CN117361042B - Urban underground material transportation system and working method thereof - Google Patents

Abstract

The invention discloses an urban underground material transport system and a working method thereof, wherein the system comprises an underground trunk transport pipeline, a distribution node, a track and an AGV; the underground trunk line transportation pipeline is a bidirectional pipeline, the underground trunk line transportation pipeline is distributed among a plurality of distribution nodes, a track is arranged in the underground trunk line transportation pipeline, an electrified coil is installed at the bottom of the track, a plurality of AGV trolleys are operated on the track, superconducting magnets are installed on the AGV trolleys, the polarity of a magnetic field generated by the electrified coil is kept the same as that of the superconducting magnets, so that the trolleys are suspended in the track for operation.

Description

Urban underground material transportation system and working method thereof

Technical Field

The invention relates to an urban underground material transportation system and a working method thereof, belonging to the technical field of material transportation.

Background

At present, the current logistics state is as follows:

1, the express delivery has the problems of wrong manual exercise and piece missing;

2, during the shopping peak period, the logistics are stopped, and the courier is short;

3, energy conservation, low carbon and environmental protection are not realized actively;

4, the capability of handling emergency is poor;

5, a certain danger exists in the process of getting the express delivery to the upper door.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, provides a city underground material transportation system and a working method thereof, constructs a special material transportation trunk pipeline and corresponding delivery nodes, and selects an optimal path for delivering materials.

In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:

in a first aspect, the present invention provides a municipal underground material transportation system comprising: underground trunk transport pipelines, distribution nodes, rails, and AGV carts; the underground trunk line transportation pipeline is a bidirectional pipeline, the underground trunk line transportation pipeline is arranged among a plurality of distribution nodes, a track is arranged in the underground trunk line transportation pipeline, an electrified coil is installed at the bottom of the track, a plurality of AGV trolleys are operated on the track, superconducting magnets are installed on the AGV trolleys, and the polarity of a magnetic field generated by the electrified coil is kept the same as that of the superconducting magnets, so that the trolleys are suspended in the track.

Further, the AGV trolley is provided with a high-power air compressor and a blower for sucking air from the headstock and reducing the air pressure in the pipe of the underground trunk transportation pipeline.

Further, be equipped with the transfer station in the delivery node, be equipped with warehouse, goods shelves and arm in the transfer station, be equipped with a plurality of goods of arranging the RFID sign indicating number on the goods shelves, through the arm is put into the AGV dolly with the goods, is equipped with RFID sign indicating number recognition device on the AGV dolly for discern the RFID sign indicating number above the goods, track the goods.

Further, a group of bit codes for the transfer station to recognize are arranged in each AGV trolley, the bit codes comprise codes of destination addresses and codes of source addresses, a data table for storing identification information is arranged in the transfer station, and the data table is updated in real time by sending information to the sub-network.

Furthermore, a vacuum pipeline gate is arranged at the joint of the underground trunk transportation pipeline and the distribution node, and a decompression chamber is arranged in front of the vacuum pipeline gate.

In a second aspect, the present invention provides a method of operation of a municipal underground material transportation system according to any of the preceding claims, comprising:

the AGV trolley loads goods in a warehouse of a starting point distribution node, and tracks goods information through RFID codes on other goods;

the trolleys with cargoes with the same RFID code automatically form a fleet, the fleet enters an underground trunk transportation pipeline, and each fleet is transported in the underground trunk transportation pipeline according to a fixed speed;

after the AGV trolley enters the transfer station from the source station, the transfer station identifies the bit code of the trolley, stores the identification data into a data table, and determines the next transfer station to which the goods are sent by checking the data table;

the AGV trolley reaches the destination of the AGV trolley, automatically leaves the motorcade, enters the transfer station to be moved to, and the rest trolley continues to move forward, and the process is circularly reciprocated to finish transportation.

Further, when the AGV trolley loads goods in the warehouse of the starting point distribution node, the distribution node receives an instruction and starts to operate, after the warehouse partition of the needed goods receives the dispatching instruction of the warehouse, the goods on the goods shelf are clamped out by the mechanical arm and placed on the intelligent pallet trolley which is driven, the intelligent trolley bears the goods to the side of the conveyor belt, the goods are placed in the AGV trolley by the aid of the grabbing robot, and after one trolley is fully filled, the next trolley can continue to load.

