajectory by fastener, when the material of pipeline 1 ' is
When steel, by being provided with felt pad between trajectory and pipeline 1 '.By being obtained electric energy with the driving device of supply vehicle, in fact by trajectory
Existing stream carrier vehicle is driven by electricity, and reduces air pollution caused by traditional fuel driving.
Another specific structure of pipeline and rail group in the pipeline of the application is described below:
2:
The material of pipeline 1 ' is steel or concrete, and section is ellipse or rectangular；Two rail groups are set in pipeline 1 '
3 ', one of rail group 3 ' includes: third rail and the 4th rail, another rail group 3 ' includes: the 5th to walk
Row rail and the 6th rail.Third rail and the 6th rail are symmetricly set on the two sides of 1 ' bottom of oval ducts, and the 4th
Rail and the 5th rail are fixed on the centre of 1 ' bottom of oval ducts, and the 4th rail can be independent with the 5th rail
Arrangement, can also be made an entirety for the 4th rail and the 5th rail.The material of the rail group 3 ' of the present embodiment, with
The connection type of pipeline 1 ' is all identical with the situation of embodiment 1.Two rail groups 3 ', which are arranged, may be implemented stream carrier vehicle
It runs side by side in the same direction, alternatively, the way traffic of stream carrier vehicle, improves the transport capacity of entire underground piping transportation system.
Two are arranged in pipeline 1 ' by trajectory, respectively corresponds rail group 3 ' and is arranged on the inner wall of pipeline 1 '；By trajectory
It is fixed on pipeline 1 ' by fastener, when pipeline 1 ' is steel material, by being provided with felt pad between trajectory and pipeline 1 '.
A kind of specific structure of the bogie of stream carrier vehicle in the pipeline of the application is described below:
3:
Referring to attached drawing 26~30, bogie provided in this embodiment includes: framework 402 ', centre of pull pin 404, tow ball
Hinge 403 and bearing spring 405；402 ' middle part of framework opens up pin hole；Centre of pull pin 404 is threaded through in pin hole, top and transport
The vehicle body bottom frame 410 of vehicle is fixedly connected；Traction flexural pivot 403 is set on centre of pull pin 404, is located in pin hole；Bearing spring
405 are fixed on framework 402 '；Vehicle body bottom frame 410 is pressed on bearing spring 405.
Wherein, cooperated by centre of pull pin 404 and traction flexural pivot 403 to car body and transmit traction horizontal force；Pass through carrying
Spring 405 transmits the vertical force between car body and framework 402 '；Above structure is able to satisfy transport vehicle and wants in underground pipeline transportation
It asks, compares existing bogie structure, the application eliminates the components such as bolster, drawing pull bar, makes simple and reasonable, occupied space
It is smaller, cargo containing space is improved, guarantees underground pipeline transportation ability.
Further, the top of centre of pull pin 404 extends outwardly a circular fixed platform 412；Fixed platform 412 is logical
It crosses several and is fixedly connected along the circumferentially uniformly distributed fastener of fixed platform with vehicle body bottom frame 410.Circular 412 energy side of fixed platform
Just centre of pull pin 4 and vehicle body bottom frame 410 are connected and fixed, and enhance the connective stability of car body and framework 402 '.As one kind
Preferred embodiment, fixed platform 412 can be fixedly connected by four circumferentially uniformly distributed bolts with vehicle body bottom frame 410, a side
Face guarantees the fastness that centre of pull pin 404 is connect with vehicle body bottom frame 410, on the other hand can optimize stream carrier vehicle operational process
The distribution of middle horizontal drag force.
Further, traction flexural pivot 403 is rubber bushing, and the outer circle of traction flexural pivot 403 passes through interference fit indentation framework
In pin hole in the middle part of in the of 402 ', the upper surface of flexural pivot 403 and the either flush of framework 402 ', the bottom of lower end surface and framework 402 ' are drawn
Face is concordant；Traction flexural pivot 403 has a big displacement and small rigidity along its axial direction, release centre of pull pin 404 in catenary motion,
Car body vertical load is born by bearing spring 405, and car body vertical and horizontal load passes through traction flexural pivot by centre of pull pin 404
403 are transferred to framework 402 ', and rubber bushing has good cushion performance, guarantee the stationarity of tractive force transmitting, avoid drawing
Centrepin 404 and 402 ' rigid contact of framework generate structural wear or bad deformation.Centre of pull pin 404 is provided with backstop 413,
The corresponding backstop 413 of traction flexural pivot 403 is provided with backstop groove, the backstop 413 stretched out on centre of pull pin 404 and tow ball compared with
Matching grooves on 403 generate abrasion to prevent from rotating between the two.
Further, there are two bearing springs 405 for bogie setting, are fixed on the on both sides of the middle of framework 402 '；Car body
Vertical load has the secondary spring of 402 ' on both sides of the middle of framework to bear；Bearing spring 405 includes: spring 417, is fixed on spring
First connecting plate 415 at 417 tops and the second connecting plate 414 for being fixed on 417 bottom of spring；The top surface of first connecting plate 415
It is provided at least one convex navel 416；The corresponding convex navel 416 of vehicle body bottom frame 410 is arranged fluted 411；Convex navel 416 is matched with groove 411
It closes effective limitation vehicle body bottom frame 410 and relative displacement occurs for bearing spring 405, guarantee the two relative position stability, second connects
Fishplate bar 414 is fixedly connected by fastener with framework 402 '.Spring 417 has good slow on the basis of carrying vertical force
Punching performance guarantees the stationarity of transport vehicle operational process.
Wherein, spring 417 is rubber spring or steel spring；Rubber spring or steel spring are at low cost, and structure is simple, without dynamic
Power source, performance meet the requirement of stream carrier vehicle.Two direction of travel along stream carrier vehicle are set on the first connecting plate 415
Convex navel 416, therefore, the knot of four convex 416 mating grooves 411 of navel in rectangular layout between vehicle body bottom frame 410 and bearing spring 5
Structure forms the excellent support to vehicle body bottom frame 410, and the good adaptation transport vehicle of energy is in steering, starting and moderating process because used
Tilting of car body caused by property, ensures the safety in operation of transport vehicle.Second connecting plate 414 is rectangular slab；Spring 417 is fixed on
The center of two connecting plates 414；Four angles of the second connecting plate 414 are fixedly connected by bolt with framework 402 ', guarantee to hold
Carry the connective stability of spring 405 and framework 402 '.
Further, referring to attached drawing 25, framework 402 ' includes: two stringer, intermediate transverse girder and two sides disposed in parallel
Crossbeam；Side beam vertical is fixed on the end of stringer；Intermediate transverse girder is vertically fixed on the centre of stringer；It is opened in the middle part of intermediate transverse girder
If pin hole.Stringer, intermediate transverse girder and two side crossbeams, which are located at, is same as horizontal plane, guarantees entire framework 402 ' after welding between each other
With good strength and stiffness, meet the requirement of stream carrier vehicle cargo transport；Stringer, intermediate transverse girder and two side crossbeams are all
It is manufactured using hollow square steel structure, guarantees the self weight of mitigation bogie on the basis of structure tension performance.
Further, further includes: driving device 408, wheel 401 ', brake apparatus 406；Driving device 408 is arranged in structure
The lower section of frame 402 '；Wheel 401 ' is connect with the output end of driving device 408；Brake apparatus 406 is connect with wheel 401 '.Pass through
Driving device 408 is rotated with motor car wheel 401 ', realizes the walking of stream carrier vehicle, and brake apparatus 406 realizes stream carrier vehicle
Stop.Driving device 408 is connected and fixed with framework 402 ' by fastener；It is provided between driving device 408 and framework 402 '
Rubber pad；Rubber pad can improve the stress condition between driving device 408 and framework 402 ', imitate with certain vibration reduction and cushioning
Fruit weakens the vibration that framework 402 ' is transmitted to driving device 408 in vehicle operation, and protection driving device 408 is stablized
Work.Wheel 401 ' is any one in pneumatic rubber wheel, solid rubber wheel or steel wheel, and transport vehicle generally operates in buried pipe
On track in road, for the wall thickness of underground piping generally than relatively thin, pneumatic rubber wheel or solid rubber wheel can reduce stream carrier vehicle
To the impact force of pipeline, and solid rubber wheel bearing capacity is stronger, safety is higher, and therefore, solid rubber wheel is the application's
Preferred embodiment.
