CN107953904A - A kind of vehicle parking control method and station level control system - Google Patents

Abstract

The present invention, which discloses a kind of vehicle parking control method and station level control system, this method, to be included：The first detection information of the first detection device transmission installed in website first end and the second detection information of the second detection device transmission installed in website second end are obtained, the first end and the second end are respectively the both ends of the website；When first detection information and second detection information are characterized when detecting vehicle, confirmation vehicle parking is in place；When first detection information characterization detects vehicle, and the second detection information characterization does not detect vehicle, the stop position of the vehicle is corrected.This application provides it is a kind of unmanned when intelligent docking scheme.

Description

A kind of vehicle parking control method and station level control system

Technical field

The present invention relates to technical field of vehicle control, more particularly to a kind of vehicle parking control method and station level control system System.

Background technology

At present, as the field such as expanding economy, logistics, traffic also all obtains the development of increasingly high speed.The purchase of people The every aspects such as thing, cargo are sent, go on a tour, daily life all become 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, but underground pipeline transportation system cannot necessarily have pilot steering, this just travels and stops to the intelligence of vehicle and challenges.

As it can be seen that intelligent docking scheme when being badly in need of a kind of unmanned at present.

The content of the invention

The present invention is by providing a kind of vehicle parking control method and station level control system, there is provided when a kind of unmanned Intelligent docking scheme.

On the one hand, the present invention provides a kind of vehicle parking control method, the method to be used for underground pipeline transportation system In, including：

Obtain the first detection information of the first detection device transmission installed in website first end and installed in website second The second detection information that second detection device at end is sent, the first end and the second end are respectively the two of the website End；

When first detection information and second detection information are characterized when detecting vehicle, confirmation vehicle parking arrives Position；

When first detection information characterization detects vehicle, the second detection information characterization does not detect vehicle When, correct the stop position of the vehicle.

Optionally, it is described confirmation vehicle parking in place after, further include：The shield door of the website is opened, and is opened The car door of the vehicle.

Optionally, after the car door of the vehicle is opened, further include：Receive characterization cargo completion of discharge finishes letter Number；Signal is finished based on described, the shield door is closed in control；Train signal is sent to the vehicle, to remind the vehicle Traveling.

Optionally, the stop position of the correction vehicle includes：Send the control information of characterization stop not in place extremely The vehicle, to control the vehicle to release braking；Control the assistant parking device movement vehicle released after braking；Work as institute State the first detection device and when second detection device detects the vehicle, send characterization and stop information in place in place To the vehicle, to control the vehicle to brake.

Optionally, the stop position of the correction vehicle includes：Send the control information of characterization stop not in place extremely The vehicle, to control the vehicle to release braking, and controls the vehicle at the uniform velocity to travel；When first detection device and institute When stating the second detection device and detecting the vehicle, send characterization and stop information in place in place to the vehicle, with control The vehicle braking.

Optionally, the vehicle is the vehicle in underground pipeline transportation system.

On the other hand, there is provided a kind of station level control system, the system are used in underground pipeline transportation system, including：

The first detection device installed in website first end and the second detection device installed in website second end, described One end and the second end are respectively the both ends of the website；

Control device, the control device obtain the first detection information and described second that first detection device is sent The second detection information that detection device is sent；When first detection information and second detection information characterize and detect car When, confirm vehicle parking 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.

Optionally, the control device includes：Door control unit, for it is described confirmation vehicle parking in place after, control System opens the shield door of the website, and opens the car door of the vehicle.

Optionally, the door control unit includes：Signal receiving module is finished, for receiving characterization cargo completion of discharge Finish signal；Closedown module, for finishing signal based on described, the shield door is closed in control；Train signal sending module, is used In sending train signal to the vehicle, to remind the vehicle to travel.

Optionally, the system also includes：Assistant parking device；The control device includes：First control information is sent Module, for sending the control information of characterization stop not in place to the vehicle, to control the vehicle to release braking；Control mould Block, for controlling assistant parking device movement to release the vehicle after braking；First information sending module in place, for working as State the first detection device and when second detection device detects the vehicle, send characterization and stop information in place in place To the vehicle, to control the vehicle to brake.

Optionally, the control device includes：The second control information sending module, is stopped not in place for sending characterization Control information to control the vehicle to release braking, and controls the vehicle at the uniform velocity to travel to the vehicle；Second information in place Sending module, for when first detection device and second detection device detect the vehicle, sending characterization Information in place in place is stopped to the vehicle, to control the vehicle to brake.

Optionally, the vehicle is the vehicle in underground pipeline transportation system, and the website is underground pipeline transportation system In website.

The one or more technical solutions provided in the embodiment of the present invention, have at least the following technical effects or advantages：

Method and device provided by the embodiments of the present application, what the first detection device obtained installed in website first end was sent The second detection information that first detection information and the second detection device installed in website second end are sent, and according to described first Detection information and second detection information judge whether vehicle is stopped in place, are carried out when vehicle is not stopped in place automatic Correction, realizes the automatic accurate parking under unmanned situation so that unmanned parking is more intelligent.

Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention, And can be practiced according to the content of specification, and in order to allow above and other objects of the present invention, feature and advantage can Become apparent, below especially exemplified by the embodiment of the present invention.

Brief description of the drawings

In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are this hairs Some bright 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-transporting vehicle control system 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 vehicle parking control method in the embodiment of the present invention is schemed；

Fig. 9 is the schematic diagram of platform detection device in the embodiment of the present invention；

Figure 10 is the schematic diagram of station level control system in the embodiment of the present invention；

Figure 11 is the structure diagram of stream carrier vehicle system provided in an embodiment of the present invention；

Figure 12 is the bogie of stream carrier vehicle system provided in an embodiment of the present invention and the structure diagram of car body；

Figure 13 is the enlarged diagram of bogie in Figure 12；

Figure 14 is the left view of Figure 13；

Figure 15 is the partial enlarged view of wheel in Figure 13, wheel hub motor, pillar and framework；

Figure 16 be revoked in Figure 13, the partial enlarged view of rubber bushing and framework；

Figure 17 is the structure left view of stream carrier vehicle system provided in an embodiment of the present invention；

Figure 18 is the partial cutaway schematic of underground piping system provided in an embodiment of the present invention；

Figure 19 is the partial enlarged view of rail end in Figure 18；

Figure 20 is the structure diagram of stream carrier vehicle system provided in an embodiment of the present invention；

Figure 21 is the structure diagram of pipeline provided in an embodiment of the present invention；

Figure 22 is the structure diagram of bogie provided in an embodiment of the present invention；

Figure 23 is the cooperation schematic diagram of vehicle body bottom frame in Figure 22, centre of pull pin, bearing spring and framework；

Figure 24 is the partial enlarged view of centre of pull pin, bearing spring and framework in Figure 22；

Figure 25 is the cooperation schematic diagram of centre of pull pin, traction flexural pivot and framework in Figure 22；

Figure 26 is the schematic diagram in A-A direction of centre of pull pin and traction flexural pivot in Figure 25；

Figure 27 is that the cooperation of the guided way and directive wheel provided in an embodiment of the present invention for being used to be oriented to stream carrier vehicle is shown It is intended to；

Figure 28 is the enlarged diagram of guided way in Figure 27；

Figure 29 is that the cooperation of the guided way and directive wheel provided in an embodiment of the present invention for being used to be oriented to stream carrier vehicle is shown It is intended to；

Figure 30 is the enlarged diagram of guided way in Figure 29；

Figure 31 is the side provided in an embodiment of the present invention for being used to coordinate the guided way that stream carrier vehicle is oriented to directive wheel View；

Figure 32 is the closing of the door view of the stream carrier vehicle provided in an embodiment of the present invention with door type structure；

Figure 33 is the car door opening view of the stream carrier vehicle provided in an embodiment of the present invention with door type structure；

Figure 34 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 diagram；

Figure 35 is the structure diagram at second of visual angle of Figure 34；

Figure 36 is the partial enlarged view of part A in Figure 35；

Figure 37 is the schematic cross-section that door-plate provided in an embodiment of the present invention, hinge, slide and pulley coordinate；

Figure 38 is the first structure diagram of underground pipeline transportation cargo adapting system provided in an embodiment of the present invention；

Figure 39 is the combination unit structure schematic diagram of underground tumbler in Figure 38；

Figure 40 is the combination unit structure schematic diagram of lifting tourelle in Figure 38；

Figure 41 is the combination unit structure schematic diagram of ground tumbler in Figure 38；

Figure 42 is the combination unit structure schematic diagram of abnormal cargo apparatus for temporary storage in Figure 38；

Figure 43 is second of structure diagram of underground pipeline transportation cargo adapting system provided in an embodiment of the present invention.

(component that each label represents in diagram is followed successively by：1 " pipeline, 2 " rails, 3 " by trajectory, 4 " stream carrier vehicles, 5 " bogies, 6 car bodies, 7 frameworks, 8 axis pins, 9 rubber bushings, 10 wheels, 11 wheel 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 the 3rd 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 slides, 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 tumblers, 52 second supports, 53 support transfer stations, 54 underground tumblers, 55 lifting tourelles, 56 abnormal cargo apparatus for temporary storage, 511 3rd stent, 512 the 3rd roller-ways, 541 first roller-ways, 542 first supports, 551 transfer fixed frames, 552 transfer lifting frame, 553 Lifting driving part, 554 first transfer roller-ways, 555 second transfer roller-ways, 561 temporary stents, 562 temporary roller-ways).

Embodiment

The embodiment of the present application is by providing a kind of vehicle parking control method and station level control system, there is provided it is a kind of nobody Intelligent docking scheme during driving.

Technical solution in the embodiment of the present application, general thought are as follows：

Obtain the first detection information of the first detection device transmission installed in website first end and installed in website second The second detection information that second detection device at end is sent, the first end and the second end are respectively the two of the website End；When first detection information and second detection information are characterized when detecting vehicle, confirmation vehicle parking is in place；When The first detection information characterization detects vehicle, when the second detection information characterization does not detect vehicle, described in correction The stop position of vehicle.