Further, when each group of motorcades transport in the underground trunk transport pipeline according to the fixed speed, the speed of the next group of motorcades is slower than that of the front group of motorcades, the speed of the front group of motorcades is automatically regulated according to the traffic flow and the speed in front of the pipeline, the speed of the next group of motorcades is regulated according to the speed and the flow information fed back by the front group of motorcades in real time, the speed and the flow road condition after the motorcades are fed back by the rear group of motorcades, negative feedback regulation is formed, the front group of motorcades accelerate or decelerate, the motorcades of different tracks send signals in advance when passing through the crossroad, whether the motorcades have collision or not occurs is calculated, whether the motorcades change direction or directly pass through the crossroad is known, the turning reservation time is reserved for the motorcades, and the other track pass through one of the motorcades of the crossroad together.

Further, each time a cargo passes through one transfer station, the transfer station adds its own address code to the RFID code of the cargo, so that the next transfer station knows all the transfer stations it passes through.

Further, the AGV trolley enters the transfer station from the source station, and the AGV trolley further comprises:

the AGV trolley starts from a source station;

the AGV performs real-time information interaction with the base station in the transport pipeline, and checks the number of the destination station with the number of the next station;

after the AGV enters the transfer station, judging whether the bit is 0 or not;

if the value is 0, the AGV trolley goes out, and the object is delivered to the station; if not, checking whether the next site number is consistent with the site number;

if the error bit is 0, the base station plans and distributes the code of the next destination to the next destination, if the error bit is 0, the base station takes out the next destination address from the temporary storage point number and advances the next destination;

if the two numbers are inconsistent, changing the destination address of the trolley into the number of the original next station, temporarily storing the original destination address in the temporary storage point number, judging whether error bits overflow or not, if not, advancing to the original next station, and if so, rescuing a route nearby;

repeating the steps until the AGV trolley goes out, delivering the objects to the station, and putting the trolley into use again.

Compared with the prior art, the invention has the beneficial effects that:

1. safety of

Running rule problem of trolley in track: the train of trolleys on the same track is transported in the form of a train of trolleys to a destination, the running speeds of the trains are the same, and a safe distance exists between each train of trolleys. If the motorcade needs to change the direction halfway to the transfer station, the motorcade can automatically drive out of the track, if the process needs to change the speed, the trolley can send out a signal, and the speed of the motorcade can be regulated within a safe distance after the trolley receives the signal, so that the speed reduction can be realized through an algorithm. In addition, the method can calculate how much distance the trolley needs to start decelerating before reaching the terminal station through an algorithm.

2. High efficiency

The route adjustment is flexible, and when part of the route cannot run due to reasons, the route can be changed in time to make adjustment, so that the material distribution safety is ensured.

3. Confidentiality and security

The whole system management mode is fully domestic, and the underground deep layer paving of the traffic pipe network is difficult to detect and invade, so that the secret and safety of the route are guaranteed to the greatest extent.

4. Timeliness of

(1) The high efficiency of underground logistics transportation-guarantee the smooth transportation.

(2) And a highly automated control level.

Drawings

FIG. 1 is a schematic view in perspective of an underground transportation process provided by an embodiment of the present invention;

FIG. 2 is a flow chart of a material transfer process provided by an embodiment of the present invention;

fig. 3 is a schematic diagram of a bidirectional pipeline according to an embodiment of the present invention.

In the figure: 1. AGV trolley; 2. a shunt point; 3. a bi-directional pipe; 4. decompression chamber; 5. and (5) a mechanical arm.

Detailed Description

The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.

Examples

As shown in fig. 1, this embodiment describes a system for transporting urban underground materials, comprising: underground trunk transport pipes, distribution nodes, rails, and AGV dollies 1; the underground trunk transportation pipeline is a bidirectional pipeline 3, the underground trunk transportation pipeline is distributed among a plurality of distribution nodes, a track is arranged in the underground trunk transportation pipeline, an electrified coil is installed at the bottom of the track, a plurality of AGV trolleys are operated on the track, superconducting magnets are installed on the AGV trolleys, and the polarity of a magnetic field generated by the electrified coil is kept the same as that of the superconducting magnets, so that the trolleys are suspended in the track.

