CN107963085B - Vehicle, vehicle control method and system - Google Patents

Vehicle, vehicle control method and system Download PDF

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Publication number
CN107963085B
CN107963085B CN201711166188.7A CN201711166188A CN107963085B CN 107963085 B CN107963085 B CN 107963085B CN 201711166188 A CN201711166188 A CN 201711166188A CN 107963085 B CN107963085 B CN 107963085B
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vehicle
signal
intensity
control system
preset
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CN107963085A (en
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刘伟
苏利杰
沈鹏
梅琨
刘爱文
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CRRC Yangtze Co Ltd
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CRRC Yangtze Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B61RAILWAYS
    • B61BRAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B13/00Other railway systems
    • B61B13/10Tunnel systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B61RAILWAYS
    • B61LGUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00Control, warning or like safety means along the route or between vehicles or trains

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a vehicle, a vehicle control method and a vehicle control system, wherein the method comprises the following steps: detecting and acquiring a detection signal, wherein the detection signal is a signal sent by a nearby vehicle located in a detection range of the vehicle; and controlling the speed of the vehicle according to the signal strength of the detection signal, wherein the signal strength is used for representing the distance between the vehicle and the nearby vehicle, and the signal strength is inversely related to the distance. The method, the system and the vehicle are used for relieving the existing traffic jam and safety problems. The technical effect of improving the running safety of the vehicle is achieved.

Description

Vehicle, vehicle control method and system
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle, a vehicle control method and a vehicle control system.
Background
At present, with the development of economy, the fields of logistics, traffic and the like are developed at higher and higher speed. People increasingly rely on public transportation in aspects of shopping, goods sending, traveling, daily life and the like, so that great pressure is brought to urban ground transportation, and traffic jam and safety problems are increasingly prominent.
In order to solve increasingly congested ground traffic, an underground pipeline transportation system can be adopted to relieve the transportation pressure on the ground, however, the underground pipeline transportation system cannot be driven manually, and therefore challenges are brought to intelligent driving and parking of vehicles.
Therefore, an intelligent control scheme for the vehicle in unmanned driving is urgently needed at present.
Disclosure of Invention
The invention provides a vehicle, a vehicle control method and a vehicle control system, which are used for relieving the existing traffic jam and safety problems.
In one aspect, the present invention provides a vehicle control method applied to a vehicle in an underground pipe transportation system, including:
detecting and acquiring a detection signal, wherein the detection signal is a signal sent by a nearby vehicle located in a detection range of the vehicle;
and controlling the speed of the vehicle according to the signal strength of the detection signal, wherein the signal strength is used for representing the distance between the vehicle and the nearby vehicle, and the signal strength is inversely related to the distance.
Optionally, a vehicle interval detection module is installed on the vehicle, and the detecting and acquiring the detection signal includes: receiving, by the vehicle interval detection module, the detection signal from a vehicle interval detection module installed on a nearby vehicle located within the detection range.
Optionally, the vehicle interval detection module faces a head of the vehicle, and the detecting to acquire the detection signal includes: receiving, by the vehicle interval detection module, the detection signal transmitted by a nearby vehicle located ahead in the vehicle traveling direction.
Optionally, the controlling the vehicle speed of the vehicle according to the signal strength of the detection signal includes: and when the signal intensity of the detection signal is greater than the preset first-level front intensity, controlling the vehicle to decelerate.
Optionally, the controlling the vehicle speed of the vehicle according to the signal strength of the detection signal includes: when the signal intensity of the detection signal is greater than the preset first-level front intensity, the vehicle is controlled to decelerate at a first acceleration, and the first acceleration is positively correlated with the signal intensity.
Optionally, the controlling the vehicle speed of the vehicle according to the signal strength of the detection signal includes: when the signal intensity of the detection signal is greater than the preset first-level front intensity and less than or equal to the preset second-level front intensity, controlling the vehicle to decelerate; and when the signal intensity of the detection signal is greater than the preset second-level front intensity, controlling the vehicle to brake.
Optionally, the vehicle interval detection module faces the tail of the vehicle, and the detecting and acquiring the detection signal includes: receiving, by the vehicle interval detection module, the detection signal transmitted by a nearby vehicle located behind the vehicle traveling direction.
Optionally, the controlling the vehicle speed of the vehicle according to the signal strength of the detection signal includes: and when the signal intensity of the detection signal is greater than the preset first-level rear intensity, controlling the vehicle to accelerate.
Optionally, the controlling the vehicle speed of the vehicle according to the signal strength of the detection signal includes: and when the signal intensity of the detection signal is greater than the preset first-level rear intensity, controlling the vehicle to accelerate at a second acceleration, wherein the second acceleration is positively correlated with the signal intensity.
Optionally, the vehicle is a vehicle in an underground pipeline transportation system.
In another aspect, a vehicle control system is provided, including:
the vehicle interval detection module is used for detecting and acquiring detection signals, wherein the detection signals are signals sent by nearby vehicles located in the detection range of the vehicles;
an automatic traction and braking system for controlling vehicle speed;
and the automatic protection and control system controls the speed of the vehicle through the automatic traction and braking system according to the signal intensity of the detection signal, wherein the signal intensity represents the distance between the vehicle and the nearby vehicle, and the signal intensity is inversely related to the distance.
Optionally, the vehicle interval detection module is further configured to receive the detection signal sent by a vehicle interval detection module installed on a nearby vehicle located within the detection range.
Optionally, the vehicle interval detection module faces the head of the vehicle, and the vehicle interval detection module receives the detection signal sent by a nearby vehicle located in front of the vehicle in the driving direction.
Optionally, the automatic protection and control system is further configured to: and when the signal intensity of the detection signal is greater than the preset first-level front intensity, controlling the vehicle to decelerate.
Optionally, the automatic protection and control system is further configured to: when the signal intensity of the detection signal is greater than the preset first-level front intensity, the vehicle is controlled to decelerate at a first acceleration, and the first acceleration is positively correlated with the signal intensity.
Optionally, the automatic protection and control system further includes: the first deceleration unit is used for controlling the vehicle to decelerate when the signal intensity of the detection signal is greater than the preset first-level front intensity and less than or equal to the preset second-level front intensity; and the second speed reducing unit is used for controlling the vehicle to brake when the signal intensity of the detection signal is greater than the preset second-level front intensity, wherein the second-level front intensity is greater than the first-level front intensity.
Optionally, the vehicle interval detection module faces the tail of the vehicle, and receives the detection signal sent by a nearby vehicle behind the vehicle in the driving direction through the vehicle interval detection module.
Optionally, the automatic protection and control system is further configured to: and when the signal intensity of the detection signal is greater than the preset first-level rear intensity, controlling the vehicle to accelerate.
Optionally, the automatic protection and control system further includes: and the acceleration unit is used for controlling the vehicle to accelerate at a second acceleration when the signal intensity of the detection signal is greater than the preset first-level rear intensity, and the second acceleration is positively correlated with the signal intensity.
In still another aspect, a vehicle is provided, including:
a vehicle main body;
the vehicle interval detection module is arranged on the vehicle main body and comprises a receiving unit, and the receiving unit receives detection signals sent by nearby vehicles in the detection range of the vehicles;
the automatic protection and control system is connected with the receiving unit, acquires the detection signal received by the receiving unit and generates a control signal for controlling the speed of the vehicle according to the signal intensity of the detection signal;
and the automatic traction and braking system is connected with the automatic protection and control system, receives the control signal and controls the speed of the vehicle according to the control signal.
Optionally, the vehicle interval detection module further includes: a transmitting unit that continuously transmits a probe signal.
Optionally, the receiving unit of the vehicle interval detection module faces the head of the vehicle to receive the detection signal sent by a nearby vehicle located in front of the vehicle traveling direction.
Optionally, the automatic protection and control system is further configured to: and when the signal intensity of the detection signal is greater than the preset first-level front intensity, controlling the vehicle to decelerate.
Optionally, the receiving unit of the vehicle interval detection module faces the tail of the vehicle to receive the detection signal sent by a nearby vehicle behind the vehicle driving direction.
Optionally, the automatic protection and control system is further configured to: and when the signal intensity of the detection signal is greater than the preset first-level rear intensity, controlling the vehicle to accelerate.
Optionally, the vehicle is a vehicle in an underground pipeline transportation system.
One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:
according to the method, the system and the vehicle, the alarm signal sent by the nearby vehicle in the detection range of the vehicle is firstly detected and obtained, then the running speed of the vehicle is automatically controlled according to the signal intensity of the detection signal, and the vehicle distance between the vehicle and the nearby vehicle is represented by the signal intensity of the detection signal, so that the vehicle speed can be automatically adjusted according to the vehicle distance, safety accidents caused by too close vehicle distance are avoided, and the running safety of the vehicle is effectively improved.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a control system of a pipeline transport vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an on-board control system in an embodiment of the present invention;
FIG. 3 is a first schematic diagram of a train-ground communication module according to an embodiment of the present invention;
FIG. 4 is a second schematic diagram of a train-ground communication module according to an embodiment of the invention;
FIG. 5 is a third schematic diagram of a train-ground communication module according to an embodiment of the invention;
FIG. 6 is a fourth schematic diagram of a train-ground communication module according to an embodiment of the present invention;
FIG. 7 is a fifth schematic diagram of a train-ground communication module according to an embodiment of the invention;
FIG. 8 is a step chart of a vehicle control method according to an embodiment of the invention;
FIG. 9 is a schematic structural diagram of a vehicle control system and a vehicle according to an embodiment of the invention;
fig. 10 is a schematic structural diagram of a logistics transportation vehicle system provided by an embodiment of the invention;
fig. 11 is a schematic structural diagram of a bogie and a vehicle body of the logistics transportation vehicle system provided by the embodiment of the invention;
FIG. 12 is an enlarged schematic view of the truck of FIG. 11;
FIG. 13 is a left side view of FIG. 12;
FIG. 14 is an enlarged partial view of the wheel, in-wheel motor, struts and frame of FIG. 12;
FIG. 15 is an enlarged view of a portion of the hanger pin, rubber ball hinge and frame of FIG. 12;
fig. 16 is a left side view of the structure of the logistics transportation vehicle system provided by the embodiment of the invention;
FIG. 17 is a schematic view, partially in section, of an underground piping system provided by an embodiment of the present invention;
FIG. 18 is an enlarged detail of the running rail end of FIG. 17;
fig. 19 is a schematic structural diagram of a logistics transportation vehicle system provided by an embodiment of the invention;
FIG. 20 is a schematic structural diagram of a pipeline transportation system provided by an embodiment of the present invention;
FIG. 21 is a schematic structural view of a bogie provided in accordance with an embodiment of the present invention;
FIG. 22 is a schematic view of the combination of the body frame, the kingpin, the load spring, and the frame of FIG. 21;
FIG. 23 is an enlarged partial view of the pull center pin, carrier spring and frame of FIG. 21;
FIG. 24 is a schematic view of the traction center pin, traction ball joint and frame of FIG. 21;
FIG. 25 is a schematic view of the A-A orientation of the traction center pin and the traction ball joint of FIG. 24;
fig. 26 is a schematic view of the guide rail and the guide wheel for guiding the logistics transportation vehicle according to the embodiment of the invention;
FIG. 27 is an enlarged schematic view of the guide rail of FIG. 26;
fig. 28 is a schematic view of the guide rail and the guide wheel for guiding the logistics transportation vehicle according to the embodiment of the invention;
FIG. 29 is an enlarged schematic view of the guide rail of FIG. 28;
FIG. 30 is a side view of a guide rail and guide wheels cooperating with each other for guiding the logistics transportation vehicle, provided by an embodiment of the present invention;
fig. 31 is a schematic view illustrating a closed state of a door of a logistics transportation vehicle having a door type structure according to an embodiment of the invention;
fig. 32 is a schematic view illustrating an opened state of a door of a logistics transportation vehicle having a door type structure according to an embodiment of the invention;
fig. 33 is a schematic view illustrating a connection between an upper sliding door and an opening/closing mechanism of a logistics transportation vehicle with a door type structure according to an embodiment of the present invention;
FIG. 34 is a schematic view of the structure of FIG. 33 from a second perspective;
fig. 35 is a partially enlarged view of a portion a in fig. 34;
FIG. 36 is a schematic cross-sectional view of a door panel, hinge, slide rail, and pulley arrangement according to an embodiment of the present invention;
FIG. 37 is a schematic diagram of a first configuration of an underground pipeline cargo transfer system according to an embodiment of the present invention;
FIG. 38 is a schematic view of the combined unit structure of the underground turning gear of FIG. 37;
FIG. 39 is a schematic view of the structure of the combined units of the lift roller assembly of FIG. 37;
FIG. 40 is a schematic structural view of the combined units of the above ground rotating apparatus of FIG. 37;
fig. 41 is a schematic view of a combination unit of the abnormal goods temporary storage device in fig. 37;
fig. 42 is a schematic structural diagram of a second configuration of an underground pipeline transportation cargo transferring system according to an embodiment of the present invention.
(in the figure, the parts represented by the reference numbers are 1 'pipeline, 2' running rail, 3 'current-receiving rail, 4' logistics transport vehicle, 5 'bogie, 6 body, 7 frame, 8 pin shaft, 9 rubber ball hinge, 10 wheels, 11 hub motor, 12 electrical box, 13 lifting pin, 14 current collector, 15 support column, 16 lug seat, 17 lightening hole, 18 rail surface, 19 limit stop, 20 third running rail, 21 sixth running rail, 1' pipeline, 2 'body, 3' running rail group, 4 'bogie, 5' switching system, 201 upper sliding door, 202 top frame, 203 central beam, 204 end wall, 209 observation window, 210 automatic loading and unloading platform, sliding rail, 212 hinge, 213 door panel, 214 pulley, 401 'wheel, 402' frame, 403 traction ball hinge, 404 traction central pin, 405 bearing spring, 406 brake device, 407 guide wheel, 408 drive device, 409 current-receiving device, 410 chassis, 411 groove, 412 fixed platform, 413 backstop, 414 second connecting plate, 415 first connecting plate, 416 umbilicus, 417 spring, 418 guide rail, 4181 expanding structure, 4182 middle part, 4183 lower part, 51 overground rotating device, 52 second support, 53 supporting conveying table, 54 underground rotating device, 55 lifting rolling device, 56 abnormal goods temporary storage device, 511 third support, 512 third roller way, 541 first roller way, 542 first support, 551 transfer fixing frame, 552 transfer lifting frame, 553 lifting driving part, 554 first transfer roller way, 555 second transfer roller way, 561 temporary storage support and 562 transfer roller way).