The above method obtains the first detection information sent installed in the first detection device of website first end and is installed on The second detection information that second detection device of website second end is sent, and visited according to first detection information and described second Measurement information come judge vehicle whether stop in place, when vehicle not stop in place when corrected automatically, realize unmanned Automatic accurate parking under situation so that unmanned parking is more intelligent.

It should be noted that pipeline is in the present embodiment：Piping laying in underground and is connected into multiple dresses Unloading website, rail is fixed in the duct；The bogie of stream carrier vehicle is run on rail；Set in handling goods station point Put adapting system；Realize and make full use of underground piping (including city integrated piping lane) network, cargo transport is carried out in underground.

To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is 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 All other embodiments obtained without creative efforts, belong to the scope of protection of the invention.

Embodiment one

Before the vehicle parking control method of the application offer and device is introduced, the present embodiment first introduces the application offer The pipeline transportation vehicle control that method and device is applied to, it is specific as follows：

As shown in Figure 1, the present embodiment provides a kind of pipeline transportation vehicle control, including：

General control system 1, the general control system 1 obtain goods handling information from information system 2；

Signals of vehicles control system 3, communicates to connect with the general control system 1, to obtain the goods handling information, root The vehicle transport cargo in underground pipeline transportation system is controlled according to the goods handling information, and feeds back the state letter of the vehicle Cease to the general control system；

Station level control system 4, communicates 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 whole pipeline transportation net whole monitoring and control, the signals of vehicles control system System 3 is used for the traveling for controlling vehicle, and the station level control system 4 is used to control vehicle in the stop of a website and handling goods etc.. Each system is described in detail respectively below：

First, general control system 1.

In the embodiment of the present application, the general control system can be made of one or more groups of computing devices, it possesses meter Calculate function.

The general control system 1 can communicate with information system 2, obtain the goods handling information in described information system 2, The cargo transport information can include：The species of cargo, the quantity of cargo, the requirement of the haulage time of cargo, the starting of cargo Site information that ground and destination, the transportation route of cargo, cargo pass through on the way etc..

In specific implementation process, described information system 2 can be the subsystem in the pipeline transportation vehicle control, Can also be other independent Information Acquisition Systems, this is not restricted.

The general control system 1, can be according to the cargo transport after described information system 2 obtains the cargo transport information 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 positional information, to generate new scheduling information according to feedack to adjust, certainly, the general control system may be used also The travel condition of vehicle information and positional information of acquisition are sent to the corresponding client of cargo, 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.

2nd, 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 formed, and specifically, the signals of vehicles control system 3 further includes：

Ground control system 31, communicates 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 be installed on vehicle on, the vehicle control syetem with it is described Ground control system communicates, and to obtain the vehicle scheduling driving information, and is controlled according to the vehicle scheduling driving information The vehicle traveling；

Ground subsystem 33, the ground subsystem 33 are installed 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 car Borne control system communicates to connect, and the orbit occupancy condition information is fed back to the ground control system and the vehicle-mounted control 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 computing devices, with 1 communication link of general control system Connect, and as the continuity system of the general control system 1, the function of mainly possessing has：Monitor the operating status of transport vehicle and obtain Obtain the positional information of transport vehicle；The dispatched loads that general control system 1 issues are received, then according to the dispatched loads Go to send haulage vehicle to receive cargo；The format dispatched according to cargo, automatically generates 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 travel direction order, The mark point can be the mark being preset in the underground piping；Keep connecting in real time with haulage vehicle by wireless network Connect, monitor the driving information and status information of vehicle；By track equipment, road ahead occupancy situation is obtained, is according to circumstances adjusted The full line plan of sailing, haulage vehicle is handed down to by the traveling plan after adjustment.

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 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 arranged as required to, and this is not restricted.

2) vehicle control syetem 32.

Vehicle control syetem 32 is used for operation, the safety and protection for controlling vehicle, as shown in Fig. 2, can be by a series of phases Gateway subsystem is formed.Divided by function, the vehicle control syetem 32 can be divided into：

Automatic protection and control system, communicate 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, are believed with obtaining the speed control Breath and the direction controlling information, and according to the speed control information and the row of the direction controlling information control vehicle Sail speed and direction；

Information gathering and transmission system, described information collection and transmission system are used to gather the vehicle-surroundings environmental information With vehicle running state information, and the information of collection is fed back into the automatic protection and control system.

First, the automatic protection and control system are introduced.

The automatic protection and control system can be one or more groups of equipment for possessing computing function.

The automatic protection and control system can be gathered from described information and transmission system obtains vehicle-surroundings environment letter 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 control information and direction controlling information are sent To the automatic traction and braking system, to control vehicle safety to run.

Wherein, the automatic protection and control system are calculated and analyzed to various information, it is possible to achieve spacing is excessively near When automatic vehicle velocity modulation section and/or the automatic safe such as automatic braking during 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 performed.Its executive mode is the electricity by controlling haulage vehicle Machine and brake apparatus are realized.

For example, after the deceleration instruction of the automatic protection and control system is received, the automatic traction and braking system The motor of haulage vehicle is controlled, is slowed 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 gathering and transmission system are introduced.

Specifically, the accuracy of the automatic protection and the control information of control system generation is mainly just fixed against described The information that information gathering and transmission system obtain.In specific implementation process, described information can have the car of vehicle and front and rear car The traffic information in region, the general control system 1 that vehicle receives or ground are currently located away from information, the velocity information of vehicle, vehicle The information that control system 31 is sent.

Described information gathers and transmission system mainly includes a series of information acquisition module or sensor, is set forth below several Exemplified by kind：

The first, car speed acquisition module.

The car speed acquisition module is used for the current driving speed for gathering the vehicle, is specifically as follows velocity pick-up Device or Doppler radar.

Wherein, the velocity sensor may be mounted at the travel speed of direct collection vehicle on vehicle, can also install On tire or transmission device car speed is obtained by gathering vehicle wheel rotational speed mode.The Doppler radar is installed on vehicle On, come measuring speed by way of testing radar signal reflections duration.

Certainly, in specific implementation process, it can be the velocity sensor to be installed the Doppler radar is also installed, lead to Cross the velocity information for obtaining both to be compared to correct final speed, to reduce wheel " idle running " and " sliding " brings Velocity error.

Second, convoy spacing detecting module.

The convoy spacing detecting module is used for the spacing for gathering the vehicle and front or behind vehicle so that it is described from 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 or microwave Distance-measuring equipment, this is not restricted.

The convoy spacing detecting module may be mounted at head or the afterbody of vehicle, with to vehicle front and front vehicle Spacing all detected.The convoy spacing detecting module can possess receive capabilities and emission function, can detect and its The spacing of his car, can also be easy to the spacing of other vehicle detections and this car.

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, on the vehicle, when the vehicle passes through installed in the underground During transponder in pipeline, the traffic information of the transponder memory storage is obtained.Specifically, the transponder information receives solution It can be transponder antenna to analyse module, when vehicle drives through transponder, by the transponder antenna, utilize low-frequency wireless Electric wave reception obtains the content information stored in the transponder, and the content information of acquisition is passed 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 control vehicle traveling.

Track circuit information receiving module, on the vehicle, when the vehicle passes through in the underground piping During 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, by the track circuit antenna, obtains the low frequency and frequency information carrying breath of the track circuit storage, 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, on the vehicle, by detecting the mark being installed in the underground piping, is obtained The information that the mark carries.In specific implementation process, there can be a variety of marks in the underground piping, 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 by the station by identifying When, the mark detecting module detects mark by the station, obtains the front stored by the station in mark and stops website Information, including site name, website occupancy situation etc..When vehicle by the branch road by identifying, the mark detecting module Mark by the branch road is detected, obtains the information of each branch road and branch near being stored by the branch road in mark, including Stand branch road quantity, branch road route, branch road position etc..The site information and branch road information obtained according to the mark detecting module, The route planning information that the automatic protection and control system prestore in conjunction with original, determines travel direction and the path of vehicle.

4th kind, train-ground communication module.

The train-ground communication module is used for the communication of the 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 car of following several optimizations Ground communication module, to strengthen train-ground communication effect, in specific implementation process, can select following one or more train-ground communications Module：

As shown in figure 3, radio receiving transmitting module 301 can be installed on vehicle, the radio receiving transmitting module can be GSM, The radio receiving transmitting module of GPRS or LTE patterns, it is established with ground launch tower 302 and communicates to connect, so as to fulfill 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 patterns, and this is not restricted.Wireless connection is installed 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 most strong orientation wireless transmitter module of selection signal is attached.Wherein, the wireless connection module on vehicle and the orientation Wireless transmitter module establishes wireless connection, and the orientation wireless transmitter module is controlled by the fiber optic network being laid with advance and in ground Communication connection is established in room, so as to fulfill train-ground communication.

As shown in figure 5, leakage cable mode can also be used, the coaxial cable with emission port is laid with the underground piping 501, it is provided with opening on the coaxial cable, the terminal of the opening and the coaxial cable passes through wired mode and ground Communication connection is established in middle control.Be further opened with slot on the coaxial cable, the slot on outer conductor make cable built-in field and Coupling is produced 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 slot and the Environment communication in pipeline, and by the energy in the slot receiving pipeline, so as to fulfill coaxial cable With the signal interaction of environment in the underground piping, so as to fulfill train-ground communication.

As shown in fig. 6, the microwave tube 601 with signal generator and signal receiver, specifically, letter can also be used Number generator, which produces, can use microwave signal, the hollow aluminum of fluting of the Signal separator between signal generator and signal receiver Extrude on waveguide.At the fluting of waveguide, added with slide.A slide part is contacted with microwave signal, another portion Divide and can be connected by call wire with transport vehicle, slide can also be directly connected with transport vehicle, so as to fulfill 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 collection and transmission system obtains Cease to optimize wagon 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, including：

Transponder, the transponder are arranged in the underground piping, and the transponder week is stored with the transponder The traffic information of border region；The vehicle control syetem can communicate with the transponder, to obtain the traffic information, and according to The traffic information adjusts the traveling of the vehicle.