In a further embodiment, the AGV cart is equipped with a high power air compressor and blower for drawing air from the head of the cart, reducing the air pressure within the tubes of the underground trunk transport pipeline.

In a further embodiment, a transfer station is arranged in the distribution node, a warehouse, a goods shelf and a mechanical arm 5 are arranged in the transfer station, a plurality of goods with RFID codes are arranged on the goods shelf, the goods are placed into an AGV trolley through the mechanical arm 5, and an RFID code identification device is arranged on the AGV trolley and used for identifying the RFID codes on the goods and tracking the goods.

In a further embodiment, each AGV cart is provided with a set of bit codes for identifying by the transfer station, where the bit codes include a code number of the destination address and a code number of the source address, and the transfer station is provided with a data table for storing identification information, and the data table is updated by sending information to the subnet in real time.

In a further embodiment, a vacuum pipeline gate is arranged at the joint of the underground trunk transportation pipeline and the distribution node, and a decompression chamber 4 is arranged in front of the vacuum pipeline gate.

Examples

In a second aspect, the present invention provides a method of operating the urban underground material transportation system according to any one of embodiment 1, comprising:

the AGV trolley loads goods in a warehouse of a starting point distribution node, and tracks goods information through RFID codes on other goods;

the trolleys with cargoes with the same RFID code automatically form a fleet, the fleet enters an underground trunk transportation pipeline, and each fleet is transported in the underground trunk transportation pipeline according to a fixed speed;

after the AGV trolley enters the transfer station from the source station, the transfer station identifies the bit code of the trolley, stores the identification data into a data table, and determines the next transfer station to which the goods are sent by checking the data table;

the AGV trolley reaches the destination of the AGV trolley, automatically leaves the motorcade, enters the transfer station to be moved to, and the rest trolley continues to move forward, and the process is circularly reciprocated to finish transportation.

In a further embodiment, when the AGV trolley loads in the warehouse of the starting point delivery node, the delivery node receives an instruction, starts to operate, the warehouse partition of the required goods responds after receiving the scheduling instruction of the warehouse, clamps the goods on the goods shelf out by using the mechanical arm, places the goods on the intelligent pallet trolley which is already driven, loads the goods beside the conveyor belt, places the goods into the AGV trolley by using the grabbing robot, and after one trolley is fully loaded, the next trolley can continue to load.

In a further embodiment, when each group of motorcades transport in an underground trunk transport pipeline according to a fixed speed, the speed of the next group of motorcades is slower than that of the front group of motorcades, the speed of the next group of motorcades is automatically regulated according to the traffic flow and the speed in front of the pipeline, the speed of the next group of motorcades is regulated according to the speed and the flow information fed back by the front group of motorcades in real time, the speed and the flow road condition after the next group of motorcades are fed back by the next group of motorcades, negative feedback regulation is formed, the front group of motorcades are accelerated or decelerated, the motorcades of different tracks send out signals in advance when crossing, whether collision occurs or not is calculated, whether the motorcades change direction or directly pass through the crossing is known, the turning reservation time of the motorcades is reserved for the motorcades, and the other track and one of the motorcades passing through the crossing together.

In a further embodiment, each time a cargo passes through a transfer station, the transfer station adds its own address code to the RFID code of the cargo, allowing the next transfer station to know all the transfer stations it has passed through.

In a further embodiment, the AGV trolley enters the transfer station from the source station, further comprising:

the AGV trolley starts from a source station;

the AGV performs real-time information interaction with the base station in the transport pipeline, and checks the number of the destination station with the number of the next station;

after the AGV enters the transfer station, judging whether the bit is 0 or not;

if the value is 0, the AGV trolley goes out, and the object is delivered to the station; if not, checking whether the next site number is consistent with the site number;

if the error bit is 0, the base station plans and distributes the code of the next destination to the next destination, if the error bit is 0, the base station takes out the next destination address from the temporary storage point number and advances the next destination;

if the two numbers are inconsistent, changing the destination address of the trolley into the number of the original next station, temporarily storing the original destination address in the temporary storage point number, judging whether error bits overflow or not, if not, advancing to the original next station, and if so, rescuing a route nearby;

repeating the steps until the AGV trolley goes out, delivering the objects to the station, and putting the trolley into use again.