Detailed Description
The embodiment of the application provides a vehicle, a vehicle control method and a vehicle control system, so as to relieve the existing traffic jam and safety problems. The technical effect of improving the running safety of the vehicle is achieved.
The technical scheme in the embodiment of the application has the following general idea:
detecting and acquiring a detection signal, wherein the detection signal is a signal sent by a nearby vehicle located in a detection range of the vehicle; and controlling the speed of the vehicle according to the signal strength of the detection signal, wherein the signal strength is used for representing the distance between the vehicle and the nearby vehicle, and the signal strength is inversely related to the distance.
According to the method, the alarm signal sent by the nearby vehicle within the detection range of the vehicle is detected and obtained, then the running speed of the vehicle is automatically controlled according to the signal intensity of the detection signal, and the signal intensity of the detection signal represents the distance between the vehicle and the nearby vehicle, so that the speed of the vehicle can be automatically adjusted according to the distance between the vehicles, safety accidents caused by too close distance between the vehicles are avoided, and the running safety of the vehicle is effectively improved.
It should be noted that, the pipeline transportation system in this embodiment is: burying the pipeline underground and communicating with a plurality of loading and unloading stations, and fixing the traveling rail in the pipeline; the bogie of the logistics transport vehicle runs on the walking rails; arranging a switching system at a loading and unloading station; the underground pipeline (including the urban comprehensive pipe gallery) network is fully utilized, and cargo transportation is carried out underground.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Before introducing the vehicle control method and the vehicle provided by the present application, the embodiment first introduces a pipeline transportation vehicle control system to which the method and the vehicle provided by the present application are applied, which specifically includes the following steps:
as shown in fig. 1, the present embodiment provides a pipeline transportation vehicle control system, including:
the system comprises a master control system 1, wherein the master control system 1 acquires cargo conveying information from an information system 2;
the vehicle signal control system 3 is in communication connection with the master control system 1 to acquire the cargo conveying information, control the vehicle in the underground pipeline conveying system to convey the cargo according to the cargo conveying information, and feed back the state information of the vehicle to the master control system;
and the station level control system 4 is in communication connection with the master control system 1 to acquire the cargo transportation information and control the parking and cargo loading and unloading of the vehicle according to the cargo transportation information.
It should be noted that the pipeline transportation vehicle control system is a system for controlling the running, stopping, loading and unloading of vehicles in an underground pipeline transportation system, and the system comprises a general control system 1, a vehicle signal control system 3, and a station level control system 4. The general control system 1 is responsible for overall monitoring and control of the whole pipeline transportation network, the vehicle signal control system 3 is used for controlling running of the vehicle, and the station level control system 4 is used for controlling stopping, loading and unloading of the vehicle at each station and the like. The following details each system separately:
the method comprises the steps of I, controlling a system 1.
In the embodiment of the present application, the general control system may be composed of one or more groups of computing devices, which have computing functions.
The general control system 1 can communicate with the information system 2 to obtain the cargo transportation information in the information system 2, where the cargo transportation information may include: the type of goods, the quantity of goods, the transportation time requirement of goods, the starting place and destination of goods, the transportation path of goods, the station information that goods pass along the way, and the like.
In a specific implementation process, the information system 2 may be a subsystem in the control system of the pipeline transportation vehicle, or may be another independent information acquisition system, which is not limited herein.
After the master control system 1 obtains the cargo transportation information from the information system 2, scheduling information is generated according to the cargo transportation information, and the cargo transportation information and the scheduling information are sent to the vehicle signal control system 3, so that the vehicle signal control system 3 allocates and controls vehicles to transport corresponding cargos.
Further, the general control system 1 may further obtain the vehicle running state information and the position information fed back by the vehicle signal control system 3, so as to adjust and generate new scheduling information according to the fed-back information, and of course, the general control system may also send the obtained vehicle running state information and the obtained position information to a client corresponding to the cargo for query.
Further, the general control system 1 may further obtain station occupation information or track occupation information sent by the station-level control system 4 to notify the vehicle signal control system 3 to adjust the vehicle driving route.
And II, a vehicle signal control system 3.
The vehicle signal control system 3 is for controlling safe, orderly and efficient running of a vehicle, and is constituted by a series of related devices, and specifically, the vehicle signal control system 3 further includes:
the ground control system 31 is in communication connection with the master control system 1 to acquire the cargo transportation information and generate vehicle dispatching and driving information according to the cargo transportation information;
an on-board control system 32, the on-board control system 32 being mounted on a vehicle, the on-board control system communicating with the ground control system to obtain the vehicle scheduled travel information and to control the vehicle to travel according to the vehicle scheduled travel information;
the ground subsystem 33 is installed in an underground pipeline of the underground pipeline transportation system to acquire track occupation condition information of the underground pipeline, and the ground subsystem is in communication connection with the ground control system and the vehicle-mounted control system to feed the track occupation condition information back to the ground control system and the vehicle-mounted control system.
The ground control system 31, the onboard control system 32 and the ground subsystem 33 are described below:
1) a ground control system 31.
The ground control system 31 is composed of one or more groups of computing devices, is in communication connection with the master control system 1, and is used as a continuation system of the master control system 1, and mainly has the following functions: monitoring the running state of the transport vehicle and obtaining the position information of the transport vehicle; receiving goods scheduling information sent by a master control system 1, and dispatching a transport vehicle to receive goods according to the goods scheduling information; automatically generating an optimal path according to the information arrangement of cargo scheduling and the starting point and the destination; sending the generated key signal mark point information on the optimal path to a transport vehicle according to the sequence of the driving direction, wherein the mark point can be a mark preset in the underground pipeline; the system is connected with a transport vehicle in real time through a wireless network, and the running information and the state information of the vehicle are monitored; the method comprises the steps of acquiring the front road occupation condition through the rail equipment, adjusting a running plan according to the condition, and issuing the adjusted running plan to a transport vehicle.
As can be seen, the ground control system 31 continues a part of the control functions of the overall control system 1, and supplements the overall control system 1 in the functions of path planning, vehicle monitoring, vehicle scheduling, and vehicle driving path adjustment. Of course, in the specific implementation process, which part of the control is placed in the general control system 1, and which part of the control is placed in the ground control system 31 can be set according to the needs, and is not limited herein.
2) An onboard control system 32.
The on-board control system 32 is used to control the operation, safety and protection of the vehicle and, as shown in FIG. 2, may be comprised of a series of related subsystems. According to the functional division, the vehicle-mounted control system 32 can be divided into:
the automatic protection and control system is communicated with the ground control system to acquire the vehicle dispatching running information and generate speed control information and direction control information according to the vehicle dispatching running information and the current vehicle running state information;
an automatic traction and braking system in communication with the automatic protection and control system to obtain the speed control information and the direction control information and to control the speed and direction of travel of the vehicle according to the speed control information and the direction control information;
and the information acquisition and transmission system is used for acquiring the surrounding environment information and the vehicle running state information of the vehicle and feeding back the acquired information to the automatic protection and control system.
First, the automatic protection and control system is introduced.
The automated protection and control system may be one or more sets of computing-enabled devices.
The automatic protection and control system can acquire vehicle surrounding environment information and vehicle running state information from the information acquisition and transmission system, and according to road information sent by the ground control system 31 and the master control system 1, and by combining with information such as vehicle speed and braking fed back by the automatic traction and braking system, various information is calculated and analyzed through an internal program to generate speed control information and direction control information. And sending the generated speed control information and direction control information to the automatic traction and braking system to control the safe operation of the vehicle.
The automatic protection and control system calculates and analyzes various information, and can realize automatic speed adjustment when the distance between vehicles is too close and/or automatic safe driving such as automatic braking in emergency.
Then, the automatic traction and braking system is described.
The automatic traction and braking system is specifically an onboard controller. The automatic traction and braking system is mainly used for receiving control information of the automatic protection and control system and executing the control information. The execution mode is realized by controlling the motor and the braking device of the transport vehicle.
For example, after receiving a deceleration command from the automatic protection and control system, the automatic traction and braking system controls the motor of the transport vehicle to decelerate.
Further, the automatic traction and braking system can feed back information such as the current speed of the vehicle to the automatic protection and control system, so that the automatic protection and control system can calculate and generate more appropriate control information.
Next, the information collection and delivery system is described.
Specifically, the accuracy of the control information generated by the automated protection and control system depends primarily on the information obtained by the information collection and delivery system. In the specific implementation process, the information may include vehicle distance information between the vehicle and the front and rear vehicles, speed information of the vehicle, road condition information of the current area where the vehicle is located, and information received by the vehicle and sent by the general control system 1 or the ground control system 31.
The information acquisition and transmission system mainly comprises a series of information acquisition modules or sensors, and the following are taken as examples:
first, a vehicle speed acquisition module.
The vehicle speed acquisition module is used for acquiring the current running speed of the vehicle, and specifically can be a speed sensor or a Doppler radar.
The speed sensor can be arranged on a vehicle to directly acquire the running speed of the vehicle, and can also be arranged on a tire or a transmission device to acquire the speed of the vehicle by acquiring the rotating speed of the wheel. The Doppler radar is installed on a vehicle, and the speed is measured in a mode of testing the reflection time length of a radar signal.
Of course, in the implementation process, the speed sensor and the doppler radar may be installed, and the speed information obtained by the two sensors is compared to correct the final speed, so as to reduce the speed error caused by "idle running" and "sliding" of the wheel.
Second, a vehicle interval detection module.
The vehicle interval detection module is used for collecting the distance between the vehicle and the front or rear vehicle so that the automatic protection and control system can adjust the running speed of the vehicle according to the distance.
In this embodiment, the vehicle interval detection module may be an infrared distance measurement device, and may also be a microwave distance measurement device, which is not limited herein.
The vehicle interval detection module may be installed at the head or the tail of the vehicle to detect the vehicle distance of both the front and rear vehicles of the vehicle. The vehicle interval detection module can have a receiving function and a transmitting function, namely can detect the distance between the vehicle and other vehicles and can also be convenient for the other vehicles to detect the distance between the vehicle and the vehicle.
And thirdly, a trackside equipment detection module.
The trackside equipment detection module is used for detecting an information storage or transmission module in the underground pipeline so as to acquire road information in the underground pipeline.
In this embodiment, the trackside equipment detection module may be one or more of the following:
the transponder information receiving and analyzing module is installed on the vehicle, and when the vehicle passes through the transponder installed in the underground pipeline, the transponder information stored in the transponder is acquired. Specifically, the transponder information receiving and analyzing module may be a transponder antenna, and when a vehicle runs through a transponder, content information stored in the transponder is received and obtained through a low frequency radio wave through the transponder antenna, and the obtained content information is transmitted to an analyzing module on the vehicle to analyze traffic information included in the content information, so that the automatic protection and control system can control the vehicle to run according to the traffic information.
And the track circuit information receiving module is arranged on the vehicle, and when the vehicle passes through a track section in the underground pipeline, the low-frequency and carrier frequency information of the section is acquired so as to send the occupation information of the section to the master control system. Specifically, the track circuit information receiving module may be a track circuit antenna, and when a vehicle passes through a certain track circuit, the track circuit antenna acquires low frequency and frequency carrier information stored by the track circuit, and transmits the low frequency and frequency carrier information to the general control system 1 through the vehicle-to-ground communication module, so that the general control system 1 determines that tracks near the track circuit are occupied according to the low frequency and frequency carrier information.
And the identification detection module is arranged on the vehicle and used for acquiring the information carried by the identification by detecting the identification in the underground pipeline. In a specific implementation process, the underground pipeline can be provided with various identifiers, for example, the underground pipeline can be divided into a station-side identifier and a branch-road-side identifier according to different positions of the identifiers, wherein when a vehicle passes through the station-side identifier, the identifier detection module detects the station-side identifier, and information of a front stop station stored in the station-side identifier, including a station name, a station occupation condition and the like, is acquired. When the vehicle passes through the branch road side mark, the mark detection module detects the branch road side mark and acquires information of each nearby branch road and branch road stored in the branch road side mark, wherein the information comprises the number of station branch roads, the branch road line, the position of the branch road and the like. And according to the station information and the turnout information acquired by the identification detection module, the automatic protection and control system determines the driving direction and the path of the vehicle by combining with the original pre-stored route planning information.
And fourthly, a vehicle-ground communication module.
The vehicle-ground communication module is used for communication between vehicles in the underground pipeline and ground equipment.
In particular, in consideration of the problem of underground signal interference, the embodiment of the application provides the following vehicle-ground communication modules which are optimized to enhance the vehicle-ground communication effect, and in the implementation process, one or more of the following vehicle-ground communication modules can be selected:
as shown in fig. 3, a radio transceiver module 301, which may be a GSM, GPRS or LTE mode radio transceiver module, may be installed on the vehicle, and establishes a communication connection with a ground tower 302, so as to implement vehicle-ground communication.
As shown in fig. 4, a directional wireless transmitting module 401 may also be installed in the underground pipeline, and the directional wireless transmitting module may be in a WLAN, bluetooth or Zigbee mode, which is not limited herein. And then installing a wireless connection module 402 on the vehicle, wherein the wireless connection module 402 installed on the vehicle can select the directional wireless transmission module with the strongest signal for connection according to the strength of the signal of the directional wireless transmission module 401. The wireless connection module on the vehicle is in wireless connection with the directional wireless transmitting module, and the directional wireless transmitting module is in communication connection with the ground central control room through a pre-laid optical fiber network, so that vehicle-ground communication is achieved.
As shown in fig. 5, a coaxial cable 501 with a launch port may also be laid in the underground pipeline in a leaky cable manner, the coaxial cable is provided with an opening, and the opening and a terminal of the coaxial cable establish a communication connection with a ground central control in a wired manner. The coaxial cable is also provided with a slotted hole, the slotted hole on the outer conductor enables the electromagnetic field inside the cable to be coupled with the external electric wave, a specific coupling mechanism is related to the arrangement form of the slotted hole, a part of electromagnetic energy inside the cable is communicated with the environment inside the pipeline through the slotted hole, and the energy inside the pipeline is received through the slotted hole, so that the signal interaction between the coaxial cable and the environment inside the underground pipeline is realized, and the vehicle-ground communication is realized.