Chain lower computer system, arrangement in orbit, by gathering the information such as meter shaft, track switch, semaphore, obtain rail Road occupancy situation, then passes it to chain host computer and general control system, for adjusting subsequent vehicle route, draws Guide-car runs.

All kinds of marking arrangements, including the station side whether mark website takes mark and mark the trouble road side signs of branch road information Deng.

3rd, 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, strengthen order, website can be classified, specific point The foundation of level can be according to the size of website handling capacity, or according to website connect website number be classified.Drawing After separating large-scale website and substation point, cargo can first be transported to large-scale website as transfer, further according to goods handling destination Each substation is transported to from large-scale website.Branch website sectional transports cargo in this way, can accelerate whole underground piping network The efficiency of cargo transport.

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 to obtain 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 are characterized when detecting vehicle, really Recognize vehicle parking in place；When first detection information characterization detects vehicle, the second detection information characterization does not detect During to vehicle, the stop position of the vehicle is corrected.

Further, unload for convenience, opening is reserved in pipeline that side of unloading, and in opening addition safety door, works as fortune When defeated vehicle is accurately stopped in place, safety door is opened.In order to ensure the security of vehicle traveling, when transport vehicle need not be at the station During stop, which is to close.

Further, in order to help vehicle accurately to stop in place, the station level control system further includes：Site identity, if Put at the pre-determined distance of website, the site identity is corresponding with the website for being provided with the site identity.When vehicle travel to When at the site identity, scanning obtains the site identity, and judges whether the site identity is default stop website Mark, if so, then controlling the vehicle deceleration to drive 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.

After the system that the vehicle parking control method and device for describing the application offer are applied to, below by reality Apply example two and the vehicle parking control method and device of the application offer are discussed in detail in embodiment three.

Embodiment two

As shown in figure 8, the present embodiment provides a kind of vehicle parking control method, the method is used for underground pipeline transportation system In system, including：

Step S801, obtains the first detection information sent installed in the first detection device of website first end and is installed 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 S802, when first detection information and second detection information are characterized when detecting vehicle, confirms Vehicle parking is in place；

Step S803, 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 described in embodiment one in underground pipeline transportation system, run in underground piping, by In underground piping can only use it is unmanned, method provided in this embodiment be applied to the underground pipeline transportation system can ensure The stop accuracy of automatic driving vehicle.

In the following, the implementation steps of the vehicle parking control method are discussed in detail with reference to Fig. 8 and Fig. 9：

First, step S801 is performed, the first detection letter that the first detection device obtained installed in website first end is sent The second detection information that breath and the second detection device installed in website second end are sent, the first end and the second end point Not Wei the website both ends.

Specifically, as shown in figure 9, in the both ends of platform difference one detection device 901 of each installation, which uses In having detected whether occlusion front, to generate corresponding detection information.In specific implementation process, shown detection device can To be infrared detector, optical detector or microwave detector, this is not restricted, also will not enumerate.For example, it is false If the detection device is infrared detection device, when first detection is blocked to front, it is believed that vehicle is Stop to first detection device, then generate and send the first detection information that characterization detects vehicle；When described first Detection to front be not blocked when, it is believed that vehicle also without stopping to before first detection device, then generates And send the first detection information that characterization does not detect vehicle.

In the embodiment of the present application, first detection device and second detection device are provided as lasting Vehicle detection is carried out, further, it is contemplated that save energy, first detection device and the second detection dress can also be set Putting only can just open carry out vehicle detection when receiving the notification information that vehicle drives into, and can be closed automatically after vehicle sails out of Close.

In specific implementation process, the notification information that the vehicle drives into can be wide by the communication device installed on vehicle Broadcast to be sent to the first detection device and the second detection device；The notification information that the vehicle drives into can also be attached by website After near sensing device senses that vehicle drives into, the first detection device and the second detection device are transferred to；Certainly, the vehicle The notification information driven into can also be that general control system 1 when monitoring vehicle and to input website, is sent to the first detection device With the second detection device, this is not restricted, also will not enumerate.

Next, according to first detection information and second detection information, selection performs step S802, when described First detection information and second detection information are characterized when detecting vehicle, confirm vehicle parking in place；Or perform step S803, when first detection information characterization detects vehicle, and the second detection information characterization does not detect vehicle, school The stop position of 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 Continue 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, Also need 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 both sides Device is surveyed, finally persistently blocks the detection device for rolling side away from, then illustrates that vehicle misses stop position, it is necessary to back move one section Distance.To sum up, when first detection information and second detection information characterize and detect vehicle, and preset duration is continued When, it is believed that vehicle has been stopped in place, when only detection information characterization in one end detects vehicle, and continues preset duration, is recognized Do not stopped in place also for vehicle, or have already passed by optimal stop position.

In the embodiment of the present application, after confirming that vehicle is not stopped in place, it is also necessary to determine vehicle orientation, below Enumerate the definite method of two kinds of vehicle orientations：

The first, the duration is blocked in setting, is blocking in the duration, according to the detection device for not detecting vehicle Position determine orientation.

Specifically, blocked default in the duration, not detect the direction where the detection device of vehicle As the mobile direction of correction is needed, i.e. orientation is close to the direction for the detection device for not detecting vehicle.

It is arranged to 20 seconds as an example it is assumed that blocking the duration, it is assumed that vehicle drives into side and is provided with A detection devices, car Sailing out of side is provided with B detection devices：If result of detection detected vehicle for A detection devices in 20 seconds, and B detections fill Put and do not detected vehicle in 20 seconds, then it is assumed that vehicle is not stopped also in place, then the relatively positive direction of the vehicle is needs Corrected further along the travel direction of the vehicle, i.e., need to control vehicle forward close to B detection devices；If testing result is A Detection device detected vehicle in 20 seconds, and B detection devices also detected vehicle in 20 seconds, then it is assumed that vehicle parking arrives Position, it is not necessary to correct；If detection surveys result and do not detected vehicle in 20 seconds for A detection devices, and B detection devices were at 20 seconds Vehicle is inside detected, then the relatively positive direction of the vehicle carries out school for needs along the opposite direction of the travel direction of the vehicle Just, that is, vehicle backing traveling is controlled close to A detection devices.

Second, whether vehicle was detected according to two detection devices, to determine orientation.

Specifically, if vehicle also needs to forward a distance and could arrive correct parking stall, that vehicle did not block Roll the detection device in direction away from, i.e., only a detection arrived vehicle；If vehicle is to travel to have passed by correctly to stop Parking stall, that vehicle can first block the detection device for driving into direction.Therefore if two detection devices can be set all once to detect car , then vehicle need to move backward correction, if two detection devices only drive into end, detection need to move ahead to vehicle, vehicle Correction.

As an example it is assumed that vehicle, which drives into side, is provided with A detection devices, vehicle sails out of side and is provided with B detection devices：If Result of detection detects vehicle for A detection devices in preset duration, and B detection devices never detect in preset duration To vehicle, then it is assumed that vehicle is not stopped also in place, then the relatively positive direction of the vehicle is travel direction of the needs along the vehicle Correct further along, i.e., need to control vehicle forward；If testing result detects vehicle, B for A detection devices in preset duration Detection device also detects vehicle in preset duration, then it is assumed that vehicle parking is in place, it is not necessary to corrects；If knot is surveyed in detection Fruit once detects vehicle for A detection devices in preset duration, but does not detect vehicle subsequently, and B detection devices are default Vehicle is detected in duration, then the relatively positive direction of the vehicle for need along the vehicle travel direction opposite direction into Row correction, that is, control vehicle backing.

Certainly, in specific implementation process, in addition to the method that above two determines vehicle orientation, can also take Camera collection vehicle picture is set to confirm the method compared with positive direction in website, this is not restricted, also will not enumerate.

After confirming that vehicle is not stopped in place, it is also necessary to the stop position of the vehicle is corrected, in the embodiment of the present application In, there is provided two kinds it is unmanned in the case of antidote：

The first, corrects by assistant parking device.

Specifically, website can provide assistant parking device, and the assistant parking device can be on platform Push rod or drawstring, or mobile handcart is pulled a cart, and this is not restricted.

, can be first according to first detection information and described second when the assistant parking device is push rod or drawstring The direction that detection information continues to move to judge the vehicle to need, can be where not detect the detection device of vehicle One end, mobile direction is needed as the vehicle.After moving direction is determined, send the correction that characterization is stopped not in place and believe Cease to signals of vehicles control system 3, to control the vehicle to release braking, then stretch out push rod or drawstring is fixed with the vehicle, The vehicle is moved along definite direction by the active force of the push rod or drawstring again, when the detection device at platform both ends is all examined After measuring the vehicle, then withdraw the push rod or drawstring；And the information in place of characterization stop in place is sent to signals of vehicles control System 3 processed, to control the vehicle to enter Brake stop state.

, can be first according to first detection information and described when the assistant parking device is for mobile handcart or when pulling a cart The direction that second detection information continues to move to judge the vehicle to need, can be not detect the detection device of vehicle institute One end, mobile direction is needed as the vehicle.After moving direction is determined, the school of characterization stop not in place is sent Positive information, to control the vehicle to release braking, then controls the mobile handcart or pulls a cart to roll away to signals of vehicles control system 3 And the vehicle is contacted, then the vehicle is moved along definite direction by the mobile handcart or the thrust pulled a cart or pulling force, After the detection device at platform both ends all detects the vehicle, control the cart or pull a cart to sail back and stop place；And send Characterization stops information in place in place to signals of vehicles control system 3, to control the vehicle to enter Brake stop state.