The matters devised in the above embodiments are explained below in connection with a preferred embodiment.

(1) Engineering construction technology

And deeply developing underground space, and constructing special material transportation trunk pipelines and corresponding distribution nodes. The pipeline adopts small-caliber intensive design, the diameter is about 1.1m, and an Automatic Guided Vehicle (AGV) running in the pipeline adopts a supercritical carbon fiber material, so that the pipeline has the characteristics of firmness, light weight, low wind resistance, large transportation capacity and the like.

(2) Transport process

The Automatic Guided Vehicle (AGV) operates by adopting a low vacuum pipeline magnetic suspension technology. The superconducting magnetic suspension technology is utilized to separate from the ground, so that the friction resistance is close to 0, and meanwhile, the air resistance is greatly reduced by utilizing a pipeline with the inner part close to vacuum, so that the 'near-ground flight' of 800km/h is realized. AGVs enter the underground trunk transportation pipeline, before reaching the vacuum pipeline gate, the gate is opened after the inside decompression treatment of the pipeline (the air pressure in the pipeline is reduced to 100 Pa), after the AGVs enter, each group of the trolley is started according to a fixed speed, the next group of the trolley is immediately behind the trolley, but the speed is slower than that of the front group of the trolley, the front group of the trolley automatically adjusts the speed of the front group of the trolley according to the traffic flow and the speed in front of the pipeline, the rear group of the trolley adjusts the speed of the front group of the trolley according to the speed and the flow information fed back by the front group of the trolley in real time, and the rear group of the trolley can also feed back the speed and the flow road condition behind the group of the trolley to form negative feedback adjustment, so that the front group of the trolley accelerates or decelerates. Because the node communication paths between roads are connected, a phenomenon of merging tracks of the motorcades can occur, the motorcades in different tracks are required to send signals in advance when passing through the diversion point 2 of the crossroad, whether the motorcades change direction or directly pass through the crossroad can be known through calculation, the turning reservation time of the motorcades can be reserved, and the other track can avoid the motorcades together with the other track through one of the motorcades of the crossroad, and whether the motorcades accelerate or decelerate or the motor vehicle is determined according to the real-time condition of the roads (the following figure 1 is a schematic diagram of the underground transportation process in a sectioned perspective).

The AGV dolly is installed high-power air compressor and air-blower, can inhale the air from the locomotive, reduces the intraductal atmospheric pressure more in a step. The superconducting magnet is arranged in the carriage, the coil is arranged at the bottom of the track, and after the power is on, the polarity of a magnetic field generated by the coil is kept the same as that of an electromagnet of the carriage, so that the two magnets repel each other, and the trolley is suspended in the track.

(3) Information transmission mode

When goods and materials are loaded at the starting point, the RFID technology is utilized, different receiving areas are used as standards, intelligent splitting of goods is completed, after a delivery node receives an instruction, the operation is started, a warehouse partition of required goods responds after receiving a dispatching instruction of the warehouse, goods on a goods shelf are clamped out by a mechanical arm and placed on an intelligent pallet trolley which is already driven, the intelligent trolley carries the goods to the side of a conveying belt, the goods are placed into an AGV trolley by utilizing a grabbing robot, the RFID code on the goods can be automatically identified by the AGV trolley at the moment of placement, the goods information starts to be tracked, one trolley can possibly and cannot place all the goods, so that the next trolley can continue to load, the same goods (with the same end point) are identical in identification code, the trolley loaded with the same goods is automatically formed into a vehicle team, and the AGV trolley can be seen as a group during transportation in a track, and the complexity of calculation is greatly reduced. Meanwhile, the AGV trolley automatically recognizes the trolley of each party which is about to pass through the intersection, the speed of each party is controlled through data exchange, the trolley in the same route can be combined into a vehicle team, if the trolley reaches the destination, the trolley can be automatically separated from the vehicle team to enter a transfer station which the trolley needs to go, and the rest trolley continuously moves forward, so that the process can be circularly reciprocated.