As shown in fig. 6, a microwave tube 601 with a signal generator and signal receiver may also be used, specifically the signal generator generates a usable microwave signal that is split on a slotted hollow aluminum extruded waveguide tube between the signal generator and the signal receiver. At the slot of the waveguide, a sliding piece is added. One part of the sliding sheet is contacted with the microwave signal, and the other part of the sliding sheet can be connected with the transport vehicle through a conducting wire, or the sliding sheet can be directly connected with the transport vehicle, so that vehicle-ground communication is realized.
As shown in fig. 7, the rail communication network based on the mobile internet protocol IPV6 can also be used to embed the transportation vehicle into any kind of all-IP network.
In particular, the automatic protection and control system optimizes vehicle control based on the information acquired by the information acquisition and transmission system.
3) A ground subsystem 33.
The ground subsystem 33 includes a series of devices for acquiring track occupation status information and road condition information of the underground pipeline, including:
the responder is arranged in the underground pipeline, and road condition information of the area around the responder is stored in the responder; the vehicle-mounted control system can communicate with the transponder to acquire the road condition information and adjust the driving of the vehicle according to the road condition information.
The linkage lower computer system is arranged beside a track, acquires the track road occupation condition by acquiring information such as a shaft meter, a turnout, a signal machine and the like, and then transmits the information to the linkage upper computer and the master control system so as to adjust the follow-up vehicle access and guide the vehicle to run.
The various marking devices comprise station side marks for marking whether the station is occupied or not, branch side marks for marking branch information and the like.
And thirdly, a station level control system 4.
In the embodiment of the present application, the station-level control system 4 is mainly used for parking and loading and unloading control of each station in the underground pipeline. In order to improve the efficiency of cargo transportation and enhance the orderliness, the sites can be classified, and the specific classification can be based on the throughput of the sites or the number of sites connected with the sites. After the large-scale station and the sub-stations are divided, the goods can be conveyed to the large-scale station as a transfer station, and then transferred from the large-scale station to each sub-station according to the goods conveying destination. Through transporting goods by station and section, the efficiency of transporting goods by the whole underground pipeline network can be accelerated.
In the embodiment of the application, in order to realize that a vehicle can automatically stop in place when arriving at a station, a first detection device is arranged at a first end of the station and a second detection device is arranged at a second end of the station, wherein the first end and the second end are two ends of the station respectively; setting a control device to acquire first detection information sent by the first detection device and second detection information sent by the second detection device; when the first detection information and the second detection information both represent that the vehicle is detected, confirming that the vehicle is parked in place; correcting the parking position of the vehicle when the first detection information indicates that a vehicle is detected and the second detection information indicates that no vehicle is detected.
Furthermore, in order to facilitate unloading, an opening is reserved on the unloading side of the pipeline, a safety door is added at the opening, and when the transport vehicle is accurately parked in place, the safety door is opened. In order to ensure the safety of the vehicle, the safety door is closed when the transport vehicle does not need to stop at the station.
Further, in order to help the vehicle to accurately stop in place, the station-level control system further comprises: and the station identification is arranged at the preset distance of the station and corresponds to the station provided with the station identification. When the vehicle runs to the station mark, scanning to obtain the station mark, and judging whether the station mark is a preset stop station mark, if so, controlling the vehicle to slow down and run into the station.
Further, when the vehicle passes through the station mark, the optimal deceleration acceleration can be calculated according to the distance from the station mark to the station and the current speed of the vehicle, and the vehicle can decelerate according to the deceleration acceleration, so that the vehicle can just stop beside the safety door of the station.
After the vehicle control method and the system to which the vehicle is applied provided by the present application are introduced, the vehicle control method and the vehicle provided by the present application are described in detail by the second embodiment and the third embodiment.
Example two
As shown in fig. 8, the present embodiment provides a vehicle control method applied to a vehicle in an underground pipe transportation system, including:
step S801, detecting and acquiring a detection signal, wherein the detection signal is a signal sent by a nearby vehicle located in a detection range of the vehicle;
and S802, controlling the speed of the vehicle according to the signal intensity of the detection signal, wherein the signal intensity represents the distance between the vehicle and the nearby vehicle, and the signal intensity is inversely related to the distance.
It should be noted that the vehicle may be a vehicle in the underground pipeline transportation system in the first embodiment, and operates in an underground pipeline, and the method is implemented by the vehicle signal control system 3 in the first embodiment, and since the underground pipeline can only be unmanned, the method provided by this embodiment is applied to the underground pipeline transportation system, and can ensure the driving safety of the unmanned vehicle.
The following describes in detail implementation steps of the vehicle control method with reference to fig. 8:
first, step S801 is executed to probe and acquire probe signals, where the probe signals are signals from nearby vehicles located within a probe range of the vehicle.
In the embodiment of the present application, the detection and obtaining of the detection signal may be realized by a vehicle interval detection module in the vehicle signal control system 3, where the vehicle interval detection module is installed on a vehicle and is used for collecting a vehicle distance between the vehicle and a front vehicle or a rear vehicle, so that the automatic protection and control system can adjust a running speed of the vehicle according to the vehicle distance.
In this embodiment, the vehicle interval detection module may be an infrared distance measurement device, and may also be a microwave distance measurement device, which is not limited herein. It should be further noted that the detection range may be a detection limit range of the microwave ranging apparatus itself, or may be a detection range manually set in advance, and is not limited herein.
The vehicle interval detection module may be installed at the head or the tail of the vehicle to detect the vehicle distance of both the front and rear vehicles of the vehicle. The vehicle interval detection module can have a receiving function and a transmitting function, namely can receive the detection signal sent by the vehicle interval detection module arranged on a nearby vehicle in the detection range so as to detect the distance between the vehicle and other vehicles; and can also send out a detection signal so that other vehicles can receive the detection signal to detect the distance between the vehicle and the vehicle.
For example, assuming that the vehicle interval detection module is a microwave distance measuring device, the vehicle a is provided with the microwave distance measuring device, and when the vehicle a is in a driving process, on one hand, the microwave distance measuring device receives a microwave detection signal sent by the microwave distance measuring device arranged on a nearby vehicle so as to determine a vehicle distance according to the intensity of the microwave detection signal; on the other hand, the microwave distance measuring equipment continuously sends out the microwave detection signal, so that the nearby vehicle can determine the distance between the vehicle A and the vehicle A by receiving the microwave detection signal.
In the specific implementation process, different methods for acquiring the detection signal can be provided according to different installation positions of the vehicle interval detection module, and three methods are listed as follows:
first, a vehicle interval detecting module is installed at both the head and the tail of a vehicle.
In this case, the vehicle interval detection module at the front of the vehicle may detect and acquire a detection signal from a vehicle located in front of the vehicle in the traveling direction, and the vehicle interval detection module at the rear of the vehicle may detect and acquire a detection signal from a vehicle located behind the vehicle in the traveling direction, so that the distances between the vehicles in front of and behind the vehicle can be monitored simultaneously.
Second, a vehicle interval detection module is mounted only on the head of the vehicle.
In this case, the vehicle interval detection module in the front of the vehicle only detects and acquires the detection signal from the vehicle in front of the vehicle in the driving direction, and the distance between the vehicle in the rear of the vehicle in the driving direction and the vehicle may not be used as a reference factor for speed control of the vehicle, or the rear distance may be transmitted to the vehicle by the rear vehicle through wireless communication.
Third, a vehicle interval detection module is installed only at the rear of the vehicle.
In this case, the vehicle interval detection module at the rear of the vehicle only detects and acquires the detection signal sent by the vehicle located behind the vehicle in the driving direction, and the distance between the vehicle located in front of the vehicle in the driving direction and the vehicle may not be used as a reference factor for speed control of the vehicle, or the vehicle in front may send the distance in front to the vehicle through wireless communication.
Next, step S802 is executed to control the speed of the vehicle according to the signal strength of the detection signal, wherein the signal strength is indicative of the vehicle distance between the vehicle and the nearby vehicle, and the signal strength is inversely related to the vehicle distance.
In a specific implementation process, the inverse correlation may be in inverse proportion, may also be in inverse square of the inverse proportion, and may also be in linear inverse proportion according to a relationship between different types of signals and transmission distances, which is not limited herein and is not further listed.
For example, taking distance as D and signal strength as a as an example, the relationship between a and D may be: d ═ 1 ÷ (a × b), b is an arbitrary positive number; the relationship of A to D may also be: d ═ 1 ÷ (b ÷ a)n) B is any positive number, n is any positive number; the relationship of A to D may also be: d ═ 1 ÷ (b + a), b is an arbitrary constant; the relationship of A to D may also be: d ═ 1 ÷ (b + a)n) B is an arbitrary constant, n is an arbitrary positive number; the relationship of A to D may also be: d ═ a +1 ÷ (a × b), b is an arbitrary positive number, and a is an arbitrary constant, which are not listed here.
In the embodiment of the application, the vehicle interval detection module is installed at different positions, and can judge the vehicle distances of vehicles in different directions, so that different speed control schemes are adopted, and two methods are listed as examples below:
first, deceleration is controlled according to the distance from the preceding vehicle.
Specifically, the vehicle interval detection module is mounted to face the head of the vehicle, that is, the receiving unit of the vehicle interval detection module is mounted to receive a direction of a signal ahead of the vehicle, so that the vehicle interval detection module can receive the detection signal transmitted from a nearby vehicle located ahead of the vehicle in the vehicle traveling direction. At this time, the detection signal received by the vehicle interval detection module is characterized by the vehicle distance between the vehicle and the front vehicle.
In the embodiment of the present application, the signal intensity of the detection signal may be classified in advance, and when the signal intensity of the detection signal is greater than a preset first-level front intensity, the vehicle is considered to have passed by a short distance from the vehicle in front, so that the vehicle is automatically controlled to decelerate to keep a safe distance from the vehicle in front.
Further, in order to guarantee that the vehicle can in time recover to safe distance with the front truck, can set up to be worked as when the signal strength of detecting signal is greater than predetermined one-level the place ahead intensity, control the vehicle decelerates with first acceleration, first acceleration with signal strength is positive correlation to make when the vehicle is very close apart from, the vehicle decelerates rapidly, when the vehicle is still relatively safe apart from, the vehicle slows down slowly. The positive correlation can be proportional, linear proportional, or power proportional, and is not limited and not listed here.
Certainly, in a specific implementation process, a relationship list of the first acceleration and the signal strength may also be preset, after the signal strength of the detection signal is detected, a specific numerical value of the first acceleration is searched and determined in the relationship list according to the obtained signal strength, and deceleration is controlled according to the searched first acceleration value.
Further, considering that only deceleration may also cause an accident when the vehicle is particularly close to the vehicle distance of the preceding vehicle, a plurality of levels may be set: when the signal intensity of the detection signal is greater than the preset first-level front intensity and less than or equal to the preset second-level front intensity, controlling the vehicle to decelerate; and when the signal intensity of the detection signal is greater than the preset second-level front intensity, controlling the vehicle to brake, wherein the second-level front intensity is greater than the first-level front intensity.
For example, it is assumed that when the vehicle a suddenly breaks down and stops on the road while the vehicle a is running, the vehicle a detects a probe signal transmitted by the vehicle in front, and the strength of the probe signal is less than or equal to a primary front strength, so that the vehicle a keeps moving forward at the current vehicle speed. Then, as the distance from the vehicle ahead decreases, when the vehicle a detects that the intensity of the probe signal transmitted by the vehicle ahead is greater than the primary front intensity and equal to or less than the secondary front intensity, the vehicle a starts controlling deceleration. When the distance between the vehicle A and the front vehicle reaches the dangerous distance, namely when the vehicle A detects that the intensity of a detection signal sent by the front vehicle is greater than the second-level front intensity, the vehicle A is emergently braked to avoid collision with a front fault vehicle, and the driving safety is guaranteed in time.
Certainly, in a specific implementation process, when the vehicle detects that the signal intensity of the detection signal is greater than the preset first-level front intensity, besides deceleration or braking, a notification signal can be sent to the front vehicle to remind the front vehicle of accelerating and avoiding.
Second, acceleration is controlled according to the distance from the rear vehicle.
Specifically, the vehicle interval detection module is mounted to face the rear of the vehicle, that is, the receiving unit of the vehicle interval detection module is mounted to receive the direction of the signal of the rear of the vehicle in order to allow the vehicle interval detection module to receive the detection signal transmitted from the nearby vehicle located behind the vehicle in the direction of travel. At this time, the detection signal received by the vehicle interval detection module is characterized by the vehicle distance between the vehicle and the rear vehicle.
In view of maintaining a safe vehicle distance from a rear vehicle, it may be set to control the vehicle to accelerate when the signal intensity of the detection signal is greater than a preset primary rear intensity.
Similar to the deceleration of the first type, when the signal intensity of the detection signal is greater than a preset first-level rear intensity, the vehicle is controlled to accelerate at a second acceleration, and the second acceleration is positively correlated with the signal intensity. The positive correlation can be proportional, linear proportional, or power proportional, and is not limited and not listed here.
Certainly, in a specific implementation process, a relationship list of the second acceleration and the signal strength may also be preset, after the signal strength of the detection signal is detected, a specific numerical value of the second acceleration is searched and determined in the relationship list according to the obtained signal strength, and acceleration is controlled according to the searched second acceleration value. Of course, in the implementation process, in consideration of the possibility of dangerous vehicle distance between the vehicle and the front vehicle due to sudden acceleration, it may be further configured to send a notification signal to the rear vehicle to notify the rear vehicle to decelerate when the signal intensity of the detection signal is greater than a preset first-level rear intensity.
For example, it is assumed that when a vehicle behind the vehicle a suddenly accelerates due to a fault and approaches the vehicle a quickly while the vehicle a is running, the vehicle a detects a detection signal transmitted by the vehicle behind, and the intensity of the detection signal is less than or equal to a first-order rear intensity, so that the vehicle a keeps moving forward at the current vehicle speed. Then, as the distance from the rear vehicle decreases, when the vehicle a detects that the intensity of the probe signal transmitted by the rear vehicle is greater than the first-order rear intensity, the vehicle a may have two processing modes:
firstly, the vehicle A starts to control acceleration so as to pull the distance from the rear fault vehicle, thereby avoiding collision with the rear fault vehicle and ensuring the driving safety in time.
Second, the vehicle a sends a notification signal to the rear vehicle to notify the rear vehicle to decelerate and avoid.