Further, as the first way of realization, driving device 408 includes: dual-output motor and is connected to dual output
Two gear-boxes of the output end of motor；Two gear-boxes drive the wheel 401 ' of front-end and back-end to rotate by axle respectively.
As another way of realization, driving device 408 can be the motor that two are arranged below framework 402 ' and drive one respectively
Gear-box work then drives the wheel 401 ' of front-end and back-end to rotate.As the third way of realization, driving device 408 is also
It can be decelerating motor, decelerating motor drives the wheel 401 ' of front-end and back-end to rotate by axle.
Further, further includes: at least two guide wheel groups, two of them guide wheel group are separately positioned on framework 402 '
On two side crossbeams；Guide wheel group includes the symmetrically arranged directive wheel 407 in central axes of two opposite frameworks 402 '；Two guiding
The both ends or centre of side crossbeam are arranged in wheel 407, and directive wheel 407 is correspondingly arranged with guided way 418, when two 407 cloth of directive wheel
It sets at the both ends of side crossbeam, can be using two walking rails as guided way 418, four of two sides in front and back crossbeam both ends lead
It is rolled to wheel 407 along the side of walking rails, realizes steady guiding when stream carrier vehicle turning.When two 407 cloth of directive wheel
Set one guided way 418 of intermediate arrangement needed at the centre of side crossbeam in two walking rails, two 407 edges of directive wheel
The two sides of guided way 418 move, and realize steady guiding when stream carrier vehicle turning.
Further, further includes: at least one pantagraph current collector 409, setting in the lower section of framework 402 ', by with underground piping
Being cooperated by trajectory for interior laying obtains electric energy, then provides electric energy for driving device 408 and other electrical components.
The pipeline of the application is additionally provided with guided way 418, and the specific knot of one kind of guided way 418 is described below
Structure:
4:
Referring to attached drawing 31~35, directive wheel 407 is symmetricly set on the bottom of framework 402 ' by fastener, respectively with guiding
The spill rail level of 418 two sides of rail cooperates, and realizes the excessively curved guiding of stream carrier vehicle.
Guided way 418 includes: the lower part 4183, middle part 4182 and expanding above middle part 4182 for being fixed on ground
Structure 4181；4182 two sides rail level of middle part is plane；The vertical section width of lower part 4183 is greater than middle part 4182 and expands structure
4181 width；As a kind of preferred embodiment, the vertical section at middle part 4182 is isosceles trapezoid, and the bottom edge of isosceles trapezoid
Longer than top margin, i.e. the inclination rail level of 4182 two sides of middle part tilts down, when vehicle is excessively curved, directive wheel energy relative tilt rail level hair
The centrifugal force that vehicle generates, running gear and vehicle when enhancing vehicle processes are offset in raw a degree of sliding to a certain extent
The stationarity of body 2 '.4183 width of lower part of guided way 418 is larger, guarantees the firm of guided way 418, in order to provide enough turn
Xiang Li.
The angle of inclination rail level and perpendicular can be set to 5 °~15 °, and the excessive directive wheel 407 that will lead to of angle mentions
The steering force of confession is insufficient；And angle it is too small when directive wheel 407 can not effectively inclination rail level on slide, reduce vehicle it is excessively curved when turn
To the stationarity of frame 4 ' and the car body 2 ' of stream carrier vehicle.The radial section of directive wheel 407 and the middle part 4182 of guided way 418 are inclined
Ramp face is vertical.
The middle part 4182 and lower part 4183 of guided way 418 pass through cambered surface transition.Expand structure 4181 two of guided way 418
Side is arcwall face；The cross-sectional width for expanding structure 4181 of guided way 418 is gradually increased from bottom to top.Middle part 4182 and lower part
4183 use cambered surface transition, expand structure 4181 and are set as arcwall face to be all conducive to directive wheel 407 sliding in the rail level of guided way 418
It moves；The arc-shaped skidding distance for expanding 4181 energy restricted guidance wheel 407 of structure, effectively prevent derailing.
The pipeline of the application is additionally provided with guided way, and another specific structure of guided way 418 is described below:
5:
Referring to attached drawing 31~35, directive wheel 407 is symmetricly set on the bottom of framework 402 ' by fastener, respectively with guiding
The spill rail level of 418 two sides of rail cooperates, and realizes the excessively curved guiding of stream carrier vehicle.
During guided way 418 includes: the lower part 4183 for being fixed on ground, the middle part 4182 that two sides are arc rail level and is located at
Expand structure 4181 in 4182 top of portion；The two sides for expanding structure 4181 are arcwall face, and cross-sectional width is gradually increased from bottom to top；
By cambered surface transition, i.e. 418 two sides of guided way are set as concave-shaped arc surface at the middle part 4182 and lower part 4183 of guided way 418, guarantee
The ride comfort that directive wheel 407 slides on the rail level of guided way 418, bogie 4 ' and car body 2 ' is steady when enhancing vehicle is excessively curved
Property.The outer surface of directive wheel 407 is arcwall face, is cooperated with concave-shaped arc surface, guarantees the ride comfort that directive wheel 407 slides.Guided way
418 4183 width of lower part is larger, guarantees the firm of guided way 418, in order to provide enough steering forces.
A kind of specific structure of the car body of the pipeline of the application is described below:
6:
Referring to attached drawing 36~41, car body 2 ' includes: chassis, headwall 204, upper frame 202, upper slide 201 and switching mechanism；
Chassis is fixed on bogie 4 '；Headwall 204 is fixed on the end of chassis；Upper frame 202 is fixed on the top of headwall 204；Upper cunning
Door 201 is slidably arranged between headwall 204, positioned at the side of chassis；Switching mechanism drives upper slide 201 to be slid onto upper frame upwards
202 lower sections.
Wherein, after stream carrier vehicle is accommodated to handling goods station point, slide 201 in opening move cargo machine for collecting load from opening
Enter or remove vehicle body, upper slide 201 slides up to 202 lower section of upper frame, and the pipeline space being not take up outside car body guarantees
Car body has biggish cargo space, and increases carrying cargo amount, ensures cargo underground pipeline transportation transfer efficiency.
Further, upper slide 201 includes the door-plate 213 that muti-piece is arranged side by side vertically；Adjacent door-plate 213 passes through hinge
212 is hinged.Switching mechanism includes: sliding rail 211, traction electric machine, traction rope, guide wheel and multiple pulleys 214；Sliding rail 211 is symmetrically set
It sets in the two sides of upper slide 201；Pulley 214 is movably arranged in sliding rail 211, is fixedly connected with hinge 212；Guide wheel is arranged in cunning
The top of rail 211；Traction rope is set on guide wheel, and one end is fixedly connected with the door-plate 213 at 201 top of upper slide, the other end with
The door-plate 213 of upper 201 bottom of slide is fixedly connected；Traction electric machine is either-rotation motor；Traction electric machine drives guide wheel rotation, and drive is led
Messenger transmission then drives upper slide 201 to rise or fall, meanwhile, pulley 214 scrolls up in sliding rail 211.
Further, sliding rail 211 includes: vertical section, segmental arc and the horizontal segment on top of lower part；Segmental arc and vertical section
And horizontal segment connection；Horizontal segment is arranged in parallel in 202 lower section of upper frame, and parallel with headwall 204；Guide wheel is fixed on the end of horizontal segment
Portion.
Further, door-plate 213 is provided with observation window 209, and observation window 209 is used to observe the cargo collection delivered in car body 2 '
The situation of device is filled, observation window 209 can be combining glass, be also possible to waffle slab.The side of car body 2 ' is provided with two pieces of upper cunnings
Door 201；The centre of chassis side is provided with center every beam 203, and center is respectively arranged one between beam 203 and two pieces of headwalls 204
Upper slide 201；The sliding rail 211 of upper 201 side of slide is fixed on center every on beam 203, and the sliding rail 211 of the other side is fixed on end
On wall 204；Traction electric machine is centrally disposed every on beam 203.
As a kind of implementation: car body 2 ' further includes a side wall, is fixed on the side of chassis, upper slide 201 and opening and closing
The other side of chassis is arranged in mechanism, realizes that the car door opening of 2 ' side of car body or closing, cargo machine for collecting load all pass through the sidesway
Enter or remove 2 ' inside of car body.To realize 2 ' two sides handling goods machine for collecting load of car body, present invention also provides another realization sides
Formula: the two sides of car body 2 ' are both provided with slide 201；The upper slide 201 of two sides is driven by corresponding switching mechanism, can be upwards
It is slid onto the different height of 202 lower section of upper frame.