(4) Material conveying process

(1) AGV trolley signal code

Each cart has a set of bit codes that can be identified by the transfer station and are the same as routers and switches. The code word contains the code number of the destination address and the code number of the source address. Each transfer station is provided with a data table, and the data table can send information to the subnet where the data table is located for real-time interactive updating, so that the surrounding topology structure is known. Each object arrives at a new transfer station, which checks the data table to determine the next transfer station to which the object is directed. The transit station adds own address code on the code, so that the next transit station knows all transit stations through which the next transit station passes, and the dead circulation of the wrong transit station is avoided. If a transfer station cannot afford the transfer task for maintenance or other reasons, surrounding base stations detect the failure and change the original route on the code to switch the route when receiving the object. (shown in FIG. 2 below)

Coding principle:

1) Source site number: the first six bits are the provincial administrative regions, the middle 7-12 bits are the regional market, the last 13-18 bits are the county administrative regions, and the last 19-32 bits are the county administrative regions, namely the site numbers (from the tail number of 1) in the county. Where the cart comes from, the number of the source station is the number of the departure station.

2) Destination site number: the dividing method is the same as the dividing of the source station number, and the station number finally reached by the trolley is the destination station number.

3) Number of transfer stations: the number of stations it will pass (deduct source and destination) is predetermined when it is sent from the source station, and 1 is subtracted from each pass. If the path is changed, the route is re-normalized, and then the point number of the transfer station is changed.

4) The next site number: the next station number divides the homologous station number. When the trolley passes through the transfer station, a scanner in the pipeline can read 32 bits on the trolley, and if the number of the station is obtained (exclusive OR operation is adopted), the code word of the next station is replaced and can be directly sent out. If not, the station to which the transmission is to be transmitted (the transmission mode in the normal operation state is repeated, and the station to which the transmission is to be transmitted is transmitted).

5) Checking bits: the scanner will focus on the collation bits when changing the next site.

6) The collation bits are fields that compare the destination address with the next point; the check bit can be exclusive-or calculated one by one according to the code words in the segment, if the check bit is the same as the code words in the segment, the check bit is 0, otherwise, the check bit is 1; for 0 person, the system can directly go out of the pipeline for entering (note: check bit is calculated by the calibration of the trolley in pipeline transportation)

7) Error bits: and recording the continuous error running times of the trolley, if the trolley is in error running for 1 time, the error bit is 01, and then changing the destination station number into the next station to be sent, wherein the original destination station number is the temporary storage station number at the front. If corrected, bit-1 is missed; if the error is taken again in the period, accumulation is carried out, and the address which is reached by the second time is placed in the temporary storage site number as in the loop nesting mode. The mechanism only allows three errors to occur, if the errors are exceeded, the error bits overflow, and the trolley is required to be out of the station to re-normalize the route.

8) Temporary site number: the first 35 bits are the third error address, the middle 35 bits are the second address, and the last 35 bits are the first error address. The first 32 bits of 35 bits are the address and the last 3 bits are 000, helping to space between them. When the address is taken away because the trolley returns to the normal rail, the address can be taken from front to back, and the taken bit is cleared.

The encoding principle has the advantages of providing powerful guarantee for conveying the objects to the correct destination, improving the conveying efficiency and avoiding the influence of unnecessary factors on the speed of the trolley in the conveying process. The way of identifying the bit code confirmation path is not used in the current traffic navigation confirmation path, and the way of identifying the bit code confirmation path is applied to underground, so that the defect that the Beidou satellite positioning system cannot accurately position underground can be overcome, and the way is innovative application in underground transportation navigation.

4.2 shortest Path selection

The driving path of the trolley is planned by a navigation system, then the driving path is input into a chip of the trolley, and the trolley is rapidly allocated to an outlet by the system and enters a magnetic suspension pipeline through a decompression chamber. After that, the trolley runs to each station, and an identification system is used for identifying the codes of the trolley; if the switch is passed, the most basic NAND gate is used for quick allocation. If the path of the recognition trolley is not problematic, the object can be smoothly transported to the appointed station by the final trolley.