In a specific implementation process, the two processing manners may be adopted at the same time, or one of the two processing manners may be selected, which is not limited herein.
In a specific implementation process, the vehicle interval detection module may be installed to face only the head of the vehicle, may be installed to face only the tail of the vehicle, and may also be installed to face both the tail and the head of the vehicle, which is not limited herein.
Based on the same inventive concept, the application also provides a system corresponding to the vehicle control method in the second embodiment, which is detailed in the third embodiment.
EXAMPLE III
The present embodiment provides a vehicle control system, as shown in fig. 9, including:
a vehicle interval detection module 902, configured to detect and acquire a detection signal, where the detection signal is a signal sent by a nearby vehicle located within a detection range of the vehicle;
an automatic traction and braking system 904 for controlling vehicle speed;
and an automatic protection and control system 903 for controlling the speed of the vehicle through the automatic traction and braking system according to the signal strength of the detection signal, wherein the signal strength represents the distance between the vehicle and the nearby vehicle, and the signal strength is inversely related to the distance.
In the embodiment of the present application, the vehicle interval detection module 902 is further configured to receive the detection signal from a vehicle interval detection module installed on a nearby vehicle located in the detection range.
In the embodiment of the present application, the vehicle interval detection module 902 faces the head of the vehicle, and receives the detection signal transmitted by a nearby vehicle located in front of the vehicle traveling direction through the vehicle interval detection module.
In the embodiment of the present application, the automatic protection and control system 903 is further configured to:
and when the signal intensity of the detection signal is greater than the preset first-level front intensity, controlling the vehicle to decelerate.
In the embodiment of the present application, the automatic protection and control system 903 is further configured to:
when the signal intensity of the detection signal is greater than the preset first-level front intensity, the vehicle is controlled to decelerate at a first acceleration, and the first acceleration is positively correlated with the signal intensity.
In this embodiment, the automatic protection and control system 903 further includes:
the first deceleration unit is used for controlling the vehicle to decelerate when the signal intensity of the detection signal is greater than the preset first-level front intensity and less than or equal to the preset second-level front intensity;
and the second speed reducing unit is used for controlling the vehicle to brake when the signal intensity of the detection signal is greater than the preset second-level front intensity, wherein the second-level front intensity is greater than the first-level front intensity.
In the embodiment of the present application, the vehicle interval detection module 902 faces the tail of the vehicle, and receives the detection signal sent by a nearby vehicle located behind the vehicle in the driving direction through the vehicle interval detection module.
In the embodiment of the present application, the automatic protection and control system 903 is further configured to:
and when the signal intensity of the detection signal is greater than the preset first-level rear intensity, controlling the vehicle to accelerate.
In this embodiment, the automatic protection and control system 903 further includes:
and the acceleration unit is used for controlling the vehicle to accelerate at a second acceleration when the signal intensity of the detection signal is greater than the preset first-level rear intensity, and the second acceleration is positively correlated with the signal intensity.
Since the system described in the third embodiment of the present invention is a system used for implementing the vehicle control method in the second embodiment of the present invention, a person skilled in the art can understand the specific structure and the modification of the system based on the method described in the second embodiment of the present invention, and thus the detailed description thereof is omitted. All systems adopted by the method of the second embodiment of the invention belong to the protection scope of the invention. Based on the same inventive concept, the application also provides a vehicle corresponding to the vehicle control method in the second embodiment, which is detailed in the fourth embodiment.
Example four
The present embodiment provides a vehicle, as shown in fig. 9, including:
a vehicle main body 901 and a vehicle control system according to the third embodiment, which is mounted on the vehicle main body 901.
The vehicle control system includes:
a vehicle interval detection module 902 disposed on the vehicle body 901, wherein the vehicle interval detection module 902 includes a receiving unit that receives a detection signal from a nearby vehicle located within a detection range of the vehicle;
the automatic protection and control system 903 is connected with the receiving unit, acquires the detection signal received by the receiving unit, and generates a control signal for controlling the speed of the vehicle according to the signal intensity of the detection signal;
and the automatic traction and braking system 904 is connected with the automatic protection and control system 903, and the automatic traction and braking system 904 receives the control signal and controls the speed of the vehicle according to the control signal.
It should be noted that the vehicle may be a vehicle in the underground pipeline transportation system, and operates in an underground pipeline, and since the underground pipeline can only be unmanned, the vehicle provided by this embodiment is applied to the underground pipeline transportation system, and can ensure the driving safety of the unmanned vehicle.
In the embodiment of the present application, the vehicle interval detection module 902 further includes:
a transmitting unit that continuously transmits a probe signal.
In the embodiment of the present application, the receiving unit of the vehicle interval detection module 902 faces the head of the vehicle to receive the detection signal transmitted by a nearby vehicle located forward in the vehicle traveling direction.
Further, the automatic protection and control system 903 is further configured to: and when the signal intensity of the detection signal is greater than the preset first-level front intensity, controlling the vehicle to decelerate.
In the embodiment of the present application, the receiving unit of the vehicle interval detection module 902 faces the rear of the vehicle to receive the detection signal transmitted by a nearby vehicle located behind the vehicle traveling direction.
Further, the automatic protection and control system 903 is further configured to: and when the signal intensity of the detection signal is greater than the preset first-level rear intensity, controlling the vehicle to accelerate.
Since the vehicle described in the fourth embodiment of the present invention is a device used for implementing the vehicle control method in the second embodiment of the present invention, based on the method described in the second embodiment of the present invention, a person skilled in the art can understand the specific structure and the modifications of the vehicle, and thus the details are not described herein again. All the devices adopted by the method of the second embodiment of the invention belong to the protection scope of the invention.
The above vehicle control method can be applied to various pipeline transportation systems, and two methods are described below:
a first pipe transportation system:
referring to fig. 20, the system includes: the system comprises a pipeline 1 ', at least one walking rail set 3 ', a logistics transport vehicle, a power supply assembly and a switching system 5 '; the pipeline 1' is buried underground and communicated with a plurality of loading and unloading stations; the walking rail set 3 'is fixed in the inner wall of the underground pipeline 1'; the walking rail set 3' comprises two walking rails which are arranged in parallel; the commodity circulation transport vechicle includes: a bogie 4 'running on the running rail set 3', and a vehicle body 2 'arranged on the bogie 4'; the power supply assembly is used for supplying electric energy required by operation to the logistics transport vehicle; the transit system 5' comprises: an underground turning device 54, a lifting device and an above-ground turning device 51; the switching system 5' is arranged at the loading and unloading station and is used for transferring the cargo containers on the logistics transport vehicle to the unloading warehouse of the ground platform or transferring the cargo containers on the unloading warehouse to the logistics transport vehicle.
Furthermore, two ends of the pipeline 1' are communicated with a large underground loading and unloading station; the middle of the pipeline 1 'is communicated with a plurality of branch pipelines with the same structure as the pipeline 1', and the end parts of the branch pipelines are communicated with a small underground loading and unloading station; the inside of the branch pipeline is provided with walking branch rail groups with the same structure and quantity as the walking rail groups 3 ', and the walking branch rail groups are connected with the corresponding walking rail groups 3'. The transportation of goods among large-scale and small-scale underground loading and unloading goods stations is realized through the pipeline 1' and the branch pipeline, and the transportation efficiency is improved. A plurality of ventilation components and a plurality of lighting components are arranged in the pipeline 1 'and the branch pipelines, so that personnel can conveniently enter the pipeline 1' to overhaul or replace the components.
The following describes a specific structure of the pipeline 1 'and the running rail set 3' in the pipeline transportation system of the present application:
1:
the pipeline 1' is made of steel or concrete and has a circular section; a running rail set 3 ' is arranged in the circular pipeline 1 ', and the running rail set 3 ' comprises: the first walking rail and the second walking rail are symmetrical about the central line of the circular pipeline 1', and are made of steel; the first walking rail and the second walking rail are fixed on the pipeline 1 'through fasteners or welded, or the first walking rail, the second walking rail and the pipeline 1' are integrally formed, and the logistics transport vehicle has certain weight, so that the structural requirements on the walking rail set 3 'and the pipeline 1' are high when the logistics transport vehicle is transported with full-load goods, the integral strength and rigidity of the steel pipeline 1 'and the walking rail set 3' are high, the suspension and transportation requirements of the logistics transport vehicle can be met, and good structural stability is ensured. The steel pipeline 1' has good sealing performance, is suitable for the underground environment, prevents soil and water from entering a transportation channel, and ensures the transportation environment.
The pipeline 1 'is provided with a flow receiving rail which is arranged on the inner wall of the top of the pipeline 1'; the current receiving rail is connected with the power supply part to transmit electric energy to the logistics transport vehicle; the receiving rail is fixed on the inner wall of the top of the pipeline 1 ' through a fastener, and when the pipeline 1 ' is made of steel, an insulating pad is arranged between the receiving rail and the pipeline 1 '. The electric energy is obtained through the current receiving rail to supply to the driving device of the vehicle, so that the electric driving of the logistics transport vehicle is realized, and the air pollution caused by the traditional fuel driving is reduced.
Another specific structure of the pipeline and running rail set in the pipeline transportation system of the present application is described as follows:
2:
the pipeline 1' is made of steel or concrete, and the cross section of the pipeline is oval or square; two running rail sets 3 ' are arranged in the pipeline 1 ', wherein one running rail set 3 ' comprises: a third running rail and a fourth running rail, and the other running rail group 3' comprises: a fifth running rail and a sixth running rail. The third running rail and the sixth running rail are symmetrically arranged at two sides of the bottom of the oval pipeline 1 ', the fourth running rail and the fifth running rail are fixed in the middle of the bottom of the oval pipeline 1', the fourth running rail and the fifth running rail can be independently arranged, and the fourth running rail and the fifth running rail can also be integrally formed. The material of the running rail set 3 'and the connection method with the pipeline 1' in the present embodiment are the same as those in embodiment 1. The two walking rail sets 3' can realize the same-direction parallel operation of the logistics transport vehicle, or the bidirectional operation of the logistics transport vehicle, and improve the transport capacity of the whole underground pipeline transport system.
Two current receiving rails are arranged in the pipeline 1 ', and are respectively arranged on the inner wall of the pipeline 1 ' corresponding to the traveling rail group 3 '; the current receiving rail is fixed on the pipeline 1 ' through a fastener, and when the pipeline 1 ' is made of steel materials, an insulating pad is arranged between the current receiving rail and the pipeline 1 '.
The following describes a specific structure of a bogie of a logistics transport vehicle in the pipeline transport system of the present application:
3:
referring to fig. 21 to 25, the bogie provided in the present embodiment includes: a framework 402', a traction center pin 404, a traction spherical hinge 403 and a bearing spring 405; a pin hole is formed in the middle of the framework 402'; the traction center pin 404 is arranged in the pin hole in a penetrating way, and the top of the traction center pin is fixedly connected with a vehicle body underframe 410 of the transport vehicle; the traction spherical hinge 403 is sleeved on the traction center pin 404 and is positioned in the pin hole; the carrier spring 405 is fixed to the frame 402'; the vehicle body under frame 410 is pressed against the carrier spring 405.
Wherein, the traction horizontal force is transmitted to the vehicle body by the matching of the traction central pin 404 and the traction spherical hinge 403; vertical forces between the vehicle body and the frame 402' are transmitted through the load springs 405; above-mentioned structure can satisfy the transport vechicle at the requirement of underground piping transportation, compares current bogie structure, and parts such as bolster, traction pull rod have been cancelled in this application, make simple structure reasonable, and occupation space is less, improves goods loading space, guarantees underground piping transportation ability.
Further, the top of the pulling core pin 404 extends outwards to form a circular fixed platform 412; the fixed platform 412 is fixedly connected with the vehicle body underframe 410 through a plurality of fasteners uniformly distributed along the circumferential direction of the fixed platform. The round fixed platform 412 can facilitate the connection and fixation of the traction center pin 4 and the vehicle body underframe 410, and enhance the connection stability of the vehicle body and the framework 402'. As a preferred embodiment, the fixed platform 412 may be fixedly connected to the vehicle body underframe 410 through four circumferentially uniformly distributed bolts, so as to ensure the connection firmness of the traction center pin 404 and the vehicle body underframe 410, and optimize the distribution of horizontal traction force during the operation of the logistics transport vehicle.
Further, the traction spherical hinge 403 is a rubber spherical hinge, the outer circle of the traction spherical hinge 403 is pressed into a pin hole in the middle of the framework 402 ' through interference fit, the upper end surface of the traction spherical hinge 403 is flush with the top surface of the framework 402 ', and the lower end surface of the traction spherical hinge 403 is flush with the bottom surface of the framework 402 '; the traction ball hinge 403 has large displacement and small rigidity along the axial direction, the traction center pin 404 is released to move in the vertical direction, the vertical load of the vehicle body is borne by the bearing spring 405, the longitudinal load and the transverse load of the vehicle body are transmitted to the framework 402 'from the traction center pin 404 through the traction ball hinge 403, the rubber ball hinge has good buffering performance, the stability of traction force transmission is ensured, and structural abrasion or poor deformation caused by rigid contact of the traction center pin 404 and the framework 402' is avoided. The traction center pin 404 is provided with a stop 413, the traction ball hinge 403 is provided with a stop groove corresponding to the stop 413, and the stop 413 extending out of the traction center pin 404 is matched with the groove on the traction ball hinge 403 so as to prevent the traction center pin and the traction ball hinge from rotating to generate abrasion.
Further, the bogie is provided with two bearing springs 405 fixed on both sides of the middle part of the frame 402'; the vertical load of the car body is borne by secondary springs at the two sides of the middle part of the framework 402'; the carrier spring 405 includes: a spring 417, a first connecting plate 415 fixed on the top of the spring 417 and a second connecting plate 414 fixed on the bottom of the spring 417; the top surface of the first connection plate 415 is provided with at least one umbilicus 416; the vehicle body underframe 410 is provided with a groove 411 corresponding to the umbilicus 416; the umbilicus 416 and the groove 411 cooperate to effectively limit the relative displacement between the vehicle body underframe 410 and the bearing spring 405, so as to ensure the relative position stability of the two, and the second connecting plate 414 is fixedly connected with the framework 402' through a fastener. The spring 417 has good buffering performance on the basis of bearing vertical force, and the stability of the transport vehicle in the operation process is ensured.