In order to facilitate cargo into and out car body 2 ', car body 2 ' is additionally arranged automatic loading and unloading goods platform 210.
The automatic loading and unloading goods platform 210 includes: more rotating rollers and the transfer roller motor that connect with rotating roller；More rotating rollers
It is arranged side by side on the chassis of car body；The rotation of transfer roller motor driven rotating roller makes the cargo machine for collecting load in rotating roller remove or move
Enter car body 2 '；After stream carrier vehicle is accommodated to handling goods station point, rotation rod and the handling goods station point of automatic loading and unloading goods platform 210
Conveyor roller docking will rotate the cargo machine for collecting load that rod removes and be sent to cargo storage point, or, by the cargo packaging of cargo storage point
Device is sent on the rotation rod in car body 2 '.
Wherein, cargo machine for collecting load is placed on more internal rotation rods of car body 2 ', and 4 ' band motor vehicles bodies 2 ' of bogie are run
To after the handling goods station point of underground, the upper slide 201 of car body 2 ' is opened, and transfer roller motor driven rotates rod rotation, makes to rotate on rod
The cargo machine for collecting load of placement removes car body 2 ', or the cargo machine for collecting load for loading and unloading goods station point is made to move into the internal warehousing sky of car body 2 '
Between, the loading of cargo is completed without using the dress discharger such as crane or fork truck or is unloaded, and cargo underground pipeline transportation is improved
Transfer efficiency.
Further, the transmission direction of automatic loading and unloading goods platform 210 is transported perpendicular to the traffic direction of bogie 4 ' in logistics
In defeated vehicle operational process, rotation rod bears axial force and is not subject to rotating torque, guarantees that stream carrier vehicle turns in the process of running
The positional stability of cargo machine for collecting load, the inertia force for avoiding cargo machine for collecting load from generating when running keep cargo machine for collecting load opposite on dynamic rod
Rotate rod sliding.
Further, transfer roller motor is Double-directional rotary motor, and rotation rod can be driven to rotate forward or backwards, can drive rotation
Rod rotates forward or backwards, enables cargo machine for collecting load into and out car body 2 ', alternatively, when car body 2 ' opens not ipsilateral upper cunning
When door 201, by the different traffic direction of Double-directional rotary selection of Motor, the upper slide 201 for keeping cargo machine for collecting load never ipsilateral is moved
Out or move into car body 2 '.Multiple automatic loading and unloading goods platforms 210 are disposed with along its length in car body 2 ', due to 2 ' length of car body compared with
Greatly, the cargo machine for collecting load of small size can be placed respectively on each automatic loading and unloading goods platform 210, each automatic loading and unloading goods is flat
Platform 210 is successively docked with the conveyor roller of handling goods station point, is realized the loading of each cargo machine for collecting load or is unloaded；It can also be more
The cargo machine for collecting load that a large volume is placed on a automatic loading and unloading goods platform 210, provides abundance for the cargo machine for collecting load of large volume
Driving force.
Further, the roll body whole body for rotating rod is arranged with anti-slip layer, increases cargo machine for collecting load and rotates rubbing between rod
Power is wiped, when stream carrier vehicle starts or stops, cargo machine for collecting load has certain inertia force effect in traffic direction, rotates rod
Anti-slip layer can effectively prevent cargo machine for collecting load and relatively rotate rod sliding.
Further, the chassis of car body 2 ' is provided with limiting device close to automatic loading and unloading goods platform 210；Limiting device packet
It includes: limit electric machine, gear and rack teeth mechanism and limited block；Limit electric machine is fixed on chassis, the gear with gear and rack teeth mechanism
Connection；Limited block is fixedly connected with the rack gear of gear and rack teeth mechanism；Limited block is close to the side of automatic loading and unloading goods platform 210
It is provided with rubber pad.
Embodiment as one preferred can be respectively arranged a limit in the middle part of the surrounding of automatic loading and unloading goods platform 210
Position device；During handling goods machine for collecting load, the limited block of limiting device is in the position lower than rotation rod, when cargo collection
Device is filled on automatic loading and unloading goods platform 210 after dropping place, limit electric machine drives gear and rack teeth mechanism work, rack drives limited block
The position for being higher by rotation rod is risen to, cargo machine for collecting load is limited in the limited block of surrounding, prevents stream carrier vehicle from transporting
Row process, cargo pallet skid off automatic loading and unloading goods platform 210.In addition, there are also a kind of modes of operation are as follows: stream carrier vehicle is accommodated to
After loading and unloading goods station point, the rotation rod of automatic loading and unloading goods platform 210 is docked with the conveyor roller of handling goods station point, by conveyor roller pair
The limited block of the limiting device of side rises, and other limiting devices keep original states, in this way, cargo machine for collecting load is from transport roller
When road is migrated on rotation rod, the limited block of rise is avoided that cargo machine for collecting load is flat in the effect of inertia automatic loading and unloading goods that glides out
Platform 210, after cargo machine for collecting load dropping place on automatic loading and unloading goods platform 210, other limiting device work, by automatic loading and unloading goods
The limited block in 210 other orientation of platform rises.
A kind of specific structure of adapting system in the pipeline of the application is described below:
7:
Referring to attached drawing 42~47, which includes: underground rotating device 54, lifting device and ground rotating device
51；Underground rotating device 54 is arranged on ground lower platform, to receive and transmit the cargo machine for collecting load of stream carrier vehicle submitting；Lifting
Device is arranged in the channel between ground lower platform and ground surface platform, to receive the cargo packaging of the transmission of underground rotating device 54
Device, and cargo machine for collecting load is promoted to ground surface platform；Ground rotating device 51 is arranged in ground surface platform, to receive lifting device
The cargo machine for collecting load of transmission, and cargo machine for collecting load is sent into unloading warehouse.Underground rotating device 54 and ground rotating device 51 are each
Freely multiple assembled units are arranged to make up.
Meanwhile ground rotating device 51 can also receive and transmit the cargo machine for collecting load that unloading warehouse is sent out, lifting device
The cargo machine for collecting load of the transmission of ground rotating device 51 can be received, and cargo machine for collecting load is dropped into ground lower platform, underground rotation dress
The cargo machine for collecting load of lifting device transmission can also be received by setting 54, and cargo machine for collecting load is sent into stream carrier vehicle.
Referring to attached drawing 26, underground rotating device 54 includes: the first support 542 for being fixed on ground lower platform, is arranged first
Several first roller-ways 541 disposed in parallel at 542 top of bracket and the first driving part of driving the first roller-way 541 transmission；
Stream carrier vehicle is provided with the roller-way of automatic loading and unloading goods, to carry and transmit cargo machine for collecting load；Stream carrier vehicle is accommodated to handling
After the point of goods station, roller-way is docked with the first roller-way 541；Roller-way is identical as the direction of transfer of the first roller-way 541.First driving part can
Think any one in gear transfer mechanism, belt transmission agency or chain transport mechanism.
A kind of specific structure of underground rotating device is described below in implementation one:
First roller-way 541 includes the idler wheel that multiple direction of transfers along the first roller-way are arranged；Idler wheel is set by roller bearing rotation
It sets in first support 542.
First driving part is gear transfer mechanism, comprising: either-rotation motor, driving tooth, multiple driven tooths and setting are in phase
Idle pulley between adjacent driven tooth；Either-rotation motor is fixed in first support 542, and output end is fixedly connected with driving tooth, with driving
Driving tooth rotates forward or backwards；Driven tooth is fixed on corresponding roller bearing, is followed driving tooth to rotate synchronously by idle pulley, is then made
Multiple idler wheels in first support 542 rotate synchronously.
Another specific structure of underground rotating device is described below in implementation two:
First roller-way 541 includes the first conveying roller that multiple direction of transfers along the first roller-way are arranged；First conveying roller is logical
Shaft is crossed to be rotatably arranged in first support 542.
First driving part is belt transmission agency, comprising: either-rotation motor and multiple synchronous belts.
Wherein a synchronous belt is set on the output shaft of either-rotation motor and the shaft of adjacent first conveying roller, remaining synchronization
Band is respectively sleeved in the shaft of adjacent first conveying roller；Either-rotation motor makes multiple first conveying rollers are synchronous to turn by synchronous belt
It is dynamic.