The Automatic Guided Vehicle (AGV) operation process adopts an underground Beidou system to realize positioning navigation, route planning and background operation management. At present, china is actively pushing the construction and use of an underground Beidou system, and the system integrates the technologies of Beidou satellite navigation system (BDS) +ultra wideband (UWB) +geographic information space digitization and the like, wherein the geographic space digitization technology is the optimal solution for realizing accurate positioning of the system. The method can acquire data of each application service type region of the urban rail by applying the geospatial digitizing technology, takes a synchronous positioning and map building (SLAM) technology as a core, comprises three processes of sensing, positioning and view finding, further develops the map on the basis of forming an electronic map, and realizes optimal path planning of an underground space on the basis of forming a path navigation plan, and has the characteristics of high safety coefficient, high searching speed and the like.

(5) And the construction of the distribution node comprises the steps that each slice area is divided into a distribution headquarter, the functions of the headquarter are divided into two parts, namely an area and a cross area, the headquarter is selected according to the economical strength of the places, the small distribution center is divided, the transportation area in the area is self-coordinated, and if the cross-area transportation is received, the request is sent to the headquarter passing through each area, and the route is coordinated.

(6) Building an intelligent scene:

1) Automatic Guided Vehicles (AGVs) are designed, have large capacity and small resistance, and can automatically identify goods and other characteristics by adopting streamline shapes.

2) Setting up and arranging a transfer station scene and operating internal functions.

(7) Construction of two-way passage of pipelines: the appearance of pipeline is two-way arch, can carry out round trip, and two-way transmission can not influence the whole transportation of dolly because of parallel upper and lower lane. (shown in FIG. 3 below)

The embodiment has the following beneficial effects:

1. safety of

Running rule problem of trolley in track: the train of trolleys on the same track is transported in the form of a train of trolleys to a destination, the running speeds of the trains are the same, and a safe distance exists between each train of trolleys. If the motorcade needs to change the direction halfway to the transfer station, the motorcade can automatically drive out of the track, if the process needs to change the speed, the trolley can send out a signal, and the speed of the motorcade can be regulated within a safe distance after the trolley receives the signal, so that the speed reduction can be realized through an algorithm. In addition, the method can calculate how much distance the trolley needs to start decelerating before reaching the terminal station through an algorithm.

2. High efficiency

The route adjustment is flexible, and when part of the route cannot run due to reasons, the route can be changed in time to make adjustment, so that the material distribution safety is ensured.

3. Confidentiality and security

The whole system management mode is fully domestic, and the underground deep layer paving of the traffic pipe network is difficult to detect and invade, so that the secret and safety of the route are guaranteed to the greatest extent.

4. Timeliness of

(1) The high efficiency of underground logistics transportation-guarantee the smooth transportation.

(2) And a highly automated control level.

The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.

Claims (8)

1. A municipal underground material transportation system, comprising: underground trunk transport pipelines, distribution nodes, rails, and AGV carts; the underground trunk line transportation pipeline is a bidirectional pipeline, the underground trunk line transportation pipeline is arranged among a plurality of distribution nodes, a track is arranged in the underground trunk line transportation pipeline, an electrified coil is installed at the bottom of the track, a plurality of AGV trolleys are operated on the track, superconducting magnets are installed on the AGV trolleys, and the polarity of a magnetic field generated by the electrified coil is kept the same as that of the superconducting magnets, so that the trolleys are suspended in the track;

a transfer station is arranged in the distribution node, a warehouse, a goods shelf and a mechanical arm are arranged in the transfer station, a plurality of goods with RFID codes are arranged on the goods shelf, the goods are placed into an AGV trolley through the mechanical arm, and an RFID code identification device is arranged on the AGV trolley and used for identifying the RFID codes on the goods and tracking the goods;

each AGV trolley is provided with a group of bit codes for identification by a transfer station, the bit codes comprise a code number of a destination address and a code number of a source address, the transfer station is provided with a data table for storing identification information, and the data table is updated in real time by sending information to a subnet;

the AGV trolley loads goods in a warehouse of a starting point delivery node, and tracks goods information by identifying RFID codes on the goods;

the trolleys with cargoes with the same RFID code automatically form a fleet, the fleet enters an underground trunk transportation pipeline, and each fleet is transported in the underground trunk transportation pipeline according to a fixed speed;

after the AGV trolley enters the transfer station from the source station, the transfer station identifies the bit code of the trolley, stores the identification data into a data table, and determines the next transfer station to which the goods are sent by checking the data table;

the AGV trolley reaches the destination of the AGV trolley, automatically leaves the motorcade, enters the transfer station to be moved to, and the rest trolley continues to move forward, and the process is circularly reciprocated to finish transportation.