Certainly, in 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 Vehicle is controlled to correct automatically to correct parking stall.Certainly, also need first according to first detection information and described second The direction that detection information continues to move to judge the vehicle to need, can be where not detect the detection device of vehicle One end, mobile direction is needed as the vehicle.After moving direction is determined, send the correction that characterization is stopped not in place and believe Breath, to control the vehicle to release braking, then controls the vehicle to advance along definite direction and moves to signals of vehicles control system 3 Dynamic or backward movement, after the detection device at platform both ends all detects the vehicle, retransmits characterization and stops in place Information is to signals of vehicles control system 3, to control the vehicle to enter Brake stop state.

Certainly, except the mode of above two correction vehicle parking position, can also solve to correct using mobile station Parking spot, that is, it is the platform that can move to set the platform, determine vehicle parking it is not in place when, it is not necessary to vehicle moves Dynamic, directly by controlling platform movement to correct the stop position of vehicle, this is not restricted.

Further, in the embodiment of the present application, for the ease of loading and unloading goods, shield door, the shielding are provided with 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, train signal is concurrently sent to the vehicle, to remind the vehicle to travel.

Based on same inventive concept, present invention also provides dress corresponding with vehicle parking control method in embodiment two Put, detailed in Example three.

Embodiment three

A kind of station level control system is provided in the present embodiment, and the system is used in underground pipeline transportation system, such as Shown in Figure 10, including：

The first detection device 1001 installed in website first end and the second detection device installed in website second end 1002, the first end and the second end are respectively the both ends of the website；

Control device 1003, the control device 1003 obtain the first detection letter that first detection device 1001 is sent The second detection information that breath and second detection device 1002 are sent；When first detection information and the second detection letter Breath characterization confirms vehicle parking in place when detecting vehicle；When first detection information characterization detects vehicle, described the When two detection informations characterization does not detect vehicle, the stop position of the vehicle is corrected.

It should be noted that device provided in this embodiment is the station level control system 4 belonged in embodiment one.Its In vehicle can be vehicle described in embodiment one in underground pipeline transportation system, run in underground piping, due to ground Lower pipeline can only use it is unmanned, device provided in this embodiment be applied to the underground pipeline transportation system can ensure nobody Drive the stop accuracy of vehicle.

In the embodiment of the present application, the control device includes：Door control unit, for being arrived in the confirmation vehicle parking After position, the shield door of the website is opened in control, and opens the car door of the vehicle.

In the embodiment of the present application, the door control unit includes：

Signal receiving module is finished, signal is finished for reception characterization cargo completion of discharge；

Closedown module, for finishing signal based on described, the shield door is closed in control；

Train signal sending module, for sending train signal to the vehicle, to remind the vehicle to travel.

In the embodiment of the present application, the system also includes：Assistant parking device；The control device includes：

First control information sending module, for sending the control information of characterization stop not in place to the vehicle, with control Make the vehicle and release braking；

Control module, for controlling assistant parking device movement to release the vehicle after braking；

First information sending module in place, for being detected when first detection device and second detection device During the vehicle, the information in place of characterization stop in place is sent to the vehicle, to control the vehicle to brake.

In the embodiment of the present application, the control device

Including：

Second control information sending module, for sending the control information of characterization stop not in place to the vehicle, with control Make the vehicle and release braking, and control the vehicle at the uniform velocity to travel；

Second information sending module in place, for being detected when first detection device and second detection device During the vehicle, the information in place of characterization stop in place is sent to the vehicle, to control the vehicle to brake.

In the embodiment of the present application, the vehicle is the vehicle in underground pipeline transportation system, and the website is buried pipe Website in road transportation system.

By the device that the embodiment of the present invention three is introduced, to implement the vehicle parking control method of the embodiment of the present invention two Used device, so the method introduced based on the embodiment of the present invention two, the affiliated personnel in this area can understand the device Concrete structure and deformation, so details are not described herein.Device belongs to used by the method for every embodiment of the present invention two The scope of the invention to be protected.

Vehicle parking control method above can be applied to pipelines transportation system, be described below two kinds：

The first pipeline：

Referring to attached drawing 21, which includes：Pipeline 1 ', at least one rail group 3 ', stream carrier vehicle, Power Supply Assembly and Adapting system 5 '；Pipeline 1 ' is embedded in underground, connects multiple handling goods station points；Rail group 3 ' is fixed on underground piping 1 ' In inner wall；Rail group 3 ' includes two rails being arranged in parallel；Stream carrier vehicle includes：Run in rail group 3 ' Bogie 4 ', the car body 2 ' being arranged on bogie 4 '；Power Supply Assembly is used to provide the electric energy needed for operation to stream carrier vehicle； Adapting system 5 ' includes：Underground tumbler 54, lifting gear and ground tumbler 51；Adapting system 5 ' is arranged on 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 the goods by warehouse of unloading Thing machine for collecting load is transported on stream carrier vehicle.

Further, the both ends connection Large Underground handling goods station point of pipeline 1 '；The intermediate connection of pipeline 1 ' has more root knots The structure branch pipe(tube) identical with pipeline 1 ', the end connection small underground handling goods station point of branch pipe(tube)；Branch pipe(tube) is internally provided with knot Structure and the quantity traveling branch rail group identical with 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 pipeline 1 ' in overhauled or Replace component.

Pipeline 1 ' and a kind of concrete structure of 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：First rail and the second rail, the center line on 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 are made with pipeline 1 ' by global formation, since stream carrier vehicle has in itself 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 that can meet stream carrier vehicle require, and ensure good Structural stability.Steel pipe 1 ' has good closure, adapts to underground environment, avoids soil and water from entering transport and lead to Road, ensures 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 by trajectory by fastener on the inner wall at the top of pipeline 1 ', when the material of pipeline 1 ' is During steel, felt pad is provided between by trajectory and pipeline 1 '.It is real by being obtained electric energy by trajectory with the driving device of supply vehicle The driven by power of existing stream carrier vehicle, reduces air pollution caused by traditional fuel driving.

Pipeline and another concrete structure of rail group in the pipeline of the application is described below：

2：

The material of pipeline 1 ' is steel or concrete, and section is oval or square；Two rail groups are set in pipeline 1 ' 3 ', one of rail group 3 ' includes：3rd rail and the 4th rail, another rail group 3 ' include：5th walks Row rail and the 6th rail.3rd rail and the 6th rail are symmetricly set on the both sides of the bottom of oval ducts 1 ', and the 4th Rail and the 5th rail are fixed on the centre of the bottom of oval ducts 1 ', and the 4th rail can be independent with the 5th rail Arrangement, can also be made an entirety by the 4th rail and the 5th rail.The material of the rail group 3 ' of the present embodiment, with The connection mode of pipeline 1 ' is all identical with the situation of embodiment 1.Two rail groups 3 ' are set to realize stream carrier vehicle Run side by side in the same direction, alternatively, the way traffic of stream carrier vehicle, improve the transport capacity of whole underground piping transportation system.

Two are set in pipeline 1 ' by trajectory, rail group 3 ' is corresponded to respectively and is arranged on the inner wall of pipeline 1 '；By trajectory It is fixed on by fastener on pipeline 1 ', when pipeline 1 ' is steel material, felt pad is provided between by trajectory and pipeline 1 '.

A kind of concrete structure of the bogie of stream carrier vehicle in the pipeline of the application is described below：

3：

Referring to attached drawing 22~26, bogie provided in this embodiment includes：Framework 402 ', centre of pull pin 404, tow ball Hinge 403 and bearing spring 405；The middle part of framework 402 ' 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 car is fixedly connected；Traction flexural pivot 403 is set on centre of pull pin 404, in pin hole；Bearing spring 405 are fixed on framework 402 '；Vehicle body bottom frame 410 is pressed on bearing spring 405.

Wherein, coordinated by centre of pull pin 404 with traction flexural pivot 403 to car body transmission and draw horizontal force；Pass through carrying Spring 405 transmits the vertical force between car body and framework 402 '；Said structure can meet that transport vehicle is wanted in underground pipeline transportation Ask, compared to 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, ensures underground pipeline transportation ability.

Further, the top of centre of pull pin 404 stretches out a circular fixed platform 412；Fixed platform 412 is logical Several are crossed to be fixedly connected with vehicle body bottom frame 410 along the circumferentially uniformly distributed fastener of fixed platform.Circular 412 energy side of fixed platform Just centre of pull pin 4 and the connection of vehicle body bottom frame 410 are fixed, the connective stability of enhancing 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 ensures the fastness that centre of pull pin 404 is connected 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, it is rubber bushing to draw flexural pivot 403, and the cylindrical of traction flexural pivot 403 is pressed into framework by being interference fitted 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 ', lower face and the bottom of framework 402 ' are drawn Face is concordant；Traction flexural pivot 403 axially has big displacement and small rigidity along it, discharges 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 is by centre of pull pin 404 by drawing flexural pivot 403 are transferred to framework 402 ', and rubber bushing has good cushion performance, ensures the stationarity of tractive force transmission, avoids drawing Centrepin 404 produces structural wear or bad deformation with the rigid contact of framework 402 '.Centre of pull pin 404 is provided with backstop 413, Traction flexural pivot 403 corresponds to backstop 413 and 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, abrasion are produced to prevent from rotating between the two.

Further, bogie is provided with two bearing springs 405, is fixed on the on both sides of the middle of framework 402 '；Car body The secondary spring that vertical load has the on both sides of the middle of framework 402 ' is born；Bearing spring 405 includes：Spring 417, be 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 with least one convex navel 416；Vehicle body bottom frame 410 corresponds to convex navel 416 and sets fluted 411；Convex navel 416 is matched somebody with somebody with groove 411 Close effectively limitation vehicle body bottom frame 410 and relative displacement occurs with bearing spring 405, ensure both relative position stability, second connects Fishplate bar 414 is fixedly connected by fastener with framework 402 '.Spring 417 has good delay on the basis of vertical force is carried Punching performance, ensures the stationarity of transport vehicle operational process.