Wherein the spring 417 is a rubber spring or a steel spring; the rubber spring or the steel spring has low cost and simple structure, does not need a power source, and has the performance meeting the requirements of the logistics transport vehicle. Two umbilicals 416 along the walking direction of the logistics transport vehicle are arranged on the first connecting plate 415, so that a rectangular structure with four umbilicals 416 matched with the groove 411 is formed between the vehicle body underframe 410 and the bearing spring 5, good support for the vehicle body underframe 410 is formed, the transportation vehicle can be well adapted to the vehicle body inclination caused by inertia in the processes of steering, starting and decelerating, and the operation safety of the transportation vehicle is guaranteed. The second connecting plate 414 is a rectangular plate; a spring 417 is fixed at the center of the second connecting plate 414; the four corners of the second connecting plate 414 are fixedly connected with the frame 402 'through bolts, so as to ensure the connection stability of the load-bearing spring 405 and the frame 402'.
Further, referring to fig. 20, the frame 402' includes: the two longitudinal beams, the middle cross beam and the two side cross beams are arranged in parallel; the side cross beam is vertically fixed at the end part of the longitudinal beam; the middle cross beam is vertically fixed in the middle of the longitudinal beam; the middle part of the middle cross beam is provided with a pin hole. The longitudinal beams, the middle cross beam and the two side cross beams are positioned on the same horizontal plane, and after being welded with each other, the whole framework 402' is ensured to have good strength and rigidity, so that the requirement of the logistics transport vehicle on cargo transportation is met; the longitudinal beams, the middle cross beam and the two side cross beams are all made of hollow square steel structures, and the dead weight of the bogie is reduced on the basis of ensuring the stress performance of the structure.
Further, the method also comprises the following steps: drive unit 408, wheel 401', brake unit 406; the drive 408 is disposed below the frame 402'; wheel 401' is connected to the output of drive 408; brake 406 is coupled to wheel 401'. The driving device 408 drives the wheels 401' to rotate, so that the logistics transport vehicle walks, and the braking device 406 stops the logistics transport vehicle. The driving device 408 is fixedly connected with the frame 402' through a fastener; a rubber pad is arranged between the driving device 408 and the frame 402'; the rubber pads can improve the stress condition between the driving device 408 and the frame 402 ', have certain vibration damping and buffering effects, and weaken the vibration transmitted from the frame 402' to the driving device 408 in the running process of the vehicle to protect the stable work of the driving device 408. Wheel 401' is any one of aerifing rubber wheel, solid rubber wheel or steel wheel, and the transport vechicle generally moves on the track in the underground pipe gallery, and the wall thickness of underground pipe gallery is generally thinner, aerifys rubber wheel or solid rubber wheel and can reduce the impact force of commodity circulation transport vechicle to the pipe gallery, and solid rubber wheel bearing capacity is stronger, the security is higher, consequently, solid rubber wheel is the preferred scheme of this application.
Further, as a first implementation form, the driving device 408 includes: the double-output motor and the two gear boxes are connected to the output ends of the double-output motor; the two gear boxes drive the front and rear wheels 401' to rotate through axles respectively. As another implementation form, the driving device 408 can be two motors disposed below the frame 402 'to drive a gear box to work, and then drive the front and rear wheels 401' to rotate. As a third implementation form, the driving device 408 may also be a reduction motor, and the reduction motor drives the front and rear wheels 401' to rotate through the axle.
Further, the method also comprises the following steps: at least two guide wheel sets, wherein the two guide wheel sets are respectively arranged on two side cross beams of the framework 402'; the guide wheel set comprises two guide wheels 407 symmetrically arranged relative to the central axis of the frame 402'; two leading wheels 407 are arranged at two ends or in the middle of the side cross beam, the leading wheels 407 are arranged corresponding to the guide rails 418, when the two leading wheels 407 are arranged at two ends of the side cross beam, two running rails can be used as the guide rails 418, and the four leading wheels 407 at two ends of the front and rear side cross beams roll along the side edges of the running rails, so that stable guiding during turning of the logistics transport vehicle is realized. When the two guide wheels 407 are arranged in the middle of the side cross beam, a guide rail 418 needs to be arranged in the middle of the two running rails, and the two guide wheels 407 move along the two sides of the guide rail 418, so that smooth guiding during turning of the logistics transport vehicle is realized.
Further, the method also comprises the following steps: and at least one current collector 409 is arranged below the framework 402' and is used for acquiring electric energy by matching with a current collecting rail paved in the underground pipe gallery so as to supply electric energy for the driving device 408 and other electric components.
The pipe transportation system of the present application is further provided with a guide rail 418, and a specific structure of the guide rail 418 is described below:
4:
referring to fig. 26-30, the guide wheels 407 are symmetrically arranged at the bottom of the frame 402' through fasteners, and are respectively matched with the concave rail surfaces on the two sides of the guide rail 418 to realize the over-bending guide of the logistics transport vehicle.
The guide rail 418 includes: a lower portion 4183 fixed to the ground, a middle portion 4182, and an enlarged structure 4181 located above the middle portion 4182; the rail surfaces on the two sides of the middle part 4182 are planes; the vertical cross-sectional width of the lower portion 4183 is greater than the width of the middle portion 4182 and the enlarged structure 4181; as a better embodiment, the vertical section of the middle part 4182 is an isosceles trapezoid, the bottom edge of the isosceles trapezoid is longer than the top edge, namely the inclined rail surfaces at the two sides of the middle part 4182 are inclined downwards, when a vehicle is bent over, the guide wheels can slide relative to the inclined rail surfaces to a certain degree, the centrifugal force generated by the vehicle is counteracted to a certain degree, and the stability of the running device and the vehicle body 2' during the vehicle process is enhanced. The lower portion 4183 of the guide rail 418 is wider to provide stability to the guide rail 418 to provide sufficient steering force.
The included angle between the inclined rail surface and the vertical plane can be set to be 5-15 degrees, and the excessive included angle can cause the insufficient steering force provided by the guide wheel 407; and when the included angle is too small, the guide wheel 407 cannot effectively slide on the inclined rail surface, so that the stability of the bogie 4 'and the vehicle body 2' of the logistics transport vehicle is reduced when the vehicle is bent. The radial cross-section of the guide wheel 407 is perpendicular to the inclined rail face of the middle portion 4182 of the guide rail 418.
The middle portion 4182 and the lower portion 4183 of the guide rail 418 transition through an arc. Both sides of the expanding structure 4181 of the guide rail 418 are arc-shaped surfaces; the enlarged structure 4181 of the guide rail 418 has a sectional width gradually increasing from bottom to top. The middle part 4182 and the lower part 4183 adopt arc surface transition, and the expanding structure 4181 is arranged into an arc surface which is beneficial to the sliding of the guide wheel 407 on the rail surface of the guide rail 418; the circular-arc-shaped expanding structure 4181 can limit the sliding distance of the guide wheel 407 and effectively prevent derailment.
The pipe transportation system of the present application is further provided with a guide rail, and another specific structure of the guide rail 418 is described below:
5:
referring to fig. 26-30, the guide wheels 407 are symmetrically arranged at the bottom of the frame 402' through fasteners, and are respectively matched with the concave rail surfaces on the two sides of the guide rail 418 to realize the over-bending guide of the logistics transport vehicle.
The guide rail 418 includes: a lower part 4183 fixed on the ground, a middle part 4182 with arc rail surfaces at two sides and an expansion structure 4181 positioned above the middle part 4182; the two sides of the expanding structure 4181 are arc-shaped surfaces, and the section width is gradually increased from bottom to top; the middle part 4182 and the lower part 4183 of the guide rail 418 are in arc transition, that is, the two sides of the guide rail 418 are provided with concave arc surfaces, so that the smoothness of sliding of the guide wheel 407 on the rail surface of the guide rail 418 is ensured, and the stability of the bogie 4 'and the vehicle body 2' during vehicle over-bending is enhanced. The outer surface of the guide wheel 407 is an arc surface, and is matched with the concave arc surface, so that the smoothness of sliding of the guide wheel 407 is ensured. The lower portion 4183 of the guide rail 418 is wider to provide stability to the guide rail 418 to provide sufficient steering force.
A specific structure of the vehicle body of the pipe transportation system of the present application is described below:
6:
referring to fig. 31 to 36, a vehicle body 2' includes: a bottom frame, an end wall 204, a top frame 202, an upper sliding door 201 and an opening and closing mechanism; the underframe is fixed on a bogie 4'; the end wall 204 is fixed at the end of the underframe; the top frame 202 is fixed on the top of the end wall 204; the upper sliding door 201 is arranged between the end walls 204 in a sliding manner and is positioned at the side edge of the underframe; the opening and closing mechanism drives the upper sliding door 201 to slide upward below the top frame 202.
Wherein, after the commodity circulation transport vechicle berthed the loading and unloading goods website, opened sliding door 201, made the goods container move in or shift out the automobile body inside from the opening, sliding door 201 upwards slides roof-rack 202 below, does not occupy the outside pipe space of automobile body, guarantees that the automobile body has great cargo space, and increase cargo capacity, guarantee goods underground pipeline transportation transfer efficiency.
Further, the upper sliding door 201 includes a plurality of door panels 213 arranged vertically side by side; adjacent door panels 213 are hinged by hinges 212. The opening and closing mechanism includes: a slide rail 211, a traction motor, a traction rope, a guide wheel and a plurality of pulleys 214; the sliding rails 211 are symmetrically arranged on two sides of the upper sliding door 201; the pulley 214 is movably arranged in the sliding rail 211 and is fixedly connected with the hinge 212; the guide wheel is arranged at the top end of the slide rail 211; the traction rope is sleeved on the guide wheel, one end of the traction rope is fixedly connected with the door plate 213 at the top of the upper sliding door 201, and the other end of the traction rope is fixedly connected with the door plate 213 at the bottom of the upper sliding door 201; the traction motor is a bidirectional motor; the traction motor drives the guide wheel to rotate, drives the traction rope to drive, then drives the upper sliding door 201 to ascend or descend, and meanwhile, the pulley 214 rolls upwards or downwards in the sliding rail 211.
Further, the slide rail 211 includes: a lower vertical section, an arc section and an upper horizontal section; the arc-shaped section is connected with the vertical section and the horizontal section; the horizontal section is arranged below the top frame 202 in parallel and is parallel to the end wall 204; the guide wheel is fixed at the end part of the horizontal section.
Further, the door panel 213 is provided with an observation window 209, the observation window 209 is used for observing the condition of the cargo container carried in the vehicle body 2', and the observation window 209 may be a see-through glass or a grid plate. Two upper sliding doors 201 are arranged on the side edge of the vehicle body 2'; a central partition beam 203 is arranged in the middle of the side edge of the underframe, and an upper sliding door 201 is arranged between the central partition beam 203 and each of the two end walls 204; the sliding rail 211 on one side of the upper sliding door 201 is fixed on the central partition beam 203, and the sliding rail 211 on the other side is fixed on the end wall 204; the traction motor is arranged on the central spacer beam 203.
As an implementation: the vehicle body 2 ' further comprises a side wall fixed on one side of the bottom frame, the upper sliding door 201 and the opening and closing mechanism are arranged on the other side of the bottom frame, so that the opening or closing of the vehicle door on one side of the vehicle body 2 ' is realized, and the cargo container is moved into or out of the interior of the vehicle body 2 ' through the side wall. In order to realize the loading and unloading of cargo containers on two sides of the vehicle body 2', the application also provides another realization mode: both sides of the vehicle body 2' are provided with upper sliding doors 201; the upper sliding doors 201 on both sides are driven by corresponding opening and closing mechanisms and can slide upward to different heights below the top frame 202.
In order to facilitate the movement of goods into or out of the vehicle body 2 ', the vehicle body 2' is additionally provided with a loading and unloading platform 210.
The lift truck platform 210 includes: a plurality of rotating rollers and a rotating roller motor connected with the rotating rollers; a plurality of rotating rollers are arranged on the underframe of the vehicle body side by side; the rotating roller motor drives the rotating roller to rotate, so that the cargo container on the rotating roller moves out of or into the vehicle body 2'; after the logistics transport vehicle stops at the loading and unloading goods station, the rotating rods of the automatic loading and unloading goods platform 210 are in butt joint with the transport roller ways of the loading and unloading goods station, and the goods container moved out by the rotating rods is sent to the goods storage point, or the goods container of the goods storage point is sent to the rotating rods in the vehicle body 2'.
Wherein, the goods container is placed on the inside many of automobile body 2 'rotate the rod, bogie 4' drives automobile body 2 'and moves the loading and unloading goods website in the underground after, the last sliding door 201 of automobile body 2' is opened, the roller motor drive rotates the rod and rotates, make the goods container of placing on rotating the rod shift out automobile body 2 ', or make the goods container of loading and unloading goods website shift into the inside storage goods space of automobile body 2', need not to use loading and unloading goods tools such as crane or fork truck and accomplish the loading or lift off of goods, improve the transshipment efficiency of goods underground pipeline transportation.
Further, the transmission direction of the automatic loading and unloading platform 210 is perpendicular to the running direction of the bogie 4', and in the running process of the logistics transport vehicle, the rotating rollers bear axial force but not bear rotating torque, so that the position stability of the cargo container on the rotating rollers of the logistics transport vehicle in the running process is ensured, and the cargo container is prevented from sliding relative to the rotating rollers due to the inertia force generated in the running process of the cargo container.
Further, the roller motor is a bidirectional rotating motor, and can drive the rotating roller to rotate forward or backward, so that the cargo container can move into or out of the vehicle body 2 ', or when the vehicle body 2 ' opens the upper sliding doors 201 on different sides, different running directions are selected through the bidirectional rotating motor, so that the cargo container can move out of or into the vehicle body 2 ' from the upper sliding doors 201 on different sides. A plurality of automatic loading and unloading platforms 210 are arranged in the vehicle body 2 'along the length direction, because the length of the vehicle body 2' is large, small-volume cargo containers can be respectively placed on each automatic loading and unloading platform 210, and each automatic loading and unloading platform 210 is sequentially butted with a conveying roller way of a loading and unloading station to realize loading or unloading of each cargo container; a bulk cargo container may also be placed on multiple lift platforms 210 to provide sufficient drive force for the bulk cargo container.
Further, the roll body cover all around of rotating the rod is equipped with the skid resistant course, increases the frictional force between goods container and the rotation rod, and when the commodity circulation transport vechicle started or stopped, the goods container had certain inertial force effect at the traffic direction, and the skid resistant course of rotating the rod can prevent effectively that the goods container from rotating the rod relatively and sliding.