Implementation three
Adapting system provided in this embodiment includes the underground rotating device in implementation one or implementation two, is also wrapped
Include following lifting device:
Referring to attached drawing 25 and 30, the lifting device include: fixed second support 52 in the channel, support transfer station 53 and
Lifting driver part；Second support 52 is provided with slide rail；Lifting driver part driving support transfer station 53 is along slide rail
It rises or falls；Support transfer station 53 can transmit cargo machine for collecting load, and support the direction of transfer and the first roller-way 541 of transfer station 53
Direction of transfer it is identical.
Wherein, when support transfer station 53 rises to upper limit position, the top surface of transfer station 53 and ground rotating device 51 is supported
Concordantly；When support transfer station 53 drops to lower position, the either flush of transfer station 53 and underground rotating device 54 is supported.
Supporting transfer station 53 includes multiple the second conveying rollers being arranged side by side, the second driving part and support frame；Second is defeated
Roller is sent to be rotatably arranged on support frame by shaft；Second driving part can for gear transfer mechanism, belt transmission agency or
Any one in chain transport mechanism.
The situation that the second driving part is belt transmission agency is specifically described below:
Second driving part includes: either-rotation motor and multiple synchronous belts.
Wherein a synchronous belt is set on the output shaft of either-rotation motor and the shaft of adjacent second conveying roller, remaining synchronization
Band is respectively sleeved in the shaft of adjacent second conveying roller；Either-rotation motor makes multiple second conveying rollers are synchronous to turn by synchronous belt
It is dynamic.
Further, support frame is provided with the pulley with sliding rail cooperation；Lifting driver part is cylinder or hydraulic cylinder.
Implementation four, adapting system provided in this embodiment include that the underground in implementation one or implementation two turns
Dynamic device, further includes following lifting device:
The lifting device includes: fixed second support 52 in the channel, support transfer station 53 and lifting driver part；The
Two brackets 52 are provided with slide rail；Lifting driver part driving support transfer station 53 rises or falls along slide rail；Support
Transfer station 53 can transmit cargo machine for collecting load, and support the direction of transfer of transfer station 53 vertical with the direction of transfer of the first roller-way 541.
Adapting system 5 ' further include: lifting tourelle 55 is arranged to make up by multiple assembled units.
Lifting tourelle 55 includes: transfer fixed frame 551, transfer lifting frame 552, is lifted driving part 553, is several
Direction of transfer first transfer roller-way 554 identical with the direction of transfer of the first roller-way 541, several direction of transfers and support transfer station
The identical second transfer roller-way 555 of 53 direction of transfer, one end of the second transfer roller-way 555 extend to the second of lifting device
Bracket 52.
Second transfer roller-way 555 is arranged on transfer fixed frame 551；First transfer roller-way 554 is arranged in transfer lifting frame
On 552；Lifting driving part 553 is fixed on transfer fixed frame 551, and output end is connect with transfer lifting frame 552, in driving
Turn lifting frame 552 to lift or decline.
Wherein, when support transfer station 53 rises to upper limit position, top surface and the ground rotating device 51 of transfer station 53 are supported
Either flush；When support transfer station 53 drops to lower position, the top surface of transfer station 53 and the second transfer roller-way 555 are supported
Either flush.
When transfer lifting frame 552 rises to upper limit position, top surface and the underground rotating device 54 of the first transfer roller-way 555
The either flush of first roller-way 541, and it is higher than the top surface of the second transfer roller-way 555；Transfer lifting frame 552 drops to lower position
When, the top surface of the first transfer roller-way 554 is lower than the top surface of the second transfer roller-way 555.
Further, the first transfer roller-way 554 includes multiple idler wheels along 554 direction of transfer of the first transfer roller-way arrangement；
Idler wheel is rotatably arranged in transfer lifting frame 552 by roller bearing；First transfer roller-way 554 is passed by gear transfer mechanism, belt
Send any one driving in mechanism or chain transport mechanism, the gear conveyer that wherein gear transfer mechanism and embodiment one provide
The structure of structure is identical, and belt transmission agency is identical as the structure of belt transmission agency that embodiment two provides.
Second transfer roller-way 555 includes multiple conveying rollers along 555 direction of transfer of the second transfer roller-way arrangement；Conveying roller is logical
Shaft is crossed to be rotatably arranged on transfer fixed frame；Second transfer roller-way 555 passes through gear transfer mechanism, belt transmission agency or chain
Any one driving in transport mechanism, the structure phase for the gear transfer mechanism that wherein gear transfer mechanism is provided with embodiment one
Together, belt transmission agency is identical as the structure of belt transmission agency that embodiment two provides.
Adapting system 5 ' provided in this embodiment further includes abnormal cargo apparatus for temporary storage 56, by least one assembled unit structure
At for temporarily storing the cargo machine for collecting load of abnormality.
Referring to attached drawing 29, abnormal cargo apparatus for temporary storage 56 include: be fixed on ground lower platform temporary bracket 561, setting exist
Several temporary roller-ways 562 disposed in parallel at temporary 561 top of bracket and the temporary driving for driving temporary roller-way 562 to transmit
Component；Temporary roller-way 562 is identical as the support direction of transfer of transfer station 53；The temporary setting of bracket 561 is in lifting tourelle 55
Transfer fixed frame 551 side, temporary roller-way 562 docks with the other end of the second transfer roller-way 555, i.e., lifting device and
Abnormal cargo apparatus for temporary storage 56 is located at the both ends of lifting tourelle 55.
When the cargo machine for collecting load that the first roller-way 541 of underground rotating device 54 transmits is normal condition, lifting rolls dress
It sets 55 the cargo machine for collecting load is transferred in lifting device, when the cargo collection that the first roller-way 541 of underground rotating device 54 transmits
When dress device is abnormality, which is transferred to the temporary roller of abnormal cargo apparatus for temporary storage 56 by lifting tourelle 55
It is temporarily stored on road 562, when the abnormality of cargo machine for collecting load is changed into normal, abnormal cargo apparatus for temporary storage 56 again will
The cargo machine for collecting load is sent to lifting tourelle 55 and lifting device, carries out normal transmit process；In cargo machine for collecting load
Abnormality when can not release, can be by the way that the cargo machine for collecting load of the abnormality be manually moved away from abnormal cargo apparatus for temporary storage
56。
Temporary driving part is any one in gear transfer mechanism, belt transmission agency or chain transport mechanism.
The situation that temporary driving part is belt transmission agency is specifically described below:
Temporary roller-way 562 includes the temporary conveying roller that multiple direction of transfers along temporary roller-way 562 are arranged；Temporary conveying roller
It is rotatably arranged on temporary bracket 561 by shaft.
Temporary driving part includes: either-rotation motor and multiple synchronous belts.
Wherein a synchronous belt is set on the output shaft of either-rotation motor and the shaft of adjacent temporary conveying roller, remaining synchronization
Band is respectively sleeved in the shaft of adjacent temporary conveying roller；Either-rotation motor makes multiple temporary conveying rollers are synchronous to turn by synchronous belt
It is dynamic.
Implementation five, adapting system 5 ' provided in this embodiment includes: the ground in implementation one or implementation two
Lower rotating device 54, and, the lifting device in implementation three or implementation four further includes following ground rotating device
51:
Referring to attached drawing 28, ground rotating device 51 includes: the third bracket 511 for being fixed on ground surface platform, is arranged in third
The third driving part that several third roller-ways 512 disposed in parallel and driving third roller-way 512 at 511 top of bracket transmit；
Third roller-way 512 is identical as the support direction of transfer of transfer station 53；Third driving part is gear transfer mechanism, belt conveyor
Any one in structure or chain transport mechanism.
The situation that third driving part is belt transmission agency is specifically described below:
Third roller-way 512 includes the third conveying roller that multiple direction of transfers along third roller-way 512 are arranged；Third conveying roller
It is rotatably arranged on third bracket 511 by shaft.
Third driving part includes: either-rotation motor and multiple synchronous belts.
Wherein a synchronous belt is set on the output shaft of either-rotation motor and the shaft of adjacent third conveying roller, remaining synchronization
Band is respectively sleeved in the shaft of adjacent third conveying roller；Either-rotation motor makes multiple third conveying rollers are synchronous to turn by synchronous belt
It is dynamic.