Wherein, spring 417 is rubber spring or steel spring；Rubber spring or steel spring cost are low, simple in structure, without dynamic Power source, performance meet the requirement of stream carrier vehicle.Two are set on first connecting plate 415 along the direction of travel of stream carrier vehicle 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, the good adaptation transport vehicle of energy is in steering, startup 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 ', ensure to hold Carry the connective stability of spring 405 and framework 402 '.

Further, referring to attached drawing 21, framework 402 ' includes：Two longerons being arranged in parallel, intermediate transverse girder and two sides Crossbeam；Side beam vertical is fixed on the end of longeron；Intermediate transverse girder is vertically fixed on the centre of longeron；Opened in the middle part of intermediate transverse girder If pin hole.Longeron, intermediate transverse girder and two side crossbeams ensure whole framework 402 ' after welding between each other positioned at horizontal plane is same as With good strength and stiffness, meet the requirement of stream carrier vehicle cargo transport；Longeron, intermediate transverse girder and two side crossbeams are all Manufactured using hollow square steel structure, ensure the dead weight of mitigation bogie on the basis of structure tension performance.

Further, further include：Driving device 408, wheel 401 ', brake apparatus 406；Driving device 408 is arranged on structure The lower section of frame 402 '；Wheel 401 ' is connected with the output terminal of driving device 408；Brake apparatus 406 is connected with wheel 401 '.Pass through Driving device 408 is rotated with motor car wheel 401 ', realizes the walking of stream carrier vehicle, brake apparatus 406 realizes stream carrier vehicle Stop.Driving device 408 is connected fixation with framework 402 ' by fastener；It is provided between driving device 408 and framework 402 ' Rubber pad；Rubber pad can improve the stressing conditions between driving device 408 and framework 402 ', and there is certain vibration reduction and cushioning to imitate Fruit, in vehicle operation, weakens the vibration that framework 402 ' is delivered to driving device 408, 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 corridor, for the wall thickness of underground pipe gallery generally than relatively thin, pneumatic rubber wheel or solid rubber wheel can reduce stream carrier vehicle To the impact force of piping lane, and solid rubber wheel bearing capacity is stronger, security higher, and therefore, solid rubber wheel is the application's Preferred solution.

Further, include as the first way of realization, driving device 408：Dual-output motor and it is connected to dual output Two gear-boxes of the output terminal of motor；Two gear-boxes are rotated by the wheel 401 ' of axle drives front-end and back-end respectively. As another way of realization, driving device 408 can be that two motors being arranged on below framework 402 ' drive one respectively Gear-box works, and then drives the wheel 401 ' of front-end and back-end to rotate.As the third way of realization, driving device 408 is also Can be decelerating motor, decelerating motor is rotated by the wheel 401 ' of axle drives front-end and back-end.

Further, further include：At least two guide wheel groups, two of which 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 Wheel 407 is arranged on the both ends or centre of side crossbeam, and directive wheel 407 is correspondingly arranged with guided way 418, when two 407 cloth of directive wheel Put at the both ends of side crossbeam, can be led two walking rails as guided way 418, four of front and rear two sides crossbeam both ends Rolled to wheel 407 along the side of walking rails, realize steady guiding when stream carrier vehicle is turned.When two 407 cloth of directive wheel Put at the centre of side crossbeam, it is necessary to two walking rails one guided way 418 of intermediate arrangement, two 407 edges of directive wheel Two lateral movements of guided way 418, realize steady guiding when stream carrier vehicle is turned.

Further, further include：At least one pantagraph current collector 409, is arranged on the lower section of framework 402 ', by with underground pipe gallery Being coordinated by trajectory for interior laying obtains electric energy, then provides electric energy for driving device 408 and other consuming parts.

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 27~31, directive wheel 407 is symmetricly set on the bottom of framework 402 ' by fastener, respectively with guiding The spill rail level of 418 both sides of rail coordinates, and realizes the excessively curved guiding of stream carrier vehicle.

Guided way 418 includes：It is fixed on the lower part 4183, middle part 4182 and expanding above middle part 4182 on ground Structure 4181；4182 both sides rail level of middle part is plane；The vertical section width of lower part 4183 is more 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 base of isosceles trapezoid Longer than top margin, i.e. the inclination rail level of 4182 both sides of middle part tilts down, when vehicle is excessively curved, directive wheel energy relative tilt rail level hair Raw a degree of sliding, offsets the centrifugal force that vehicle produces to a certain extent, running gear and car when strengthening vehicle processes The stationarity of body 2 '.4183 width of lower part of guided way 418 is larger, ensures the firm of guided way 418, turns in order to provide enough Xiang Li.

The angle for tilting rail level and perpendicular could be provided as 5 °~15 °, and angle, which crosses conference, causes directive wheel 407 to carry The steering force deficiency of confession；And angle it is too small when directive wheel 407 can not effectively tilt 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 of guided way 418 passes through cambered surface transition with lower part 4183.Expand structure 4181 the two of guided way 418 Side is arcwall face；The cross-sectional width for expanding structure 4181 of guided way 418 gradually increases from bottom to top.Middle part 4182 and lower part 4183 use cambered surface transition, expand structure 4181 be arranged to arcwall face be all conducive to directive wheel 407 guided way 418 rail level slide Move；The arc-shaped skidding distance for expanding the energy restricted guidance of structure 4181 wheel 407, effectively prevents from derailing.

The pipeline of the application is additionally provided with guided way, and another concrete structure of guided way 418 is described below：

5：

Referring to attached drawing 27~31, directive wheel 407 is symmetricly set on the bottom of framework 402 ' by fastener, respectively with guiding The spill rail level of 418 both sides of rail coordinates, and realizes the excessively curved guiding of stream carrier vehicle.

Guided way 418 includes：In being fixed on the lower part 4183 on ground, the middle part 4182 that both sides are arc rail level and being located at Expand structure 4181 in the top of portion 4182；The both sides for expanding structure 4181 are arcwall face, and cross-sectional width gradually increases from bottom to top； The middle part 4182 of guided way 418 is arranged to concave-shaped arc surface with lower part 4183 by cambered surface transition, i.e. 418 both sides of guided way, ensures 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 coordinated with concave-shaped arc surface, ensures the ride comfort that directive wheel 407 slides.Guided way 418 4183 width of lower part is larger, ensures the firm of guided way 418, in order to provide enough steering forces.

A kind of concrete structure of the car body of the pipeline of the application is described below：

6：

Referring to attached drawing 32~37, 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；The upper slide 201 of switching mechanism driving is slid onto upper frame upwards 202 lower sections.

Wherein, after stream carrier vehicle is accommodated to handling goods station point, slide 201 in opening, make cargo machine for collecting load be moved from opening Enter or remove vehicle body, upper slide 201 slides up to the lower section of upper frame 202, and the pipeline space being not take up outside car body, ensures Car body has larger cargo space, and increases carrying cargo amount, ensures cargo underground pipeline transportation transfer efficiency.

Further, upper slide 201 includes the door-plate 213 that polylith is arranged side by side vertically；Adjacent door-plate 213 passes through hinge 212 is hinged.Switching mechanism includes：Slide 211, traction electric machine, traction rope, guide wheel and multiple pulleys 214；Slide 211 is symmetrically set Put in the both sides of upper slide 201；Pulley 214 is movably arranged in slide 211, is fixedly connected with hinge 212；Guide wheel is arranged on 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 the top of upper slide 201, 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 driving guide wheel rotates, and drive is led Messenger is driven, and then drives upper slide 201 to rise or fall, meanwhile, pulley 214 scrolls up in slide 211.

Further, slide 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 the lower section of upper frame 202, 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 for the cargo collection for observing delivery in car body 2 ' The situation of device is filled, observation window 209 can be combining glass or 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 each between beam 203 and two pieces of headwalls 204 to set one Upper slide 201；The slide 211 of upper 201 side of slide is fixed on center every on beam 203, and the slide 211 of opposite 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 Mechanism is arranged on the opposite side of chassis, realizes car door opening or the closing of the side of car body 2 ', and cargo machine for collecting load all passes through the sidesway Enter or remove the inside of car body 2 '.To realize the both sides of car body 2 ' handling goods machine for collecting load, present invention also provides another realization side Formula：The both sides of car body 2 ' are both provided with slide 201；The upper slide 201 of both sides is driven by corresponding switching mechanism, can be upwards It is slid onto the different height of the lower section of upper frame 202.

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 being connected with rotating roller；More rotating rollers It is arranged side by side on the chassis of car body；Transfer roller motor-driven rotation roller rotates, and the cargo machine for collecting load in rotating roller is removed or is moved Enter car body 2 '；After stream carrier vehicle is accommodated to handling goods station point, automatic loading and unloading goods platform 210 rotates rod with loading and unloading goods station point Conveyor roller docks, and the cargo machine for collecting load for rotating rod removal is sent to cargo storage point, or, the cargo packaging by 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 the band motor vehicles bodies 2 ' of bogie 4 ' 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 rotation rod rotates, and makes on rotation rod The cargo machine for collecting load of placement removes car body 2 ', or the cargo machine for collecting load of handling goods station point is moved into the internal warehousing sky of car body 2 ' Between, complete the loading of cargo without using the dress discharger such as crane or fork truck or unload, improve cargo underground pipeline transportation 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 car operational process, rotate rod and bear axial force and be not subject to rotating torque, ensure that stream carrier vehicle turns in the process of running The positional stability of cargo machine for collecting load on dynamic rod, avoids inertia force caused by the operation of cargo machine for collecting load from making cargo machine for collecting load opposite 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 the upper cunning of not homonymy During door 201, by the different traffic direction of Double-directional rotary selection of Motor, move the upper slide 201 of cargo machine for collecting load never homonymy Go 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 the length of car body 2 ' 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 put down Platform 210 is docked with loading and unloading the conveyor roller of goods station point successively, is realized the loading of each cargo machine for collecting load or is unloaded；Can also be more The cargo machine for collecting load of a large volume is placed on a automatic loading and unloading goods platform 210, abundance is provided for the cargo machine for collecting load of large volume Driving force.