Further, a limiting device is arranged on the underframe of the vehicle body 2' close to the automatic loading and unloading platform 210; stop device includes: the limiting motor, the gear rack mechanism and the limiting stop block; the limiting motor is fixed on the underframe and is connected with a gear of the gear rack mechanism; the limit stop block is fixedly connected with a rack of the gear rack mechanism; a rubber pad is provided on the side of the limit stop adjacent to the lift platform 210.
As a preferred embodiment, a stop device may be disposed at the middle of the periphery of the lift truck platform 210, respectively; in the loading and unloading goods container process, stop block of stop device is in the position that is less than the rotation rod, and after the goods container fell on auto-loading and unloading goods platform 210, spacing motor drive gear rack mechanism worked, and the rack drives stop block and rises to the position that exceeds the rotation rod, makes the goods container inject in stop block all around, prevents that the commodity circulation transport vechicle from being in operation process, goods tray roll-off auto-loading and unloading goods platform 210. In addition, another operation mode is as follows: after the logistics transport vehicle stops at the loading and unloading goods station, the rotating roller of the automatic loading and unloading goods platform 210 is in butt joint with the conveying roller way of the loading and unloading goods station, the limit stop of the limiting device on the opposite side of the conveying roller way is lifted, other limiting devices keep an initial state, in this way, when the goods container is conveyed to the rotating roller from the conveying roller way, the lifted limit stop can prevent the goods container from automatically moving under the inertia effect to the loading and unloading goods platform 210, after the goods container falls on the automatic loading and unloading goods platform 210, other limiting devices work, and the limit stop in other directions of the automatic loading and unloading goods platform 210 is lifted.
A specific structure of the transit system in the pipe transportation system of the present application is described below:
7:
referring to fig. 37-42, the patching system 5' includes: an underground turning device 54, a lifting device and an above-ground turning device 51; the underground rotating device 54 is arranged on an underground platform to receive and convey the cargo container sent by the logistics transport vehicle; the lifting device is arranged in a channel between the underground platform and the ground platform to receive the cargo container transmitted by the underground rotating device 54 and lift the cargo container to the ground platform; an above-ground rotating device 51 is provided on the ground platform to receive the cargo containers transferred by the lifting device and to transfer the cargo containers to the unloading warehouse. The underground turning device 54 and the above-ground turning device 51 are each constituted by a plurality of combination units arranged in a row.
Meanwhile, the ground rotating device 51 can also receive and transmit the goods container delivered by the unloading warehouse, the lifting device can also receive the goods container delivered by the ground rotating device 51 and lower the goods container to the underground platform, and the underground rotating device 54 can also receive the goods container delivered by the lifting device and deliver the goods container to the logistics transport vehicle.
Referring to fig. 21, the underground turning gear 54 includes: the first support 542 fixed on the underground platform, a plurality of first roller ways 541 arranged in parallel and arranged on the top of the first support 542, and a first driving part for driving the first roller ways 541 to convey; the logistics transport vehicle is provided with a roller way for automatically loading and unloading goods so as to bear and convey the goods container; after the logistics transport vehicle stops at the loading and unloading station, the roller way is in butt joint with the first roller way 541; the roller way is in the same direction as the first roller way 541. The first drive member may be any one of a gear transmission mechanism, a belt transmission mechanism, or a chain transmission mechanism.
In a first implementation manner, a specific structure of the underground rotating device is described as follows:
the first roller way 541 includes a plurality of rollers arranged along a conveying direction of the first roller way; the roller is rotatably disposed on the first bracket 542 by a roller.
The first drive member is a gear transmission mechanism comprising: the bidirectional motor comprises a bidirectional motor, a driving tooth, a plurality of driven teeth and an idler wheel arranged between adjacent driven teeth; the bidirectional motor is fixed on the first support 542, and the output end of the bidirectional motor is fixedly connected with the driving tooth so as to drive the driving tooth to rotate forwards or backwards; the driven teeth are fixed to the corresponding rollers and rotate synchronously with the driving teeth through the idler wheels, and then the rollers on the first support 542 rotate synchronously.
In the second implementation mode, another specific structure of the underground rotating device is described as follows:
the first roller table 541 includes a plurality of first conveying rollers arranged along a conveying direction of the first roller table; the first conveying roller is rotatably disposed on the first bracket 542 through a rotating shaft.
The first drive member is a belt transport mechanism comprising: two-way motor and a plurality of hold-in range.
One synchronous belt is sleeved on an output shaft of the two-way motor and a rotating shaft of the adjacent first conveying roller, and the other synchronous belts are respectively sleeved on the rotating shafts of the adjacent first conveying rollers; the bidirectional motor enables the first conveying rollers to synchronously rotate through the synchronous belt.
Implementation mode three
The switching system provided by the embodiment comprises an underground rotating device in the first implementation mode or the second implementation mode, and further comprises the following lifting device:
referring to fig. 20 and 25, the elevating device includes: a second bracket 52, a supporting and conveying table 53 and a lifting driving part fixed in the channel; the second bracket 52 is provided with a slide guide; the lifting driving part drives the supporting and conveying table 53 to ascend or descend along the sliding guide rail; the supporting and transferring table 53 can transfer the cargo container, and the transferring direction of the supporting and transferring table 53 is the same as that of the first roller 541.
When the supporting and conveying platform 53 is lifted to the upper limit position, the supporting and conveying platform 53 is flush with the top surface of the ground rotating device 51; when the support transfer table 53 is lowered to the lower limit position, the support transfer table 53 is flush with the top surface of the underground turning device 54.
The supporting and conveying table 53 includes a plurality of second conveying rollers, second driving members, and supporting frames arranged side by side; the second conveying roller is rotatably arranged on the supporting frame through a rotating shaft; the second drive member may be any one of a gear transmission mechanism, a belt transmission mechanism, or a chain transmission mechanism.
The following describes specifically the case where the second driving member is a belt conveying mechanism:
the second drive member includes: two-way motor and a plurality of hold-in range.
One synchronous belt is sleeved on the output shaft of the two-way motor and the rotating shaft of the adjacent second conveying roller, and the other synchronous belts are respectively sleeved on the rotating shafts of the adjacent second conveying rollers; the bidirectional motor makes a plurality of second conveying rollers rotate synchronously through a synchronous belt.
Further, the supporting frame is provided with a pulley matched with the sliding track; the lifting driving part is a cylinder or a hydraulic cylinder.
In a fourth implementation manner, the switching system provided in this embodiment includes the underground rotating device in the first implementation manner or the second implementation manner, and further includes the following lifting device:
this elevating gear includes: a second bracket 52, a supporting and conveying table 53 and a lifting driving part fixed in the channel; the second bracket 52 is provided with a slide guide; the lifting driving part drives the supporting and conveying table 53 to ascend or descend along the sliding guide rail; the supporting and transferring table 53 can transfer the cargo container, and a transferring direction of the supporting and transferring table 53 is perpendicular to a transferring direction of the first roller 541.
The transit system 5' further comprises: the lifting and rolling device 55 is formed by arranging a plurality of combination units.
The lift-rolling device 55 includes: the device comprises a transfer fixing frame 551, a transfer lifting frame 552, a lifting driving part 553, a plurality of first transfer roller ways 554 with the same conveying direction as the first roller ways 541, a plurality of second transfer roller ways 555 with the same conveying direction as the supporting conveying table 53, wherein one end of each second transfer roller way 555 extends to a second support 52 of the lifting device.
The second transfer roller way 555 is arranged on the transfer fixing frame 551; a first transfer roller table 554 is provided on the transfer lifting frame 552; the lift driving unit 553 is fixed to the transfer holder 551, and has an output end connected to the transfer lift 552 to drive the transfer lift 552 to be raised or lowered.
When the supporting and conveying table 53 is lifted to the upper limit position, the top surface of the supporting and conveying table 53 is flush with the top surface of the ground rotating device 51; when the supporting and conveying table 53 descends to the lower limit position, the top surface of the supporting and conveying table 53 is flush with the top surface of the second transfer roller way 555.
When the transfer lifting frame 552 ascends to the upper limit position, the top surface of the first transfer roller way 555 is flush with the top surface of the first roller way 541 of the underground rotating device 54 and is higher than the top surface of the second transfer roller way 555; when the transfer lifting frame 552 descends to the lower limit position, the top surface of the first transfer roller way 554 is lower than the top surface of the second transfer roller way 555.
Further, the first transfer roller way 554 includes a plurality of rollers arranged along a conveying direction of the first transfer roller way 554; the roller is rotatably arranged on the transfer lifting frame 552 through a rolling shaft; the first transfer roller 554 is driven by any one of a gear transmission mechanism, a belt transmission mechanism or a chain transmission mechanism, wherein the gear transmission mechanism has the same structure as the gear transmission mechanism provided in the first embodiment, and the belt transmission mechanism has the same structure as the belt transmission mechanism provided in the second embodiment.
The second transfer roller way 555 includes a plurality of conveying rollers arranged along the conveying direction of the second transfer roller way 555; the conveying roller is rotationally arranged on the transfer fixing frame through a rotating shaft; the second transfer roller way 555 is driven by any one of a gear transmission mechanism, a belt transmission mechanism or a chain transmission mechanism, wherein the gear transmission mechanism has the same structure as the gear transmission mechanism provided in the first embodiment, and the belt transmission mechanism has the same structure as the belt transmission mechanism provided in the second embodiment.
The transfer system 5' of the present embodiment further includes an abnormal cargo temporary storage device 56, which is formed by at least one combination unit, for temporarily storing the cargo containers in an abnormal state.
Referring to fig. 24, the abnormal cargo temporary storage device 56 includes: the temporary storage device comprises a temporary storage support 561 fixed on an underground platform, a plurality of parallel temporary storage roller ways 562 arranged at the top of the temporary storage support 561 and a temporary storage driving component for driving the temporary storage roller ways 562 to convey; the temporary storage roller table 562 and the supporting and conveying table 53 have the same conveying direction; the temporary storage support 561 is disposed at a side end of a transfer fixing frame 551 of the lifting and rolling device 55, and the temporary storage roller table 562 is butted with the other end of the second transfer roller table 555, that is, the lifting device and the abnormal goods temporary storage device 56 are respectively disposed at two ends of the lifting and rolling device 55.
When the cargo container conveyed by the first roller 541 of the underground rotating device 54 is in a normal state, the lifting and rolling device 55 transfers the cargo container to the lifting device, when the cargo container conveyed by the first roller 541 of the underground rotating device 54 is in an abnormal state, the lifting and rolling device 55 transfers the cargo container to the temporary storage roller 562 of the abnormal cargo temporary storage device 56 for temporary storage, and when the abnormal state of the cargo container is changed to be normal, the abnormal cargo temporary storage device 56 transfers the cargo container to the lifting and rolling device 55 and the lifting device for a normal conveying process; when the abnormal state of the cargo container cannot be resolved, the abnormal cargo container can be manually removed from the abnormal cargo temporary storage device 56.
The temporary storage driving part is any one of a gear transmission mechanism, a belt transmission mechanism or a chain transmission mechanism.
The following describes a case where the temporary storage drive means is a belt transfer mechanism:
the temporary storage roller table 562 comprises a plurality of temporary storage conveying rollers arranged along the conveying direction of the temporary storage roller table 562; the temporary storage conveying roller is rotatably arranged on the temporary storage support 561 through a rotating shaft.
The temporary storage drive unit includes: two-way motor and a plurality of hold-in range.
One synchronous belt is sleeved on an output shaft of the two-way motor and a rotating shaft of the adjacent temporary storage conveying roller, and the other synchronous belts are respectively sleeved on the rotating shafts of the adjacent temporary storage conveying rollers; the two-way motor makes a plurality of temporary storage conveying rollers rotate synchronously through the synchronous belt.
In a fifth implementation manner, the switching system 5' provided in this embodiment includes: the underground turning gear 54 in the first implementation manner or the second implementation manner, and the lifting gear in the third implementation manner or the fourth implementation manner, further includes the following above-ground turning gear 51:
referring to fig. 23, the ground rotating means 51 comprises: a third bracket 511 fixed on the ground platform, a plurality of third roller beds 512 arranged in parallel and arranged on the top of the third bracket 511, and a third driving component for driving the third roller beds 512 to transmit; the third roller 512 is in the same conveying direction as the support conveying table 53; the third driving part is any one of a gear transmission mechanism, a belt transmission mechanism or a chain transmission mechanism.
The following describes a case where the third driving member is a belt conveying mechanism:
the third roller table 512 includes a plurality of third conveying rollers arranged in the conveying direction of the third roller table 512; the third conveying roller is rotatably disposed on the third bracket 511 by a rotating shaft.
The third driving part includes: two-way motor and a plurality of hold-in range.
One synchronous belt is sleeved on the output shaft of the two-way motor and the rotating shaft of the adjacent third conveying roller, and the other synchronous belts are respectively sleeved on the rotating shafts of the adjacent third conveying rollers; the bidirectional motor makes a plurality of third conveying rollers synchronously rotate through a synchronous belt.
In a sixth implementation manner, the switching system provided in this embodiment includes: the underground rotating device 54 in the first implementation manner or the second implementation manner, the lifting device in the third implementation manner or the fourth implementation manner, and the above-ground rotating device 51 in the fifth implementation manner further include: a parking auxiliary discharge device;
the parking auxiliary unloading device comprises a plurality of auxiliary unloading units with the same structure as the lifting and rolling device 55 in the fourth implementation mode, the plurality of auxiliary unloading units are arranged side by side at the edge of the unloading and loading station, and the first roller way 541 of the underground rotating device 54 is in butt joint with the first transfer roller way of the set auxiliary unloading unit in the middle position. After the logistics transport vehicle stops, a first transfer roller way of one auxiliary unloading unit is in butt joint with a roller way of automatic loading and unloading of the logistics transport vehicle, but the auxiliary unloading unit is not in butt joint with a first roller way 541 of the underground rotating device, the cargo container is transferred to the set auxiliary unloading unit through a second transfer roller way of the auxiliary unloading unit, then the first transfer roller way is lifted, and the cargo container is transferred to the first roller way 541 of the underground rotating device 54 through the first transfer roller way to start a normal transfer process. Thus, when the stop position of the logistics transportation vehicle is not the set position, the parking assistance discharging device can adjust the cargo container sent out by the logistics transportation vehicle to the position corresponding to the first roller way 541 of the underground rotating device 54.