Implementation six, adapting system provided in this embodiment includes: the underground in implementation one or implementation two
Rotating device 54, implementation three or the lifting device in implementation four, the ground rotating device 51 in implementation five, also
It include: parking auxiliary easing gear；
Parking auxiliary easing gear includes multiple auxiliary identical with 55 structure of lifting tourelle in implementation four
Unloading unit, multiple auxiliary unloading units are arranged side by side in the edges of handling goods station point, the first roller-way of underground rotating device 54
541 dock with the first transfer roller-way of the auxiliary unloading unit of setting in an intermediate position.After stream carrier vehicle is stopped, certain
First transfer roller-way of one auxiliary unloading unit is docked with the roller-way of the automatic loading and unloading goods of stream carrier vehicle, but the auxiliary is unloaded
Unit is not docked with the first roller-way 541 of underground rotating device, then by assisting the second transfer roller-way of unloading unit by goods
Object machine for collecting load is transported on the auxiliary unloading unit of setting, then, is risen the first transfer roller-way, is passed through the first transfer roller-way handle
Cargo machine for collecting load, which is transmitted on the first roller-way 541 of underground rotating device 54, starts normal transmit process.In this way, when logistics is transported
When defeated vehicle stops the position of website and non-setting position, parking auxiliary easing gear can be by the cargo packaging of stream carrier vehicle submitting
Device is adjusted to position corresponding with the first roller-way 541 of underground rotating device 54.
8:
Pipeline provided in this embodiment includes outside the building block that preceding embodiment provides, further includes: power supply
System and control system, power supply system provide electric energy for each electrical component of stream carrier vehicle and adapting system, wherein electric energy
By introducing power supply from power grid, processing distribution is carried out to power supply through electric substation, pipeline intelligence is then led to by specific power supply mode
Each electricity unit of energy transportation system.The power supply mode of stream carrier vehicle can be realized by following various ways: the
The power supply of three rails, contact net power supply, electromagnetic induction power supply, slide wire power supply or various media energy storage for power supply.Power-supplying forms and peace
Dress mode is selected according to specific environment.
Third-rail feeding refers to: stream carrier vehicle is by current collection device and the electrification rail contact electricity getting along line arrangement
Stream carrier vehicle provides electric energy.Electrification rail can be placed on route two sides and be flowed back by rail out of shape by third-rail feeding；It can also be with
It is flowed back between setting in the line by rail out of shape；A return current rail can also be separately provided by current back electric substation.Third rail
Powered mode can be current collection device and be flowed from electrification rail top, can also be flowed from electrification trackside portion, can also be from electrification
Rail bottom portion is flowed.Current collection device can be arranged in the side of vehicle, bottom surface and above, and current collection device can be pantograph can also be with
It is collector shoe.Setting is transmitted electric energy to the pantagraph current collector of stream carrier vehicle, for object by trajectory in the application pipeline provided above
Flow transport vehicle operation is exactly a kind of third-rail feeding mode.
Contact net power supply refers to: haulage vehicle takes electricity from overhead contact net by current collection device, provides electricity for vehicle
Can, contact net power supply can be rigid suspension OCS power supply, be also possible to rigid contact net power supply.Contact net can be arranged in vehicle
The upper surface of can also be arranged in the side of vehicle.Current collection device can be pantograph and be also possible to collector shoe.Current collection device can be with
It is flowed, can also be flowed from the side of contact net below contact net.
Electromagnetic induction power supply refers to: primary circuit arranged on vehicle route out of shape and is passed through the AC power source of high frequency, when
When vehicle is run on the line, the secondary coil being arranged on vehicle can generate alternating current due to electromagnetic induction principle, will hand over
It is that haulage vehicle is powered that time-dependent current, which carries out processing,.The primary coil of electromagnetic induction power supply can be set on face out of shape, can also be with
The side of haulage vehicle is set, the top of operation vehicle can also be set.Secondary coil can be set according to the layout of vehicle
It sets in the bottom of vehicle, also can be set in the side of vehicle, the top of vehicle can also be set.
Slide wire power supply and conductor rail power supply the principle are almost the same, and haulage vehicle contacts the gold of electrification by current collection device
Belonging to line takes electricity to provide electric energy for vehicle.Trolley can be arranged in the top of vehicle or the side of vehicle, can also be arranged in
The lower part of vehicle.Corresponding, current collection device can be arranged in the top, side, bottom of vehicle.
Energy storage type power supply refers to: haulage vehicle is provided by energy storage devices such as included battery, super capacitors for vehicle
Electric energy.Energy storage device in energy storage for power supply can be supercapacitor group, is also possible to various chemical storage batteries groups, can also be
A variety of energy-accumulating mediums are combined with each other the energy storage device to be formed.The charging equipment of energy storage for power supply can be contact charging equipment, connect
Touching form can be the contact charging of third rail, can be trolley contact charging；The charging equipment of energy storage for power supply can also be nothing
Line charge electric equipment, charged form can be electromagnetic induction power supply.
9:
Pipeline provided in this embodiment includes outside the building block that preceding embodiment provides, further includes: processing
The driving device of the bogie of device, processor and stream carrier vehicle connects, and by starting or stoping for control driving device, realizes
The unmanned automatic driving of stream carrier vehicle.The traction electric machine of the switching mechanism of the car body of processor and stream carrier vehicle connects, and leads to
It crosses control traction electric machine to rotate forward or backwards, opens or closes the upper slide of car body, meanwhile, processor and stream carrier vehicle
Car body automatic loading and unloading goods platform transfer roller motor connection, by control transfer roller motor rotation forward or backwards, make cargo
Pallet is into and out car body, and after arriving at a station so as to stream carrier vehicle, the intracorporal cargo pallet of vehicle completes automated handling work.Place
Reason device is connect with each driving part of underground rotating device, lifting device and ground rotating device in adapting system, with control
Underground rotating device, lifting device and ground rotating device carry out cargo pallet handling operation automatically.Cargo pallet goes out vehicle automatically
The detailed process that body enters the station are as follows: processor is connect with the first driving part of underground rotating device, and the lifting with lifting device is driven
Dynamic component connection, the third driving part transmitted with the driving third roller-way of ground rotating device are connect.Stream carrier vehicle arrives at a station
Afterwards, processor controls upper slide and opens, and cargo pallet is moved out to the first of underground rotating device from automatic loading and unloading goods platform automatically
On roller-way, processor controls the work of the first driving part, is transmitted to cargo pallet on lifting device along the first roller-way, hereafter,
Processor controls lifting driver part work, and the support transfer station that driving is loaded with cargo pallet rises along slide rail, arrival pair
After the height for answering ground rotating device, processor controls the work of third driving part, and cargo pallet is transmitted to along third roller-way and unloads
Freight house library.The automatic outbound detailed process into car body of cargo pallet is opposite with the movement of the above process.
Second of pipeline:
Referring to attached drawing 15, which includes: pipeline 1 ", at least one rail group and stream carrier vehicle 4 "；Pipeline 1 " buries
It is located in the ground, inside is transport channel；Rail group is fixed on the inner wall at the top of pipeline；Rail group includes: two travelings
Rail 2 "；The rail level of two rails 2 " is symmetrically obliquely installed；Referring to attached drawing 16,3 and 8, stream carrier vehicle 4 " includes: bogie 5 "
And car body 6；Car body 6 is hung in the lower section of bogie 5 "；The wheel 10 of 5 " two sides of bogie is on the rail level 18 of two rails
Operation.
Wherein, referring to attached drawing 17 and 23, the car body 6 of stream carrier vehicle 4 " is hung in the lower section of bogie 5 ", bogie 5 "
The wheel of two sides is run on the rail level 18 of two rails 2 ", and stream carrier vehicle 4 " is made to complete the underground haulage of cargo, release
Aboveground space alleviates urban traffic blocking；Underground pipeline transportation can with Optimizing City logistics distribution network, reinforce line haul with
Effective linking of city distribution, to meet people's livelihood primary demand and improve logistics, municipal transport bearing capacity and promote electronics quotient
Greatly developing for business is played a positive role.Stream carrier vehicle 4 " is suspended in midair and is operated on the overhead rail of pipeline 1 ", can be released
The horizontal swing of car body 6 is put, reduces stream carrier vehicle 4 " to the impact force of rail 2 " and pipeline 1 "；Overhead rail is set
Meter, the limited pipeline 1 " in energy good conformity space are that the car body 6 of stream carrier vehicle 4 " provides bigger space, and then increases vehicle
The volume of cargo of body 6 enhances transport capacity.