Further, the roll body whole body for rotating rod is arranged with skid resistant course, increases rubbing between cargo machine for collecting load and rotation rod Power is wiped, when stream carrier vehicle starts or stops, cargo machine for collecting load in traffic direction there is certain inertia force to act on, and rotate rod Skid resistant course 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 bag Include：Limit electric machine, rack and pinion mechanism and limited block；Limit electric machine is fixed on chassis, the gear with rack and pinion mechanism Connection；Limited block is fixedly connected with the rack of rack and pinion mechanism；Limited block is close to the side of automatic loading and unloading goods platform 210 It is provided with rubber pad.

As a kind of preferred embodiment, a limit can be respectively arranged 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 less than the position for rotating rod, when cargo collection Device is filled on automatic loading and unloading goods platform 210 after dropping place, the work of limit electric machine drive gear rackwork, rack drives limited block The position for being higher by and rotating 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, also a kind of mode of operation is：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 loading and unloading the conveyor roller of 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 Road migrates to when rotating on rod, and the limited block of rise is avoided that cargo machine for collecting load is put down in the effect of inertia automatic loading and unloading goods that glides out Platform 210, after cargo machine for collecting load is in 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 concrete structure of adapting system in the pipeline of the application is described below：

7：

Referring to attached drawing 38~43, which includes：Underground tumbler 54, lifting gear and ground tumbler 51；Underground tumbler 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 passage between ground lower platform and ground surface platform, to receive the cargo packaging of the transmission of underground tumbler 54 Device, and cargo machine for collecting load is promoted to ground surface platform；Ground tumbler 51 is arranged in ground surface platform, to receive lifting gear The cargo machine for collecting load of transmission, and cargo machine for collecting load is sent into unloading warehouse.Underground tumbler 54 and ground tumbler 51 are each Freely multiple assembled units are arranged to make up.

Meanwhile ground tumbler 51 can also receive and transmit the cargo machine for collecting load that unloading warehouse is sent out, lifting gear The cargo machine for collecting load of the transmission of ground tumbler 51 can be received, and cargo machine for collecting load is dropped into ground lower platform, underground rotates dress The cargo machine for collecting load of lifting gear transmission can also be received by putting 54, and cargo machine for collecting load is sent into stream carrier vehicle.

Referring to attached drawing 22, underground tumbler 54 includes：It is fixed on the first support 542 of ground lower platform, is arranged on first Some first roller-ways 541 being arranged in parallel at the top of stent 542 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 with 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.

Implementation one, is described below a kind of concrete structure of underground tumbler：

First roller-way 541 includes the roller that multiple direction of transfers along the first roller-way are arranged；Roller is rotated by roller bearing and set Put in first support 542.

First driving part is gear transfer mechanism, including：Either-rotation motor, driving tooth, multiple driven tooths and it is arranged on phase Idle pulley between adjacent driven tooth；Either-rotation motor is fixed in first support 542, and output terminal 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 rollers in first support 542 rotate synchronously.

Implementation two, is described below another concrete structure of underground tumbler：

First roller-way 541 includes the first conveying roller that multiple direction of transfers along the first roller-way are arranged；First conveying roller leads to Shaft is crossed to be rotatably arranged in first support 542.

First driving part is belt transmission agency, including：Either-rotation motor and multiple synchronous belts.

A wherein 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 synchronously turn by synchronous belt It is dynamic.

Implementation three

Adapting system provided in this embodiment includes the underground tumbler in implementation one or implementation two, also wraps Include following lifting gear：

Referring to attached drawing 21 and 26, which includes：Fixed second support 52 in the channel, support transfer station 53 and Lifting driver part；Second support 52 is provided with rail plate；Lifting driver part driving supports transfer station 53 along rail plate Rise or fall；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, support transfer station 53 and the top surface of ground tumbler 51 Concordantly；When support transfer station 53 drops to lower position, support transfer station 53 and the either flush of underground tumbler 54.

Support transfer station 53 includes multiple the second conveying roller being arranged side by side, the second driving part and supporting racks；Second is defeated Roller is sent to be rotatably arranged on by shaft on supporting rack；Second driving part can be gear transfer mechanism, belt transmission agency or Any one in chain transport mechanism.

The second driving part is specifically described for the situation of belt transmission agency below：

Second driving part includes：Either-rotation motor and multiple synchronous belts.

A wherein 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 synchronously turn by synchronous belt It is dynamic.

Further, supporting rack is provided with the pulley coordinated with sliding rail；Lifting driver part is cylinder or hydraulic cylinder.

Implementation four, the underground that adapting system provided in this embodiment is included in implementation one or implementation two turn Dynamic device, further includes following lifting gear：

The lifting gear includes：Fixed second support 52, support transfer station 53 and lifting driver part in the channel；The Two stents 52 are provided with rail plate；Lifting driver part driving support transfer station 53 rises or falls along rail plate；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 includes：Lifting tourelle 55, is arranged to make up by multiple assembled units.

Lifting tourelle 55 includes：It is transfer fixed frame 551, transfer lifting frame 552, lifting driving part 553, some The direction of transfer first transfer roller-way 554 identical with the direction of transfer of the first roller-way 541, some direction of transfers and support transfer station The second identical transfer roller-way 555 of 53 direction of transfer, one end of the second transfer roller-way 555 extends to the second of lifting gear Stent 52.

Second transfer roller-way 555 is arranged on transfer fixed frame 551；First transfer roller-way 554 is arranged on transfer lifting frame On 552；Lifting driving part 553 is fixed on transfer fixed frame 551, and output terminal is connected with transfer lifting frame 552, with driving Turn lifting frame 552 to lift or decline.

Wherein, when support transfer station 53 rises to upper limit position, the top surface and ground tumbler 51 of transfer station 53 are supported Either flush；Support transfer station 53 is when dropping to lower position, supports the top surface and the second transfer roller-way 555 of transfer station 53 Either flush.

When transfer lifting frame 552 rises to upper limit position, top surface and the underground tumbler 54 of the first transfer roller-way 555 The either flush of first roller-way 541, and 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 less than the top surface of the second transfer roller-way 555.

Further, the first transfer roller-way 554 includes multiple rollers arranged along 554 direction of transfer of the first transfer roller-way； Roller 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 is provided with embodiment one The structure of structure is identical, and belt transmission agency is identical with the structure for the belt transmission agency that embodiment two provides.

Second transfer roller-way 555 includes multiple conveying rollers arranged along 555 direction of transfer of the second transfer roller-way；Conveying roller leads to 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, wherein the structure phase for the gear transfer mechanism that gear transfer mechanism is provided with embodiment one in transport mechanism Together, belt transmission agency is identical with the structure for the 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 Into for temporarily storing the cargo machine for collecting load of abnormality.

Referring to attached drawing 25, abnormal cargo apparatus for temporary storage 56 includes：It is fixed on the temporary stent 561 of ground lower platform, is arranged on The temporary driving that some temporary roller-ways 562 being arranged in parallel and the temporary roller-way 562 of driving at the temporary top of stent 561 transmit Component；Temporary roller-way 562 is identical with supporting the direction of transfer of transfer station 53；Temporary stent 561 is arranged on 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 gear and Abnormal cargo apparatus for temporary storage 56 is located at the both ends of lifting tourelle 55 respectively.

When the cargo machine for collecting load that the first roller-way 541 of underground tumbler 54 transmits is normal condition, lifting rolls dress Put 55 the cargo machine for collecting load is transferred in lifting gear, when the cargo collection that the first roller-way 541 of underground tumbler 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 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 gear, 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 manually be 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.

It is specifically described below to keeping in driving part for the situation of belt transmission agency：

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 by shaft on temporary stent 561.

Temporary driving part includes：Either-rotation motor and multiple synchronous belts.

A wherein 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 synchronously turn by synchronous belt It is dynamic.

Implementation five, adapting system 5 ' provided in this embodiment include：Ground in implementation one or implementation two Lower tumbler 54, and, the lifting gear in implementation three or implementation four, further includes following ground tumbler 51：

Referring to attached drawing 24, ground tumbler 51 includes：It is fixed on the 3rd stent 511 of ground surface platform, is arranged on the 3rd Some articles of the 3rd roller-ways 512 being arranged in parallel at the top of stent 511 and the 3rd driving part of driving the 3rd roller-way 512 transmission； 3rd roller-way 512 is identical with supporting the direction of transfer of transfer station 53；3rd driving part is gear transfer mechanism, belt conveyor Any one in structure or chain transport mechanism.

The 3rd driving part is specifically described for the situation of belt transmission agency below：

3rd roller-way 512 includes the 3rd conveying roller that multiple direction of transfers along the 3rd roller-way 512 are arranged；3rd conveying roller It is rotatably arranged on by shaft on the 3rd stent 511.

3rd driving part includes：Either-rotation motor and multiple synchronous belts.

Wherein one article of synchronous belt is set on the output shaft of either-rotation motor and the shaft of adjacent 3rd conveying roller, remaining synchronization Band is respectively sleeved in the shaft of adjacent 3rd conveying roller；Either-rotation motor makes multiple 3rd conveying rollers synchronously turn by synchronous belt It is dynamic.

Implementation six, adapting system provided in this embodiment include：Underground in implementation one or implementation two Tumbler 54, implementation three or the lifting gear in implementation four, the ground tumbler 51 in implementation five, also Including：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 tumbler 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 tumbler, then by aiding in the second transfer roller-way of unloading unit by goods Thing 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 tumbler 54, starts normal transmit process.In this way, when logistics is transported When defeated car 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 the 541 corresponding position of the first roller-way with underground tumbler 54.