8:
The piping lane transportation system provided by this embodiment includes, in addition to the components provided by the previous embodiment, further including: power supply system and control system, power supply system provide the electric energy for each power consumption part of commodity circulation transport vechicle and switching system, and wherein, the electric energy is through leading in the power from the electric wire netting, handles the distribution through the electric substation to the power, then leads to each power consumption unit of piping lane intelligence transport system through specific power supply mode. The power supply mode for the logistics transport vehicle can be realized in the following modes: the power supply of a third rail, the power supply of a contact net, the power supply of electromagnetic induction, the power supply of a sliding contact line or the power supply of energy storage of various media. The power supply form and the installation mode are selected according to specific environments.
The third rail power supply means: the logistics transport vehicle gets electricity through the current receiving device and the electrified rail contact laid along the line, and provides electric energy for the logistics transport vehicle. The third rail supplies power, so that the electrified rails can be placed on two sides of the line to flow back through the deformed rails; or can be arranged in the middle of the line to flow back through the walking track; a return current rail can be independently arranged to transmit the current back to the substation. The third rail may receive power from the current receiving device from the upper portion of the live rail, from the side portion of the live rail, or from the bottom portion of the live rail. The current collecting device can be arranged on the side surface, the bottom surface and the upper surface of the vehicle, and the current collecting device can be a pantograph or a collector shoe. The interior setting of the pipeline that provides in the front of this application receives the rail, to the current collector transmission electric energy of commodity circulation transport vechicle to what supply the operation of commodity circulation transport vechicle is a third rail power supply mode.
The power supply of the contact net is as follows: the transport vehicle gets electricity from overhead contact net through the current-collecting device, provides the electric energy for the vehicle, and the contact net power supply can be flexible contact net power supply, also can be the power supply of rigidity contact net. The overhead line system can be arranged on the vehicle or on the side of the vehicle. The current collecting device can be a pantograph or a collector shoe. The current collection device can collect current from the lower part of the contact net and also can collect current from the side surface of the contact net.
The electromagnetic induction power supply means that: a primary loop is arranged on a vehicle shape-running line and is connected with a high-frequency alternating current power supply, when a vehicle runs on the line, a secondary coil arranged on the vehicle generates alternating current due to the electromagnetic induction principle, and the alternating current is processed to supply power to a transport vehicle. The primary coil powered by electromagnetic induction can be arranged on the walking surface, can also be arranged on the side surface of the transport vehicle, and can also be arranged on the upper part of the running vehicle. The secondary coil can be arranged at the bottom of the vehicle according to the layout of the vehicle, can also be arranged at the side of the vehicle, and can also be arranged at the top of the vehicle.
The power supply principle of the trolley line is basically consistent with that of the contact rail, and the transportation vehicle contacts the electrified metal wire to obtain electricity to provide electric energy for the vehicle through the current receiving device. The trolley line may be disposed in an upper portion of the vehicle, or in a side portion of the vehicle, or in a lower portion of the vehicle. Correspondingly, the current-collecting device can be arranged on the top, the side and the bottom of the vehicle.
The energy storage type power supply means that: the transport vehicle provides electric energy for the vehicle through self-contained storage batteries, super capacitors and other energy storage devices. The energy storage device in the energy storage and power supply can be a super capacitor bank, various chemical storage battery packs and energy storage devices formed by mutually combining various energy storage media. The charging equipment for energy storage and power supply can be contact type charging equipment, and the contact type can be third rail contact charging and sliding contact line contact charging; the charging equipment powered by the stored energy can also be wireless charging equipment, and the charging form can be electromagnetic induction power supply.
9:
The piping lane transportation system provided by this embodiment includes, in addition to the components provided by the previous embodiment, further including: and the processor is connected with the driving device of the bogie of the logistics transport vehicle, and the unmanned automatic driving of the logistics transport vehicle is realized by controlling the starting or stopping of the driving device. The treater is connected with the traction motor of the opening and closing mechanism of the automobile body of the logistics transport vehicle, and the upper sliding door of the automobile body is opened or closed by controlling the forward or reverse rotation of the traction motor. The processor is connected with each driving component of the underground rotating device, the lifting device and the ground rotating device in the switching system so as to control the underground rotating device, the lifting device and the ground rotating device to automatically carry out loading and unloading operation of the goods tray. The specific process that the cargo pallet automatically goes out of the vehicle body and enters the station is as follows: the processor is connected with the first driving part of the underground rotating device, the lifting driving part of the lifting device and the third driving part of the ground rotating device for driving the third roller to convey. After the logistics transport vehicle arrives at a station, the processor controls the sliding door to be opened, the cargo tray is automatically shifted out of the automatic loading and unloading platform to the first roller way of the underground rotating device, the processor controls the first driving part to work, the cargo tray is conveyed to the lifting device along the first roller way, then the processor controls the lifting driving part to work, the supporting and conveying platform loaded with the cargo tray is driven to ascend along the sliding guide rail, after the height of the corresponding overground rotating device is reached, the processor controls the third driving part to work, and the cargo tray is conveyed to the unloading warehouse along the third roller way. The specific process of automatically getting the goods trays out of the vehicle body is opposite to the action of the process.
A second pipe transportation system:
referring to fig. 10, the system includes: a pipeline 1 ', at least one running rail set and a logistics transport vehicle 4'; the pipeline 1' is buried underground, and a transportation channel is arranged inside the pipeline; the walking rail set is fixed on the inner wall of the top of the pipeline; the running rail set comprises: two running rails 2 "; the rail surfaces of the two walking rails 2' are symmetrically and obliquely arranged; referring to fig. 11, 3 and 8, the logistics transport vehicle 4 "comprises: a bogie 5' and a vehicle body 6; the vehicle body 6 is hung below the bogie 5'; the wheels 10 on both sides of the bogie 5 "run on the rail surfaces 18 of both running rails.
Referring to fig. 12 and 18, a vehicle body 6 of the logistics transport vehicle 4 ' is hung below a bogie 5 ', wheels on two sides of the bogie 5 ' run on rail surfaces 18 of two running rails 2 ', so that the logistics transport vehicle 4 ' completes underground transportation of goods, ground space is released, and urban traffic jam is relieved; the urban logistics distribution network can be optimized through underground pipeline transportation, effective connection of main line transportation and urban distribution is enhanced, and the method plays a positive role in meeting basic demands of people, improving logistics and urban transportation bearing capacity and promoting vigorous development of electronic commerce. The logistics transport vehicle 4 ' is suspended and runs on the overhead travelling rail of the pipeline 1 ' and can release the transverse swing of the vehicle body 6, so that the impact force of the logistics transport vehicle 4 ' on the travelling rail 2 ' and the pipeline 1 ' is reduced; the design of the overhead traveling rail can be well suitable for the pipeline 1 with limited space, and provides larger space for the vehicle body 6 of the logistics transport vehicle 4', so that the cargo carrying volume of the vehicle body 6 is increased, and the transport capacity is enhanced.
Two ends of the pipeline 1' are communicated with a large underground loading and unloading station; the middle of the pipeline 1 'is communicated with a plurality of branch pipelines with the same structure as the pipeline 1', and the end parts of the branch pipelines are communicated with a small underground loading and unloading station; and the inside of the branch pipeline is provided with walking branch rail groups with the same structure and quantity as the walking rail groups, and the walking branch rail groups are connected with the corresponding walking rail groups. The transportation of goods among large-scale and small-scale underground loading and unloading goods stations is realized through the pipeline 1' and the branch pipeline, and the transportation efficiency is improved. A plurality of ventilation parts and a plurality of lighting parts are arranged in the pipeline 1 'and the branch pipeline, so that personnel can conveniently enter the pipeline 1' to overhaul or replace the parts.
The lightening holes 17 are formed in the walking rails 2 ', on the basis of meeting structural stability and having enough bearing capacity, the lightening holes 17 are formed in the walking rails 2', the load of the pipeline 1 'is reduced, the transportation capacity is improved, and meanwhile, production raw materials of the walking rails 2' are saved.
The specific structure of the bogie of the logistics transport vehicle system provided by the application is described by the following specific embodiments:
1:
referring to fig. 12 and 13, the bogie 5 "includes: the device comprises a framework 7, a lifting pin 13, a pin shaft 8, a plurality of hub motors 11 and a plurality of wheels 10; a pin hole is formed in the middle of the framework 7; the lifting pin 13 is hung in the pin hole, and the lower part of the lifting pin is provided with a shaft hole; the pin shaft 8 is arranged in the shaft hole in a penetrating way and used for hanging the vehicle body 6; the hub motors 11 are symmetrically arranged on two sides of the top of the framework 7 relative to the central line of the framework 7; the hub motor 11 is fixedly connected with the framework 7; the wheels 10 are arranged at the output ends of the corresponding hub motors 11; the wheel 10 has a radial cross section perpendicular to the rail surface 18 of the running rail 2 ".
The wheels 10 on two sides of the bogie 5 'are arranged in a splayed shape, the weight of the vehicle body 6 is transmitted to the two running rails 2' through the pin shaft 8, the lifting pin 13, the framework 7, the in-wheel motor 11 and the wheels 10, when the vehicle body 6 passes through a curve road section, under the action of centrifugal force, the wheels 10 on one side of the framework 7 rise along the inclined planes of the running rails 2 ', the wheels 10 on the other side correspondingly fall, at the moment, the central line of the bogie 5' inclines relative to the vertical plane, when the vehicle body 6 enters the straight line section again, the centrifugal force disappears, the bogie 5 'automatically centers and returns under the action of the gravity, a guide wheel and a guide rail are not needed to be arranged, the wheels 10 arranged in the splayed shape integrate three functions of loading, walking and guiding, the occupied space of the bogie 5' is.
Further, referring to fig. 14 and 15, a plurality of struts 15 are obliquely arranged on both sides of the top of the frame 7 corresponding to the in-wheel motor 11; the pillar 15 is fixedly connected with the hub motor 11 through a fastener; the wheel 10 is fixedly connected with the output end of the hub motor 11 through a fastener; the centre lines of the strut 15, the in-wheel motor 11 and the wheel 10 are collinear. The frame 7 includes: the connecting plate comprises a top plate, a bottom plate and a plurality of connecting plates fixed between the top plate and the bottom plate; the centers of the top plate and the bottom plate are provided with corresponding through holes to form pin holes. As a preferred embodiment, the top plate and the bottom plate are rectangular steel plates with the same structure, the connecting plate is made of steel and is fixed between the top plate and the bottom plate through welding to form a rectangular grid structure. The pillar 15 is a hollow steel pipe and is fixed on the top plate by welding, and the top end of the pillar 15 is fixedly connected with the in-wheel motor 11 by matching a flange and a plurality of bolts, so that firm connection and convenient assembly and disassembly are ensured. The output end of the hub motor 11 is arranged to be a flange structure, and the flange structure is fixedly connected with the wheel 10 through a plurality of bolts. Because the weight of the vehicle body 6 and the frame 7 is sequentially transmitted to the in-wheel motor 11 and the wheel 10 through the support column 15 and finally transmitted to the running rail 2 'through the wheel 10, the stress stability of the whole bogie 5' structure can be ensured by arranging the center lines of the support column 15, the in-wheel motor 11 and the wheel 10 to be collinear.
Further, referring to fig. 15 and 16, the axis of the suspension pin 13 intersects with the center line of the frame 7, and the suspension pin 13 is arranged in the middle of the frame 7, so that the gravity distribution of the vehicle body 6 can be optimized, the stress of the wheels 10 on each side is the same, and the phenomenon that the bogie 5 ″ is deformed and damaged due to the fact that the stress of the wheels 10 on one side is too large to influence the self structure of the bogie 5 ″ or the stress of the running rail 2 "on the corresponding side is too large when the bogie 5 ″ is bent too much is avoided. The suspension pin 13 includes: a head part pressed on the top surface of the framework 7 and a rod body penetrating through the pin hole; the shaft hole is arranged at the lower part of the rod body, and the central line of the shaft hole is parallel to the central line of the framework 7. Further comprising: the rubber ball hinge 9 is arranged in the pin hole, and the hanging pin 13 penetrates through the rubber ball hinge 9; the outer circumference surface of the lower part of the rubber ball hinge 9 is in interference fit with the inner wall of the pin hole, and the inner circumference surface is in clearance fit with the outer wall of the rod body; the upper part of the rubber ball hinge 9 is provided with a circular ring structure with the outer diameter the same as that of the head part of the lifting pin 13, and the lower surface of the circular ring structure is tightly attached to the top surface of the framework 7; the head of the lifting pin 13 is pressed on the circular ring structure of the rubber spherical hinge 9 to transmit vertical force; the lower part of the rubber ball joint 9 can transfer the transverse and longitudinal loads of the vehicle body 6, and simultaneously can release the rotation between the vehicle body 6 and the bogie 5' so as to be beneficial to passing through a small-radius curve section of the walking rail set.
The lower surface of the head part of the lifting pin 13 is provided with an inclined surface; the top surface of the circular ring structure of the rubber ball hinge 9 is arranged to be an inclined surface corresponding to the lower surface of the head of the lifting pin 13, the inclined surface can optimize the vertical and horizontal stress of the rubber ball hinge 9, and the circular ring structure of the rubber ball hinge 9 is prevented from being excessively extruded to cause structural deformation when the bogie 5' is bent excessively.
Referring to fig. 16, the top of the car body 6 is fixedly connected with an ear seat 16, two lifting lugs of the ear seat are respectively hung at two ends of a pin shaft 8, and the axis of the pin shaft 8 is consistent with the advancing direction of the bogie 5 ″, so that the side rolling freedom degree of the car body 6 can be effectively released. The wheels 10 are any one of inflatable rubber wheels, solid rubber wheels or steel wheels, and for logistics transportation of the underground pipeline 1 ', the wall thickness of the underground pipeline 1' is generally thinner, and the inflatable rubber wheels or the solid rubber wheels can reduce impact force of the bogie 5 'and the vehicle body 6 on the underground pipeline 1', so that the solid rubber wheels are the preferable scheme of the application.