2. The urban underground material transportation system of claim 1, wherein: the AGV trolley is provided with a high-power air compressor and a blower, and is used for sucking air from the headstock and reducing the air pressure in the pipe of the underground trunk transportation pipeline.

3. The urban underground material transportation system according to claim 2, wherein: the underground trunk transportation pipeline is provided with a vacuum pipeline gate at the joint of the distribution node, and a decompression chamber is arranged in front of the vacuum pipeline gate.

4. A method of operating the urban underground material transportation system of claim 3, comprising:

the AGV trolley loads goods in a warehouse of a starting point distribution node, and tracks goods information by identifying RFID codes on the goods;

the trolleys with cargoes with the same RFID code automatically form a fleet, the fleet enters an underground trunk transportation pipeline, and each fleet is transported in the underground trunk transportation pipeline according to a fixed speed;

after the AGV trolley enters the transfer station from the source station, the transfer station identifies the bit code of the trolley, stores the identification data into a data table, and determines the next transfer station to which the goods are sent by checking the data table;

the AGV trolley reaches the destination of the AGV trolley, automatically leaves the motorcade, enters the transfer station to be moved to, and the rest trolley continues to move forward, and the process is circularly reciprocated to finish transportation.

5. The method of claim 4 wherein the AGV receives an instruction from the warehouse at the start point delivery node, the delivery node starts the operation, the warehouse partition of the desired load responds to the dispatch instruction from the warehouse, the load on the pallet is clamped by the mechanical arm and placed on the intelligent pallet truck which has been driven, the intelligent pallet truck carries the load to the side of the conveyor belt, the load is placed into the AGV truck by the grabbing robot, and the next truck continues to load after one truck is fully loaded.

6. The method according to claim 4, wherein each group of motorcades is slower than the preceding motorcade in speed when transported in the underground trunk transportation pipeline according to a fixed speed, the preceding group of motorcades automatically adjusts own speed according to the traffic and speed in front of the pipeline, the following motorcade adjusts own speed according to the speed and flow information fed back by the preceding motorcade in real time, the following motorcade also feeds back the speed and flow road condition behind the motorcade, a negative feedback adjustment is formed, the preceding motorcade is accelerated or decelerated, the motorcades of different tracks send signals in advance when passing through the crossroad, whether the motorcade changes direction or passes through the crossroad is calculated, the other track is avoided together with the preceding motorcade through one of the crossroad, and the other track is avoided along with the other track.

7. The method of claim 4, wherein each time a cargo passes through a transfer station, the transfer station adds its own address code to the RFID code of the cargo, allowing the next transfer station to know all the transfer stations it passes through.

8. The method of operation of the urban underground material transport system of claim 4 wherein the AGV cart enters the transfer station from the source station, further comprising:

the AGV trolley starts from a source station;

the AGV performs real-time information interaction with the base station in the transport pipeline, and checks the number of the destination station with the number of the next station;

after the AGV enters the transfer station, judging whether the bit is 0 or not;

if the value is 0, the AGV trolley goes out, and the object is delivered to the station; if not, checking whether the next site number is consistent with the site number;

if the error bit is 0, the next destination code is planned and distributed by the base station, and then the next destination is advanced, if the error bit is not 0, the next destination address is taken out from the temporary storage point number, and the next destination is advanced;

if the two numbers are inconsistent, changing the destination address of the trolley into the number of the original next station, temporarily storing the original destination address in the temporary storage point number, judging whether error bits overflow or not, if not, advancing to the original next station, and if so, rescuing a route nearby;

repeating the steps until the AGV trolley goes out, delivering the objects to the station, and putting the trolley into use again.