8：

Piping lane transportation system provided in this embodiment is included outside the building block that preceding embodiment provides, and is further included：Power supply System and control system, electric power system provide electric energy for each consuming parts 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, piping lane intelligence is then led to by specific power supply mode Energy each of transportation system uses electric unit.It can be realized for the power supply mode of stream carrier vehicle by following various ways：The The power supply of three rails, contact net power supply, electromagnetic induction power supply, the energy storage for power supply of slide wire power supply or various media.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 powered rail contact electricity getting along line arrangement Stream carrier vehicle provides electric energy.Powered rail can be placed on circuit both sides and be flowed back by rail out of shape by third-rail feeding；Can also It is arranged among circuit and is flowed back by rail out of shape；A return current rail can also be separately provided by current back electric substation.3rd rail Powered mode can be that current collection device is flowed from powered rail top, can also be flowed from powered trackside portion, can also be from powered Flange of rail portion is flowed.Current collection device can be arranged in the side of vehicle, bottom surface and above, and current collection device can be that pantograph can also It is collector shoe.Set in the application pipeline provided above by trajectory, electric energy is transmitted to the pantagraph current collector of stream carrier vehicle, for thing Flow transport vehicle operation is exactly a kind of third-rail feeding mode.

Contact net power supply refers to：Haulage vehicle takes electricity by current collection device from overhead contact net, and electricity is provided for vehicle Can, contact net power supply can be rigid suspension OCS power supply or rigid contact net is powered.Contact net can be arranged in vehicle Above can also be arranged in the side of vehicle.Current collection device can be that pantograph can also be collector shoe.Current collection device can be with Flowed, can also be flowed from the side of contact net below contact net.

Electromagnetic induction power supply refers to：Primary circuit is arranged on vehicle circuit out of shape and is passed through the AC power of high frequency, when When vehicle is run on the line, the secondary coil being arranged on vehicle can produce alternating current due to electromagnetic induction principle, will hand over Time-dependent current carries out processing and powers for haulage vehicle.The primary winding of electromagnetic induction power supply can be arranged on face out of shape, can also The side of haulage vehicle is arranged on, the top of operation vehicle can also be arranged on.Secondary coil can be set according to the layout of vehicle The side of vehicle can also be arranged in the bottom of vehicle by putting, and can also be arranged on the top of vehicle.

Slide wire power supply and conductor rail power supply the principle are basically identical, and haulage vehicle contacts powered gold 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 the storage battery that carries, super capacitors for vehicle Electric energy.Energy storage device in energy storage for power supply can be ultracapacitor group or various chemical storage batteries groups, can also be A variety of energy-accumulating mediums are mutually combined the energy storage device to be formed.The charging equipment of energy storage for power supply can be contact charging equipment, connect Tactile form can be the contact charging of the 3rd rail, can be trolley contact charging；The charging equipment of energy storage for power supply can also be nothing Micro USB electric equipment, charged form can be electromagnetic induction power supplies.

9：

Piping lane transportation system provided in this embodiment is included outside the building block that preceding embodiment provides, and is further included：Processing The driving device connection of the bogie of device, processor and stream carrier vehicle, by controlling starting or stoping for driving device, is realized The unmanned automatic driving of stream carrier vehicle.The traction electric machine connection of the switching mechanism of the car body of processor and stream carrier vehicle, leads to Cross control traction electric machine to rotate forward or backwards, open or close 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 controlling the rotation forward or backwards of transfer roller motor, make cargo Pallet is into and out car body, and after arriving at a station so as to stream carrier vehicle, the cargo pallet in car body completes automated handling work.Place Reason device is connected with each driving part of underground tumbler, lifting gear and ground tumbler in adapting system, with control Underground tumbler, lifting gear and ground tumbler carry out cargo pallet handling operation automatically.Cargo pallet goes out car automatically The detailed process that body enters the station is：Processor is connected with the first driving part of underground tumbler, and the lifting with lifting gear is driven Dynamic component connects, and the 3rd driving part transmitted with the 3rd roller-way of driving of ground tumbler is connected.Stream carrier vehicle arrives at a station Afterwards, the upper slide of processor control is opened, and cargo pallet is moved out to the first of underground tumbler from automatic loading and unloading goods platform automatically On roller-way, processor controls the work of the first driving part, cargo pallet is transmitted to along the first roller-way on lifting gear, hereafter, Processor control lifting driver part work, the support transfer station that driving is loaded with cargo pallet rise along rail plate, arrival pair After the height for answering ground tumbler, processor controls the work of the 3rd driving part, and cargo pallet is transmitted to along the 3rd roller-way and unloads Freight house storehouse.The automatic outbound detailed process into car body of cargo pallet is opposite with the action of the above process.

Second of pipeline：

Referring to attached drawing 11, 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 12,3 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 the both sides of bogie 5 " is on the rail level 18 of two rails Operation.

Wherein, hung referring to attached drawing 13 and 19, the car body 6 of stream carrier vehicle 4 " in the lower section of bogie 5 ", bogie 5 " The wheel of both sides is run on the rail level 18 of two rails 2 ", stream carrier vehicle 4 " is completed the underground haulage of cargo, release Aboveground space, alleviates urban traffic blocking；Underground pipeline transportation can with Optimizing City logistics distribution network, strengthen line haul with Effective linking of city distribution, to meeting people's livelihood primary demand and improving logistics, municipal transport bearing capacity and promotion electronics business Greatly developing for business is played a positive role.Stream carrier vehicle 4 " is suspended in midair and operated on the overhead rail of pipeline 1 ", can be released The horizontal swing of car body 6 is put, reduces impact force of the stream carrier vehicle 4 " to rail 2 " He pipeline 1 "；Overhead rail is set Meter, the limited pipeline 1 " in energy good conformity space, is that the car body 6 of stream carrier vehicle 4 " provides the space of bigger, and then increases car The volume of cargo of body 6, strengthens transport capacity.

The both ends connection Large Underground handling goods station point of pipeline 1 "；The intermediate connection of pipeline 1 " has more root architectures and pipeline 1 " Identical branch pipe(tube), the end connection small underground handling goods station point of branch pipe(tube)；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.Set in pipeline 1 " and branch pipe(tube) Multiple ventilating parts and multiple illuminace components are equipped with, component is overhauled or replaced 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, Lightening hole 17 is opened up in rail 2 ", reduces the load of pipeline 1 ", improves transport capacity, while also save the life of rail 2 " Produce raw material.

The concrete structure of the bogie of the stream carrier vehicle system of the application offer is provided below by specific embodiment：

1：

Referring to attached Figure 13 and 14, bogie 5 " includes：If framework 7, revoke 13, axis pin 8, some wheel hub motors 11 and dry turning Wheel 10；The middle part of framework 7 opens up pin hole；Revoke 13 and hang and be located in pin hole, lower part opens up axis hole；Axis pin 8 is threaded through in axis hole, is used for Hang car body 6；Some wheel hub motors 11 are arranged symmetrically in the both sides at the top of framework 7 with respect to the center line of framework 7；Wheel hub motor 11 are fixedly connected with framework 7；Some wheels 10 are arranged on the output terminal of corresponding wheel hub motor 11；The radial section of wheel 10 is vertical In the rail level 18 of rail 2 ".

The wheel 10 of the both sides of bogie 5 " arranges in splayed, the weight of car body 6 by axis pin 8, revoke 13, framework 7, Wheel hub motor 11 and wheel 10 are delivered 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 plane of rail 2 ", and the wheel 10 of opposite side, which corresponds to, to be declined, at this time bogie 5 " center line opposed vertical faces tilt, and when car body 6 reenters straightway, centrifugal force disappears, work of the bogie 5 " in gravity With lower automatic centering return, without setting directive wheel and guided way, the wheel 10 of splayed arrangement collects load-carrying, walking and guiding three Kind function is integrated, and reduces the occupied space of bogie 5 ", adapts to the limited underground pipeline transportation in space.

Further, referring to attached drawing 15 and 16, the both sides at the top of framework 7 correspond to wheel hub motor 11 be tiltedly installed with it is some Pillar 15；Pillar 15 is fixedly connected by fastener with wheel hub motor 11；Wheel 10 is defeated by fastener and wheel hub motor 11 Outlet is fixedly connected；The centerline collineation of pillar 15, wheel hub motor 11 and wheel 10.Framework 7 includes：Top plate, bottom plate and fixation Polylith 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, is 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 coordinated by flange with multiple bolts is connected fixation with wheel hub motor 11, ensures that connection is firm also convenient for disassembly and assembly.Wheel hub motor 11 output terminal 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 passes to wheel hub motor 11 and wheel 10 successively by pillar 15, and rail is passed to finally by wheel 10 2 ", therefore, the center line of pillar 15, wheel hub motor 11 and wheel 10 is arranged to collinearly to can guarantee that the whole structure of bogie 5 " Force stability.

Further, referring to attached drawing 16 and 17, revoke 13 axis and intersect with the center line of framework 7,13 arrangements will be revoked In the centre position of framework 7, the gravity distribution of car body 6 can be optimized, make the stress of every single wheel 10 identical, avoid bogie 5 " cause unilateral 10 stress of wheel excessive when excessively curved and influence the stress of rail 2 " of the self structure of bogie 5 " 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 is set 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 of 9 lower part of rubber bushing is interference fitted with pin hole inner wall, outside inner peripheral surface and the body of rod Wall clearance fit；9 top of the rubber bushing circular ring structure that to be arranged to outside diameter identical with the head outer diameter for revoking 13, circular ring structure It is close to the top surface of framework 7 in lower surface；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, beneficial to the sharp radius curve section by rail group.

The head undersurface for revoking 13 is arranged to inclined plane；The top surface of the circular ring structure of rubber bushing 9 is arranged to and revokes The 13 corresponding inclined plane of head undersurface, the setting of inclined plane 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 17, the top of car body 6 is fixedly connected with an ear mount 16, and two lifting lugs of ear mount are hung in axis pin 8 respectively Both ends, and the axis of axis pin 8 is consistent with the direct of travel of bogie 5 ", so can effectively discharge 6 roll freedom of car body.Car 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 solution of the application.