The both ends connection Large Underground of pipeline 1 " loads and unloads goods station point；The intermediate connection of pipeline 1 " has more root knot structures and pipeline 1 "
The end connection small underground of identical branch pipe(tube), branch pipe(tube) loads and unloads goods station point；Branch pipe(tube) be internally provided with structure and quantity with
The identical traveling branch rail group of rail group, traveling branch rail group are connected with corresponding rail group.It is real by pipeline 1 " and branch pipe(tube)
Cargo transport between existing each large-scale and small underground handling goods station point, improves conevying efficiency.It is set in pipeline 1 " and branch pipe(tube)
Multiple ventilating parts and multiple illuminace components are equipped with, overhaul or replace component in order to which personnel enter in pipeline 1 ".
Rail 2 " opens up lightening hole 17, on the basis of meeting structural stability and there is enough bearing capacitys, In
Lightening hole 17 is opened up in rail 2 ", reduces the load of pipeline 1 ", improves transport capacity, while also saving the life of rail 2 "
Produce raw material.
The specific structure of the bogie of stream carrier vehicle system provided by the present application is introduced below by specific embodiment:
1:
Referring to attached drawing 17 and 18, if bogie 5 " includes: framework 7, revokes 13, pin shaft 8, several hub motors 11 and dry turning
Wheel 10；Pin hole is opened up in the middle part of framework 7；It revokes 13 and hangs and be located in pin hole, lower part opens up axis hole；Pin shaft 8 is threaded through in axis hole, is used for
Hang car body 6；The center line of the opposite framework 7 of several hub motors 11 is arranged symmetrically in the two sides at 7 top of framework；Hub motor
11 are fixedly connected with framework 7；The output end of corresponding hub motor 11 is arranged in several wheels 10；The radial section of wheel 10 is vertical
In the rail level 18 of rail 2 ".
The wheel 10 of 5 " two sides of bogie arranges in splayed, the weight of car body 6 by pin shaft 8, revoke 13, framework 7,
Hub motor 11 and wheel 10 are transmitted on two rails 2 ", and car body 6 is when passing through curve section, in the effect of centrifugal force
Under, the wheel 10 of 7 side of framework rises along the inclined surface of rail 2 ", the corresponding decline of the wheel 10 of the other side, at this time bogie
The inclination of 5 " center line opposed vertical faces, when car body 6 reenters straightway, centrifugal force disappears, work of the bogie 5 " in gravity
With lower automatic centering return, no setting is required directive wheel and guided way, the load-carrying of the collection of wheel 10, walking and the guiding three of splayed arrangement
Kind function is integrated, and reduces 5 " occupied space of bogie, adapts to the limited underground pipeline transportation in space.
Further, referring to attached drawing 19 and 20, the two sides at 7 top of framework correspond to hub motor 11 be tiltedly installed with it is several
Pillar 15；Pillar 15 is fixedly connected by fastener with hub motor 11；Wheel 10 is defeated by fastener and hub motor 11
Outlet is fixedly connected；The centerline collineation of pillar 15, hub motor 11 and wheel 10.Framework 7 includes: top plate and bottom plate and fixation
Muti-piece connecting plate between top plate and bottom plate；The center of top plate and bottom plate opens up corresponding through-hole and forms pin hole.As one kind
Preferred embodiment, top plate and bottom plate are the identical rectangular steel plates of structure, and connecting plate material is steel, are fixed by welding in top plate
Between bottom plate, rectangular lattice structure is formed.Pillar 15 is hollow steel pipe, is fixed by welding on top plate, the top of pillar 15
End is cooperated by flange with multiple bolts to be connected and fixed with hub motor 11, guarantees that connection is firm also convenient for disassembly and assembly.Hub motor
11 output end is arranged to flange plate structure, and flange plate structure is fixedly connected by multiple bolts with wheel 10.Due to car body 6 and
The weight of framework 7 successively passes to hub motor 11 and wheel 10 by pillar 15, passes to rail finally by wheel 10
2 ", therefore, set the center line of pillar 15, hub motor 11 and wheel 10 to collinearly to can guarantee entire 5 " structure of bogie
Force stability.
Further, it referring to attached drawing 20 and 21, revokes 13 axis and intersects with the center line of framework 7,13 arrangements will be revoked
In the middle position of framework 7, the gravity distribution of car body 6 can be optimized, keep the stress of every single wheel 10 identical, avoid bogie
5 " cause unilateral 10 stress of wheel excessive when excessively curved and influence the 2 " stress of rail of 5 " self structure of bogie or respective side
Excessive and deformed damaged.Revoking 13 includes: the body of rod for being pressed on the head of 7 top surface of framework and being threaded through in pin hole；Axis hole setting
In the lower part of the body of rod, the centerline parallel of center line and framework 7.Further include: rubber bushing 9 is arranged in pin hole, revokes 13
It is threaded through in rubber bushing 9；The outer circumference surface and pin hole inner wall of 9 lower part of rubber bushing are interference fitted, outside inner peripheral surface and the body of rod
Wall clearance fit；9 top of rubber bushing is set as outer diameter circular ring structure identical with the head outer diameter for revoking 13, circular ring structure
The top surface of lower surface abutting framework 7；13 head is revoked to be pressed on the circular ring structure of rubber bushing 9 to transmit vertical force；Rubber
The lower part of glueballs hinge 9 can transmit the horizontal and vertical load of car body 6, while can also discharge between car body 6 and bogie 5 "
Revolution, conducive to the sharp radius curve section of rail group is passed through.
The head undersurface for revoking 13 is set as inclined surface；The top surface of the circular ring structure of rubber bushing 9 is set as and revokes
The corresponding inclined surface of 13 head undersurface, the setting of inclined surface can optimize rubber bushing 9 it is vertical to horizontal direction stress, turn
Avoid the circular ring structure of rubber bushing 9 by excessive compression when excessively curved and recurring structure deformation to frame 5 ".
Referring to attached drawing 21, the top of car body 6 is fixedly connected with an ear mount 16, and two lifting lugs of ear mount are hung respectively in pin shaft 8
Both ends, and the axis of pin shaft 8 is consistent with the direction of travel of bogie 5 ", can be released effectively 6 roll freedom of car body in this way.Vehicle
Wheel 10 is any one in pneumatic rubber wheel, solid rubber wheel or steel wheel, for the logistics transportation of underground piping 1 ", due to ground
For the wall thickness of lower pipeline 1 " generally than relatively thin, pneumatic rubber wheel or solid rubber wheel can reduce bogie 5 " and car body 6 to buried pipe
The impact force in road 1 ", therefore, solid rubber wheel are the preferred embodiment of the application.
Further, referring to attached drawing 15 and 16, the stream carrier vehicle system further include: by trajectory 3 ", quantity and rail
The quantity of group is identical, is arranged on the inner wall at the top of pipeline 1 ", positioned at the centre of two rails 2 " of corresponding rail group；By
Trajectory 3 " connects power supply part, to transmit electric energy to stream carrier vehicle 4 "；Pipeline 1 " is fixed on by fastener by trajectory 3 " to push up
On the inner wall in portion；When pipeline 1 " is steel material, by being provided with felt pad between trajectory 3 " and pipeline 1 ".It is set on bogie 5 "
It is equipped with pantagraph current collector 14 and electric box 12, pantagraph current collector 14 is fixed on the top of framework 7, obtains electric energy with being cooperated by trajectory 3 "；Electrically
Case 12 is connect with pantagraph current collector 14 and hub motor 11, the electrical energy transportation that pantagraph current collector 14 is obtained to hub motor 11 and other use
Electrical components realize being driven by electricity for stream carrier vehicle 4 ", reduce air pollution caused by traditional fuel driving.
As a kind of preferred structure, the quantity of hub motor 11 and wheel 10 is 4；4 hub motors 11 are located at
The both ends of 7 side of framework.Car body 6 is hung in the lower section of two bogies 5 ", and the top two of car body 6 is arranged in two bogies 5 "
End, on the center line of car body 6；The front-end and back-end of car body 6 are provided with attachment device, and attachment device connects multiple car bodies 6
It connects and organizes into groups operation after fixing；Car body 6 is the shape box structure adaptable with the transport channel of pipeline 1 ".