Further, referring to fig. 10 and 11, the logistics transportation vehicle system further comprises: the current receiving rails 3 ' are the same as the walking rail sets in number, are arranged on the inner wall of the top of the pipeline 1 ' and are positioned between the two walking rails 2 ' of the corresponding walking rail set; the current receiving rail 3 'is connected with a power supply part to transmit electric energy to the logistics transport vehicle 4'; the flow receiving rail 3 'is fixed on the inner wall of the top of the pipeline 1' through a fastener; when the pipeline 1 ' is made of steel materials, an insulating pad is arranged between the current receiving rail 3 ' and the pipeline 1 '. The bogie 5 'is provided with a current collector 14 and an electric box 12, and the current collector 14 is fixed at the top of the framework 7 and is matched with the current receiving rail 3' to obtain electric energy; the electric box 12 is connected with the current collector 14 and the hub motor 11, and the electric energy acquired by the current collector 14 is transmitted to the hub motor 11 and other electric parts, so that the electric drive of the logistics transport vehicle 4' is realized, and the air pollution caused by the traditional fuel drive is reduced.
As a preferred structure, the number of the in-wheel motors 11 and the wheels 10 is 4; the 4 in-wheel motors 11 are respectively positioned at two ends of the side edge of the framework 7. The vehicle body 6 is hung below the two bogies 5 ', and the two bogies 5' are arranged at two ends of the top of the vehicle body 6 and are positioned on the central line of the vehicle body 6; the front end and the rear end of the vehicle body 6 are provided with connecting devices, and the connecting devices connect and fix a plurality of vehicle bodies 6 and then perform marshalling operation; the body 6 is a box-like structure shaped to fit the transit passage of the pipe 1 ".
A logistics transport vehicle system structure with a circular pipeline section and a running rail set arranged inside is described as follows:
2:
the logistics transport vehicle system comprises the bogie, a vehicle body, a circular pipeline, a traveling rail set and a current receiving rail, wherein the current receiving rail 3 'is arranged on the inner wall of the top of the pipeline 1' and is positioned between the first traveling rail and the second traveling rail; the pipeline 1' is made of steel or concrete and has a circular section; a walking rail set is arranged in the circular pipeline, and at the moment, two walking rails 2' of the walking rail set are as follows: the first walking rail and the second walking rail are symmetrical about the central line of the circular pipeline 1' and are made of steel; the first walking rail and the second walking rail are fixed on the pipeline 1 ' through fasteners or welded, or the first walking rail, the second walking rail and the pipeline 1 ' are integrally formed, and the logistics transport vehicle 4 ' has a certain weight, so that the structural requirements on the first walking rail, the second walking rail and the pipeline 1 ' are higher when the logistics transport vehicle is transported with full-load goods, the integral strength and rigidity of the steel pipeline 1 ' and the walking rails 2 ' are higher, the suspension and transportation requirements of the logistics transport vehicle 4 ' can be met, and good structural stability is ensured. The steel pipeline 1' has good sealing performance, is suitable for underground environment, prevents soil and water from entering a transportation channel, and ensures transportation environment.
Further, referring to fig. 17 and 18, an included angle between a rail surface 18 of the running rail 2 "and a horizontal plane is 120 ° to 170 °, as the logistics transport vehicle 4" and the goods are suspended on the first running rail and the second running rail, the weights of the two are finally transmitted to the first running rail and the second running rail through the wheels 10, and the wheels 10 are generally vertically arranged on the rail surface 18, the size of the inclination angle of the rail surface 18 affects the bearing capacity of the wheels 10 and the bogie 5 "of the logistics transport vehicle 4", and an excessively small included angle causes the bogie of the wheels 10 and the logistics transport vehicle 4 "to be in a poor stress condition, the wheels 10 bear a large moment, the requirements on the bearing capacity and the structural stability of the bogie 5" are high, and the long-term safe operation of the bogie 5 "is not facilitated; and if the included angle is too large, the horizontal force applied to the wheels 10 by the first running rail and the second running rail is small, so that the automatic centering of the logistics transport vehicle 4 'under the action of self weight is not facilitated, and the deviation phenomenon is easy to occur, therefore, the included angle between the rail surface 18 of the first running rail or the second running rail and the horizontal plane is set to be 120-170 degrees, the preferred included angle range is 150-170 degrees, particularly, the preferred included angle is set to be 170 degrees, at the moment, the bogie 5' and the first running rail and the second running rail are in the optimal stress state, the bogie 5 'cannot translate greatly during the over-bending process, the vehicle body 6 cannot roll greatly, and after the vehicle returns to the straight line section of the running rail set, the logistics transport vehicle 4' can quickly return to the dead weight.
The shape of one side surface of the upper part of the walking rail 2 ' is adapted to the inner wall of the pipeline 1 ' and is tightly attached and fixed on the inner wall of the pipeline 1 '; the other side surface of the upper part of the walking rail 2' is a rail surface 18; the bottom surface of the lower part of the walking rail 2' is a horizontal plane. A limit stop 19 is arranged at one side of the lower part of the walking rail 2' corresponding to the rail surface 18; the top surface of the limit stop 19 is set to be an arc surface, the upper part of the arc surface of the limit stop 19 is connected with the rail surface 18 of the walking rail 2' and the lower part approaches to the horizontal plane. When the logistics transport vehicle 4 'is bent excessively, the bogie 5' can slide laterally under the action of inertia, the wheel 10 on one side moves upwards along the rail surface 7, the wheel 10 on the other side moves downwards along the rail surface 18, the wheel 10 moving downwards can possibly cause the wheel 10 to slide over the bottom edge of the rail surface 18 to derail, the major accident that the whole logistics transport vehicle 4 'drops is caused, the limiting stopper 19 arranged on the bottom edge of the rail surface 18 can effectively avoid the wheel 10 to derail, and the operation safety of the logistics transport vehicle 4' is guaranteed.
A logistics transport vehicle system structure with an oval pipeline section and two running rail sets arranged inside is described as follows:
3:
the logistics transport vehicle system of the embodiment comprises the bogie, the vehicle body, the oval pipeline, the two traveling rail sets and the two guided rails 3, wherein the two guided rails 3 are respectively arranged on the inner wall of the top of the pipeline 1 corresponding to the traveling rail sets. The pipeline 1' is made of steel or concrete, and the section of the pipeline is oval; referring to fig. 19, two running rail sets are arranged in the oval pipeline 1 ", wherein two running rails 2" of one running rail set are as follows: the third running rail 2 '0, the fourth running rail and the two running rails 2' of the other running rail group are as follows: a fifth running rail and a sixth running rail 2' 1. The third running rail 2 '0 and the sixth running rail 2' 1 are symmetrically arranged at two sides of the top of the oval pipeline 1 ', the fourth running rail and the fifth running rail are fixed in the middle of the top of the oval pipeline 1', the fourth running rail and the fifth running rail can be independently arranged, and the fourth running rail and the fifth running rail can also be integrally formed.
The material of the running rail set and the connection mode of the pipeline 1 ″ in the embodiment are the same as those in the second embodiment. The third running rail, the fourth running rail, the fifth running rail and the sixth running rail are all provided with the limit gear 19 in the second embodiment. The two walking rail sets can realize the parallel operation of the logistics transport vehicle 4 'in the same direction, or the bidirectional operation of the logistics transport vehicle 4', thereby improving the transport capacity of the whole logistics transport vehicle system.
The technical scheme provided in the embodiment of the application at least has the following technical effects or advantages:
according to the method and the vehicle provided by the embodiment of the application, the alarm signal sent by the nearby vehicle in the detection range of the vehicle is firstly detected and obtained, then the running speed of the vehicle is automatically controlled according to the signal intensity of the detection signal, and the vehicle distance between the vehicle and the nearby vehicle is represented by the signal intensity of the detection signal, so that the vehicle speed can be automatically adjusted according to the vehicle distance, safety accidents caused by too close vehicle distance are avoided, and the running safety of the vehicle is effectively improved.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made in the embodiments of the present invention without departing from the spirit or scope of the embodiments of the invention. Thus, if such modifications and variations of the embodiments of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to encompass such modifications and variations.

Claims (19)

1. A vehicle control method, applied to a vehicle in an underground pipe transportation system, the underground pipe transportation system comprising a ground control system and an on-board control system, the on-board control system comprising: the system comprises an automatic protection and control system, an automatic traction and braking system and an information acquisition and transmission system; the information acquisition and transmission system comprises a vehicle interval detection module and an identification detection module;
the method comprises the following steps:
the vehicle interval detection module detects and acquires a detection signal, wherein the detection signal is a signal sent by a nearby vehicle located in the detection range of the vehicle;
the automatic protection and control system controls the speed of the vehicle through the automatic traction and braking system according to the signal intensity of the detection signal and a relationship list comprising a positive correlation corresponding relationship between a preset acceleration and the signal intensity, wherein the signal intensity represents the vehicle distance between the vehicle and the nearby vehicle, and the signal intensity is inversely correlated with the vehicle distance;
the identification detection module acquires information carried by the identification by detecting the identification installed in the underground pipeline, and the automatic protection and control system determines the driving direction and the path of the vehicle by combining with the original pre-stored route planning information.
2. The method of claim 1, wherein the vehicle has a vehicle separation detection module mounted thereon, and wherein detecting to acquire the detection signal comprises:
receiving, by the vehicle interval detection module, the detection signal from a vehicle interval detection module installed on a nearby vehicle located within the detection range.
3. The method of claim 2, wherein the vehicle interval detection module faces a head of the vehicle, and the detecting acquiring detection signals comprises:
receiving, by the vehicle interval detection module, the detection signal transmitted by a nearby vehicle located ahead in the vehicle traveling direction.
4. The method of claim 3, wherein the automated protection and control system controls the vehicle speed of the vehicle via the automated traction and braking system based on the signal strength of the probe signal and a relationship list comprising a positive correlation correspondence of a preset acceleration to the signal strength, comprising:
and when the signal intensity of the detection signal is greater than the preset first-level front intensity, controlling the vehicle to decelerate.
5. The method of claim 4, wherein the automated protection and control system controls the vehicle speed of the vehicle via the automated traction and braking system based on the signal strength of the probe signal and a relationship list comprising a positive correlation correspondence of a preset acceleration to the signal strength, comprising:
when the signal intensity of the detection signal is greater than the preset first-level front intensity, the vehicle is controlled to decelerate at a first acceleration, and the first acceleration is positively correlated with the signal intensity.
6. The method of claim 4, wherein the automated protection and control system controls the vehicle speed of the vehicle via the automated traction and braking system based on the signal strength of the probe signal and a relationship list comprising a positive correlation correspondence of a preset acceleration to the signal strength, comprising:
when the signal intensity of the detection signal is greater than the preset first-level front intensity and less than or equal to the preset second-level front intensity, controlling the vehicle to decelerate;
and when the signal intensity of the detection signal is greater than the preset second-level front intensity, controlling the vehicle to brake, wherein the second-level front intensity is greater than the first-level front intensity.
7. The method of claim 2, wherein the vehicle interval detection module faces a rear portion of the vehicle, and the detecting acquiring a detection signal comprises:
receiving, by the vehicle interval detection module, the detection signal transmitted by a nearby vehicle located behind the vehicle traveling direction.
8. The method of claim 7, wherein the automated protection and control system controls the vehicle speed of the vehicle via the automated traction and braking system based on the signal strength of the probe signal and a relationship list comprising a positive correlation correspondence of a preset acceleration to the signal strength, comprising:
and when the signal intensity of the detection signal is greater than the preset first-level rear intensity, controlling the vehicle to accelerate.
9. The method of claim 8, wherein the automated protection and control system controls the vehicle speed of the vehicle via the automated traction and braking system based on the signal strength of the probe signal and a relationship list comprising a positive correlation correspondence of a preset acceleration to the signal strength, comprising:
and when the signal intensity of the detection signal is greater than the preset first-level rear intensity, controlling the vehicle to accelerate at a second acceleration, wherein the second acceleration is positively correlated with the signal intensity.
10. A vehicle control system, characterized by comprising:
the vehicle interval detection module is used for detecting and acquiring detection signals, wherein the detection signals are signals sent by nearby vehicles located in the detection range of the vehicles;
an automatic traction and braking system for controlling vehicle speed;
the automatic protection and control system controls the speed of the vehicle through the automatic traction and braking system according to the signal intensity of the detection signal and a relation list comprising a positive correlation corresponding relation between preset acceleration and the signal intensity, wherein the signal intensity represents the vehicle distance between the vehicle and the nearby vehicle, and the signal intensity is inversely correlated with the vehicle distance;
and the identification detection module is arranged on the vehicle and used for acquiring the information carried by the identification by detecting the identification arranged in the underground pipeline.
11. The system of claim 10, wherein the vehicle separation detection module is further configured to receive the detection signal from a vehicle separation detection module mounted on a nearby vehicle located within the detection range.
12. The system of claim 11, wherein the vehicle interval detection module faces a head of the vehicle, and the detection signal transmitted from a nearby vehicle located forward in the vehicle traveling direction is received by the vehicle interval detection module.
13. The system of claim 12, wherein the automated protection and control system is further configured to:
and when the signal intensity of the detection signal is greater than the preset first-level front intensity, controlling the vehicle to decelerate.
14. The system of claim 13, wherein the automated protection and control system is further configured to:
when the signal intensity of the detection signal is greater than the preset first-level front intensity, the vehicle is controlled to decelerate at a first acceleration, and the first acceleration is positively correlated with the signal intensity.
15. The system of claim 13, wherein the automated protection and control system further comprises:
the first deceleration unit is used for controlling the vehicle to decelerate when the signal intensity of the detection signal is greater than the preset first-level front intensity and less than or equal to the preset second-level front intensity;
and the second speed reducing unit is used for controlling the vehicle to brake when the signal intensity of the detection signal is greater than the preset second-level front intensity, wherein the second-level front intensity is greater than the first-level front intensity.
16. The system of claim 11, wherein the vehicle interval detection module faces a rear portion of the vehicle, and the detection signal transmitted from a nearby vehicle located rearward in the vehicle traveling direction is received by the vehicle interval detection module.
17. The system of claim 16, wherein the automated protection and control system is further configured to:
and when the signal intensity of the detection signal is greater than the preset first-level rear intensity, controlling the vehicle to accelerate.
18. The system of claim 17, wherein the automated protection and control system further comprises:
and the acceleration unit is used for controlling the vehicle to accelerate at a second acceleration when the signal intensity of the detection signal is greater than the preset first-level rear intensity, and the second acceleration is positively correlated with the signal intensity.
19. A vehicle in an underground pipe transportation system, comprising:
a vehicle main body;
a vehicle control system as claimed in any one of claims 10 to 18 mounted on the vehicle body.
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