Further, further included referring to attached drawing 11 and 12, the stream carrier vehicle system：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 trajectory 3 " by fastener to push up On the inner wall in portion；When pipeline 1 " is steel material, felt pad is provided between by trajectory 3 " and pipeline 1 ".Set on bogie 5 " Pantagraph current collector 14 and electric box 12 are equipped with, pantagraph current collector 14 is fixed on the top of framework 7, and electric energy is obtained with being coordinated by trajectory 3 "；Electrically Case 12 is connected with pantagraph current collector 14 and wheel hub motor 11, by the electrical energy transportation that pantagraph current collector 14 obtains to wheel hub motor 11 and other use Electrical components, realizes the driven by power of stream carrier vehicle 4 ", reduces air pollution caused by traditional fuel driving.

As a kind of preferred structure, the quantity of wheel hub motor 11 and wheel 10 is 4；4 wheel hub motors 11 are located at respectively The both ends of 7 side of framework.Car body 6 is hung is arranged on the top two of car body 6 in the lower section of two bogies 5 ", 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 Connect and operation is organized into groups after fixing；The box structure that car body 6 is adapted for the transport channel of shape and 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 of embodiment one, car body, circular pipe, a traveling Rail group and one are arranged on the inner wall at the top of pipeline 1 ", positioned at the first rail and the second rail by trajectory by trajectory 3 " Centre；The material of pipeline 1 " is steel or concrete, and section is circle；One rail group is set in circular pipe, at this time, is walked Two rails 2 " of row rail group are：First rail and the second rail, the center line on 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 are made with pipeline 1 " by global formation, due to stream carrier vehicle 4 " itself Possesses 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, can meet the suspention and transport of stream carrier vehicle 4 " It is required that ensure good structural stability.Steel pipe 1 " has a good closure, adapts to underground environment, avoid soil and Water enters transport channel, ensures transportation environment.

Further, referring to attached drawing 18 and 19, 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, both weight finally all passes through wheel 10 It is delivered 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 can influence wheel 10 and stream carrier vehicle 4 " bogie 5 " bearing capacity, angle is too small to cause wheel 10 and thing The bogie stressing conditions of stream transport vehicle 4 " are poor, and wheel 10 bears larger torque, to the bearing capacity and knot of bogie 5 " Structure stability requirement is higher, is unfavorable for the operation of the long-term safety of bogie 5 "；And angle is excessive, the first rail and can be caused 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 arranged to 120 °~ 170 °, preferable angular range is 150 °~170 °, and special instruction, angle is preferably arranged to 170 °, at this time, bogie 5 " and First rail and the second rail are in optimal stress, and bogie 5 " will not be translated significantly when excessively curved, and car body 6 is not It can occur significantly to roll, after returning to the straightway of rail group, stream carrier vehicle 4 " can be quickly returned just under Gravitative Loads.

The shape of the one side on the top of rail 2 " is adapted with the inner wall of pipeline 1 ", and is close to be fixed on the inner wall of pipeline 1 " On；The another side on the top of rail 2 " is rail level 18；The bottom surface of the lower part of rail 2 " is horizontal plane.The lower part of rail 2 " corresponds to The side of rail level 18 is provided with limiting block 19；The top surface of limiting block 19 is arranged to 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 be moved up along rail level 7, the wheel 10 of opposite 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 whole stream carrier vehicle 4 " to drop Major break down, and the limiting block 19 that 18 bottom margin of rail level is set can effectively avoid wheel 10 that derailment accident occurs, and ensure logistics fortune Defeated car 4 " it is safe for operation.

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 corresponded to rail group by trajectory 3 " and are arranged on the inner wall at the top of pipeline 1 " respectively by row rail group and two.Pipe The material in road 1 " is steel or concrete, and section is ellipse；Referring to attached drawing 20, two rails are set in oval ducts 1 " Group, two rails 2 " of one of rail group are：3rd rail 2 " 0, the 4th rail, another rail group Two rails 2 " are：5th rail and the 6th rail 2 " 1.3rd rail 2 " 0 is symmetrical arranged with the 6th rail 2 " 1 Both 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 be arranged independently with the 5th rail, the 4th rail and the 5th rail can also be made one it is whole Body.

It is the material of the rail group of the present embodiment, all identical with the situation of embodiment two with the connection mode of pipeline 1 ".The Three rails, the 4th rail, the 5th rail and the 6th rail are both provided with the limiting block 19 in embodiment two.Set two A rail group can realize running side by side in the same direction for stream carrier vehicle 4 ", alternatively, the way traffic of stream carrier vehicle 4 ", is improved The transport capacity of whole stream carrier vehicle system.

The technical solution provided in the embodiment of the present application, has at least the following technical effects or advantages：

Method and device provided by the embodiments of the present application, what the first detection device obtained installed in website first end was sent The second detection information that first detection information and the second detection device installed in website second end are sent, and according to described first Detection information and second detection information judge whether vehicle is stopped in place, are carried out when vehicle is not stopped in place automatic Correction, realizes the automatic accurate parking under unmanned situation so that unmanned parking is more intelligent.

It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program Product.Therefore, the present invention can use the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware Apply the form of example.Moreover, the present invention can use the computer for wherein including computer usable program code in one or more The computer program production that usable storage medium is implemented on (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) The form of product.

The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product Figure and/or block diagram describe.It should be understood that it can be realized by computer program instructions each in flowchart and/or the block diagram The combination of flow and/or square frame in flow and/or square frame and flowchart and/or the block diagram.These computers can be provided Processor of the programmed instruction to all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices To produce a machine so that the instruction performed by computer or the processor of other programmable data processing devices produces use In the dress for realizing the function of being specified in one flow of flow chart or multiple flows and/or one square frame of block diagram or multiple square frames Put.

These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which produces, to be included referring to Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or The function of being specified in multiple square frames.

These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, thus in computer or The instruction performed on other programmable devices is provided and is used for realization in one flow of flow chart or multiple flows and/or block diagram one The step of function of being specified in a square frame or multiple square frames.

Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation Property concept, then can make these embodiments other change and modification.So appended claims be intended to be construed to include it is excellent Select embodiment and fall into all change and modification of the scope of the invention.

Obviously, those skilled in the art can carry out the embodiment of the present invention various modification and variations without departing from this hair 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 comprising including these modification and variations.

Claims (12)

1. A kind of 1. vehicle parking control method, it is characterised in that the method is used in underground pipeline transportation system, including：

   Obtain the first detection information of the first detection device transmission installed in website first end and installed in website second end The second detection information that second detection device is sent, the first end and the second end are respectively the both ends of the website；

   When first detection information and second detection information are characterized when detecting vehicle, confirmation vehicle parking is in place；

   When first detection information characterization detects vehicle, and the second detection information characterization does not detect vehicle, school The stop position of just described vehicle.
2. 2. the method as described in claim 1, it is characterised in that it is described confirmation vehicle parking in place after, further include：

   The shield door of the website is opened, and opens the car door of the vehicle.
3. 3. method as claimed in claim 2, it is characterised in that after the car door of the vehicle is opened, further include：

   Receive characterization cargo completion of discharge finishes signal；

   Signal is finished based on described, the shield door is closed in control；

   Train signal is sent to the vehicle, to remind the vehicle to travel.
4. 4. the method as described in claim 1, it is characterised in that the stop position of the correction vehicle includes：

   The control information of characterization stop not in place is sent to the vehicle, to control the vehicle to release braking；

   Assistant parking device movement is controlled to release the vehicle after braking；

   When first detection device and second detection device detect the vehicle, send characterization and stop in place Information is to the vehicle in place, to control the vehicle to brake.
5. 5. the method as described in claim 1, it is characterised in that the stop position of the correction vehicle includes：

   The control information of transmission characterization stop not in place is to the vehicle, to control the vehicle to release braking, and described in control Vehicle at the uniform velocity travels；

   When first detection device and second detection device detect the vehicle, send characterization and stop in place Information is to the vehicle in place, to control the vehicle to brake.
6. 6. the method as described in claim 1-5 is any, it is characterised in that the vehicle is the car in underground pipeline transportation system .
7. A kind of 7. station level control system, it is characterised in that including：

   The first detection device installed in website first end and the second detection device installed in 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 and second detection that first detection device is sent The second detection information that device is sent；When first detection information and second detection information characterize and detect vehicle When, confirm vehicle parking 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.
8. 8. system as claimed in claim 7, it is characterised in that the control device includes：

   Door control unit, for the confirmation vehicle parking in place after, the shield door of the website is opened in control, and is opened The car door of the vehicle.
9. 9. system as claimed in claim 8, it is characterised in that the door control unit includes：

   Signal receiving module is finished, signal is finished for reception characterization cargo completion of discharge；

   Closedown module, for finishing signal based on described, the shield door is closed in control；

   Train signal sending module, for sending train signal to the vehicle, to remind the vehicle to travel.
10. 10. system as claimed in claim 7, it is characterised in that further include：Assistant parking device；The control device includes：

    First control information sending module, for sending the control information of characterization stop not in place to the vehicle, to control State vehicle and release braking；

    Assistant parking device, for the mobile vehicle released after braking；

    First information sending module in place, for when first detection device and second detection device detect it is described During vehicle, the information in place of characterization stop in place is sent to the vehicle, to control the vehicle to brake.
11. 11. system as claimed in claim 7, it is characterised in that the control device is additionally operable to：

    Second control information sending module, for sending the control information of characterization stop not in place to the vehicle, to control State vehicle and release braking, and control the vehicle at the uniform velocity to travel；

    Second information sending module in place, for when first detection device and second detection device detect it is described During vehicle, the information in place of characterization stop in place is sent to the vehicle, to control the vehicle to brake.
12. 12. the system as described in claim 7-11 is any, it is characterised in that the vehicle is in underground pipeline transportation system Vehicle, the website are the website in underground pipeline transportation system.