A kind of pipeline section is described below as circle, the stream carrier vehicle system structure of inside one rail group of arrangement:
2:
The stream carrier vehicle system of the present embodiment includes the bogie, car body, circular pipe, a traveling of embodiment one
Rail group and one are arranged on the inner wall at the top of pipeline 1 " by trajectory by trajectory 3 ", and the first rail and the second rail are located at
Centre；The material of pipeline 1 " is steel or concrete, and section is circle；One rail group is set in circular pipe, at this point, walking
Two rails 2 " of row rail group are as follows: the first rail and the second rail, the center line about circular pipe 1 " is symmetrical, and first
The material of rail and the second rail is steel；First rail and the second rail by fastener or are weldingly fixed on pipeline
On 1 ", alternatively, the first rail and the second rail and pipeline 1 " are made by integrally formed, due to stream carrier vehicle 4 " itself
Has certain weight, in fully loaded with cargo transported, to the structural requirement of the first rail, the second rail and pipeline 1 "
Higher, the integral strength and rigidity of steel pipe 1 " and rail 2 " are higher, are able to satisfy the suspention and transport of stream carrier vehicle 4 "
It is required that guaranteeing good structural stability.Steel pipe 1 " have good closure, adapt to underground environment, avoid soil and
Water enters transport channel, guarantees transportation environment.
Further, referring to attached drawing 22 and 23, the rail level 18 of rail 2 " and the angle of horizontal plane are 120 °~170 °,
Because stream carrier vehicle 4 " and cargo are suspended on the first rail and the second rail, the weight of the two finally all passes through wheel 10
It is transmitted on the first rail and the second rail, moreover, general wheel 10 is arranged vertically on rail level 18,18 inclination angle of rail level
Size will affect wheel 10 and stream carrier vehicle 4 " bogie 5 " bearing capacity, angle is too small to will lead to wheel 10 and object
The bogie stress condition for flowing transport vehicle 4 " is poor, and wheel 10 bears biggish torque, to the bearing capacity and knot of bogie 5 "
Structure stability requirement is higher, is unfavorable for the operation of 5 " long-term safety of bogie；And angle is excessive, will lead to the first rail and
Two rails act on smaller to the horizontal force of wheel 10, are unfavorable for automatic centering of the stream carrier vehicle 4 " under Gravitative Loads, hold
Deviation phenomenon easily occurs, therefore, the rail level 18 of the first rail or the second rail and the angle of horizontal plane be set as 120 °~
170 °, preferable angular range is 150 °~170 °, is illustrated, angle is preferably arranged to 170 °, at this point, bogie 5 " and
First rail and the second rail are in optimal stress, and bogie 5 " will not be translated substantially when excessively curved, and car body 6 is not
It can occur substantially to roll, after returning to the straightway of rail group, stream carrier vehicle 4 " can quickly return just under Gravitative Loads.
The shape and 1 " inner wall of pipeline of the one side on 2 " top of rail are adapted, and are close to be fixed on 1 " inner wall of pipeline
On；The another side on 2 " top of rail is rail level 18；The bottom surface of 2 " lower part of rail is horizontal plane.2 " lower part of rail is corresponding
The side of rail level 18 is provided with limiting block 19；The top surface of limiting block 19 is set as arcwall face, the top of the arcwall face of limiting block 19
Connect with the rail level 18 of rail 2 ", lower part levels off to horizontal plane.When stream carrier vehicle 4 " is excessively curved, bogie 5 " is made in inertia
With lower meeting lateral sliding, the wheel 10 of side is caused to move up along rail level 7, the wheel 10 of the other side is moved down along rail level 18, is moved down
Wheel 10 may occur wheel 10 and slip over 18 bottom margin of rail level and derail, the weight for causing entire stream carrier vehicle 4 " to fall
Major break down, and the limiting block 19 of 18 bottom margin of rail level setting can effectively avoid wheel 10 that derailment accident occurs, and ensure logistics fortune
The operational safety of defeated vehicle 4 ".
A kind of pipeline section is described below as ellipse, the stream carrier vehicle system knot of inside two rail groups of arrangement
Structure:
3:
The stream carrier vehicle system of the present embodiment include the bogie of embodiment one, car body, oval ducts, two walk
By trajectory 3 ", two are respectively corresponded rail group by trajectory 3 " and are arranged on the inner wall at the top of pipeline 1 " by row rail group and two.Pipe
The material in road 1 " is steel or concrete, and section is ellipse；Referring to attached drawing 24, two rails are set in oval ducts 1 "
Group, two rails 2 " of one of rail group are as follows: third rail 2 " 0, the 4th rail, another rail group
Two rails 2 " are as follows: the 5th rail and the 6th rail 2 " 1.Third rail 2 " 0 and the 6th rail 2 " 1 are symmetrical arranged
Two sides at the top of oval ducts 1 ", the 4th rail and the 5th rail are fixed on the centre at the top of oval ducts 1 ",
4th rail can arrange independently with the 5th rail, the 4th rail and the 5th rail can also be made one it is whole
Body.
The material of the rail group of the present embodiment and the connection type of pipeline 1 " all with embodiment two the case where it is identical.The
Three rails, the 4th rail, the 5th rail and the 6th rail are both provided with the limiting block 19 in embodiment two.Setting two
Running side by side in the same direction for stream carrier vehicle 4 " may be implemented in a rail group, alternatively, the way traffic of stream carrier vehicle 4 ", is improved
The transport capacity of entire stream carrier vehicle system.
The technical solution provided in the embodiment of the present application, has at least the following technical effects or advantages:
System provided by the embodiments of the present application, setting general control system to obtain goods handling information from information system, and
The order for carrying out control system transport on the whole is controlled and dispatched as a whole, then signals of vehicles control system is set, with institute
General control system communication connection is stated, the vehicle transport goods in underground pipeline transportation system is controlled according to the goods handling information
Object, that is, realizing vehicle can orderly travel according to the control of general control system.Again by feeding back the status information of the vehicle extremely
The general control system, so that the general control system can be according to the scheduling of the Advance data quality entirety of feedback.Further, it also sets
Station level control system is set, is communicated to connect with the general control system, to obtain the goods handling information, is transported according to the cargo
The stop and cargo handling for sending orderly information to control the vehicle to sum up realize vehicle driving, website vehicle parking and cargo
The orderly progress of handling, avoids the confusion of the unordered traveling of vehicle, ensure that the efficient and safety of system.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be realized by computer program instructions each in flowchart and/or the block diagram
The combination of process and/or box in process and/or box and flowchart and/or the block diagram.It can provide these computers
Processor of the program instruction to general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices
To generate a machine, so that generating use by the instruction that computer or the processor of other programmable data processing devices execute
In the dress for realizing the function of specifying in one or more flows of the flowchart and/or one or more blocks of the block diagram
It sets.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, those skilled in the art can carry out various modification and variations without departing from this hair to the embodiment of the present invention
The spirit and scope of bright embodiment.In this way, if these modifications and variations of the embodiment of the present invention belong to the claims in the present invention
And its within the scope of equivalent technologies, then the present invention is also intended to include these modifications and variations.
Claims (18)
1. a kind of pipeline transportation vehicle control, which is characterized in that the pipeline-transporting vehicle control system is in underground piping
In transportation system, comprising:
General control system, for carrying out whole monitoring and control to entire pipeline transportation net, the general control system is from information system
System obtains goods handling information；
Signals of vehicles control system communicates to connect, to obtain the goods for controlling the traveling of vehicle with the general control system
Object transports information, controls the vehicle transport cargo in underground pipeline transportation system according to the goods handling information, and feed back institute
The status information of vehicle is stated to the general control system；
Station level control system, for control vehicle the stop of a website and handling goods, with the general control system communicate to connect,
To obtain the goods handling information, the stop and cargo handling of the vehicle are controlled according to the goods handling information.
2. pipeline transportation vehicle control as described in claim 1, which is characterized in that the signals of vehicles control system is also wrapped
It includes:
Ground control system is communicated to connect with the general control system, to obtain the goods handling information, and according to the goods
Object transports information, generates vehicle scheduling driving information；
Vehicle control syetem, the vehicle control syetem are installed on vehicle, and the vehicle control syetem and the ground control
System communication to obtain the vehicle scheduling driving information, and controls the vehicle according to the vehicle scheduling driving information
Traveling；
Ground subsystem, the ground subsystem is mounted in the underground piping of the underground pipeline transportation system, to obtain
State the orbit occupancy condition information of underground piping, the ground subsystem and the ground control system and the vehicle-mounted control system
System communication connection, feeds back to the ground control system and the vehicle control syetem for the orbit occupancy condition information,
And then makes the ground control system and adjust generation vehicle scheduling driving information according to the orbit occupancy condition information, and make
The vehicle control syetem adjusts the control vehicle driving according to the orbit occupancy situation.
3. pipeline transportation vehicle control as claimed in claim 2, which is characterized in that the ground subsystem includes:
Transponder, the transponder are arranged in the underground piping, and the transponder peripheral region is stored in the transponder
The traffic information in domain；
The vehicle control syetem can be communicated with the transponder, to obtain the traffic information, and according to the traffic information
Adjust the traveling of the vehicle.
4. pipeline transportation vehicle control as claimed in claim 2, which is characterized in that the vehicle control syetem includes:
Automatic protection and control system are communicated with the ground control system, to obtain the vehicle scheduling driving information, and root
According to the vehicle scheduling driving information and current vehicle running state information formation speed control information and direction controlling information；
Automatic traction and braking system, communicates with the automatic protection and control system, with obtain the speed control information with
The direction controlling information, and it is fast according to the traveling that the speed control information and the direction controlling information control the vehicle
Degree and direction.
5. pipeline transportation vehicle control as claimed in claim 4, which is characterized in that the vehicle control syetem further include:
Information collection and transmission system, the information collection and transmission system are for acquiring the vehicle-surroundings environmental information and vehicle
Running condition information, and the information of acquisition is fed back into the automatic protection and control system.
6. pipeline transportation vehicle control as claimed in claim 5, which is characterized in that the information collection and transmission system packet
Include any one or more following combination:
Car speed acquisition module, for acquiring the current driving speed of the vehicle；
Alternatively,
Convoy spacing detecting module, for acquiring the spacing of the vehicle Yu front or behind vehicle, so that the automatic protection
The travel speed of the vehicle can be adjusted according to the spacing with control system；
Alternatively,
Trackside equipment detecting module, for detecting the storage of the information in the underground piping or sending module, to obtain describedly
Road information in lower pipeline；
Alternatively,
Train-ground communication module, the communication for vehicle and ground installation in the underground piping.
7. pipeline transportation vehicle control as claimed in claim 6, which is characterized in that the car speed acquisition module is speed
Spend sensor or Doppler radar.
8. pipeline transportation vehicle control as claimed in claim 6, which is characterized in that the convoy spacing detecting module is red
Outer distance-measuring equipment or Microwave Distance Measuring Equipment.
9. pipeline transportation vehicle control as claimed in claim 6, which is characterized in that the trackside equipment detecting module includes
Below any one or more:
Transponder information receives parsing module, is mounted on the vehicle, when the vehicle is by being mounted on the underground piping
When interior transponder, the traffic information stored in the transponder is obtained；
Track circuit information receiving module is mounted on the vehicle, when the vehicle passes through the track in the underground piping
When section, the low frequency and carrier frequency information of the section are obtained, the occupied information of the section is sent to the master control system
System；
Mark detecting module, is mounted on the vehicle, the mark being mounted in the underground piping by detection, described in acquisition
Identify the information carried.
10. pipeline transportation vehicle control as claimed in claim 6, which is characterized in that the train-ground communication module are as follows:
The radio receiving transmitting module being mounted on the vehicle, the radio receiving transmitting module are communicated with ground launch tower；
Alternatively,
The orientation wireless transmitter module being mounted in the underground piping and the wireless connection module being mounted on the vehicle, institute
Orientation wireless transmitter module is stated to communicate with the wireless connection module；
Alternatively,
The coaxial cable with emission port being laid in the underground piping；
Alternatively,
Microwave tube with signal generator and signal receiver；
Alternatively,
Rail communication network based on Mobile Internet Protocol IPV6.
11. pipeline transportation vehicle control as described in claim 1, which is characterized in that the station level control system includes:
It is mounted on the first detection device of website first end and is mounted on the second detection device of website second end, the first end
It is respectively the both ends of the website with the second end；
Control device, the control device obtain the first detection information that first detection device is sent and second detection
The second detection information that device is sent；When first detection information and second detection information characterize and detect vehicle
When, confirmation vehicle parking is in place；When first detection information characterization detects vehicle, the second detection information characterization does not have
When detecting vehicle, the stop position of the vehicle is corrected.
12. pipeline transportation vehicle control as described in claim 1, which is characterized in that the station level control system further include:
Site identity is arranged at the pre-determined distance of website, the site identity and the website pair for being provided with the site identity
It answers；
When wherein, at vehicle driving to the site identity, scanning obtains the site identity, and judges the site identity
It whether is preset stop site identity；If so, then controlling the vehicle deceleration drives into the website.
13. claim 1,11 or 12 it is any as described in pipeline transportation vehicle control, which is characterized in that station level control
System is used to control the vehicle parking and cargo handling of multiple websites in the underground pipeline transportation system；
Wherein, the multiple website is classified as large-scale website and substation point, and the large size website is that cargo is transported to from place of departure
The terminal of the substation point.
14. pipeline transportation vehicle control as claimed in claim 13, which is characterized in that the multiple website is classified as large size
Website and substation point, comprising:
The quantity of other websites according to the handling capacity of website or according to website connection, is classified as large size for the multiple website
Website and substation point.
15. pipeline transportation vehicle control as described in claim 1, which is characterized in that the station level control system further include:
Cargo transfer platform, positioned at the vehicle parking end of website, for the goods movement handling between website and vehicle.
16. pipeline transportation vehicle control as claimed in claim 15, which is characterized in that the station level control system is also wrapped
It includes:
Cargo hoistable platform, the cargo hoistable platform are located at one end of the cargo transfer platform, are used for: by the cargo on ground
Decline and be moved to the cargo transfer platform, alternatively, by the goods movement on the cargo transfer platform to the cargo liter
Drop platform simultaneously rises to ground.
17. the pipeline transportation vehicle control as described in claim 15 or 16, which is characterized in that the station level control system is also
Include:
Weight sensor, the weight sensor setting is in the cargo transfer platform or is located at cargo transfer platform one end
Cargo hoistable platform on, to obtain the weight of the cargo.
18. the pipeline transportation vehicle control as described in claim 1,15 or 16, which is characterized in that the station level control system
Further include:
Data input platform, the data input platform are used to record the goods information of cargo；
The goods information includes: that the weight of the cargo and/or the cargo send site information with charge free.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711166186.8A CN108263441B (en) | 2017-11-21 | 2017-11-21 | A kind of pipeline transportation vehicle control |
| PCT/CN2018/074948 WO2019100586A1 (en) | 2017-11-21 | 2018-02-01 | Pipeline transport vehicle control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711166186.8A CN108263441B (en) | 2017-11-21 | 2017-11-21 | A kind of pipeline transportation vehicle control |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108263441A CN108263441A (en) | 2018-07-10 |
| CN108263441B true CN108263441B (en) | 2019-11-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711166186.8A Active CN108263441B (en) | 2017-11-21 | 2017-11-21 | A kind of pipeline transportation vehicle control |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108263441B (en) |
| WO (1) | WO2019100586A1 (en) |
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| CN113756622B (en) * | 2020-11-27 | 2023-01-31 | 北京京东乾石科技有限公司 | Underground logistics car access system |
| CN114291464B (en) * | 2021-12-03 | 2024-04-26 | 中车唐山机车车辆有限公司 | Warehouse management method and system for rail vehicle |
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| JP4863544B2 (en) * | 2000-10-05 | 2012-01-25 | 日本信号株式会社 | Train operation management system |
| CN1978262A (en) * | 2006-09-30 | 2007-06-13 | 中国地质大学（武汉） | Urban underground looped pipeline network logistics transportation system |
| CN100519288C (en) * | 2007-08-25 | 2009-07-29 | 李荣生 | Pipe logistics conveying device |
| CN101930569A (en) * | 2010-09-07 | 2010-12-29 | 北京博雅英杰科技有限公司 | Logistics management information system |
| CN102233887A (en) * | 2011-05-16 | 2011-11-09 | 铁道部运输局 | CTCS (China train control system)-3 train operation control system |
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| WO2015079453A2 (en) * | 2013-10-31 | 2015-06-04 | Pankaj Chandrakant Mahidhar | An underground transport system |
| CN105046474A (en) * | 2015-08-28 | 2015-11-11 | 王硕 | Intelligent full-automatic logistics conveying system and application thereof |
| CN105101094B (en) * | 2015-09-17 | 2018-10-12 | 北京交通大学 | Train operation control system |
| CN107161644B (en) * | 2017-06-13 | 2018-11-20 | 江苏振邦医用智能装备有限公司 | The control method of intelligent carriage logistics system |
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