CN207860044U - A kind of piping lane transportation system - Google Patents
A kind of piping lane transportation system Download PDFInfo
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- CN207860044U CN207860044U CN201820253235.5U CN201820253235U CN207860044U CN 207860044 U CN207860044 U CN 207860044U CN 201820253235 U CN201820253235 U CN 201820253235U CN 207860044 U CN207860044 U CN 207860044U
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- 229910018503 SF6 Inorganic materials 0.000 abstract description 5
- SFZCNBIFKDRMGX-UHFFFAOYSA-N sulfur hexafluoride Chemical compound FS(F)(F)(F)(F)F SFZCNBIFKDRMGX-UHFFFAOYSA-N 0.000 abstract description 2
- 229960000909 sulfur hexafluoride Drugs 0.000 abstract description 2
- 230000032258 transport Effects 0.000 description 105
- 230000005611 electricity Effects 0.000 description 15
- 238000000034 method Methods 0.000 description 13
- 230000008569 process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000015556 catabolic process Effects 0.000 description 2
- 239000004020 conductor Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000746 purification Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
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Abstract
The utility model discloses a kind of piping lane transportation systems, are related to piping lane technical field of transportation, for solving the problems, such as that existing piping lane transportation system can not realize safe efficient transport well and invent.The piping lane transportation system, including：More automated guided vehicles；Shipping point of origin in piping lane and transportation terminal；Track is transported, transport track is connected between shipping point of origin and transportation terminal；At least one evacuation track, at least one evacuation track are connected with transport track, and the extending direction along transport track is separated by setting；Upper computer control system, when two automated guided vehicles are along transport track Facing Movement, and when the distance between two automated guided vehicles are less than or equal to pre-determined distance L, the automated guided vehicle that upper computer control system can control priority level low enters evacuation track, is avoided with the automated guided vehicle high to priority level.The utility model can be used for the transport of sulfur hexafluoride gas cylinder etc. in piping lane.
Description
Technical field
The utility model is related to piping lane technical field of transportation more particularly to a kind of piping lane transportation systems.
Background technology
GIL (Gas Insulated Line gas-insulated lines) refers to gas-insulated metal closed power transmission line, is used
Insulating gas (such as sulfur hexafluoride gas) insulate the plain conductor of transmission of electricity, and insulating gas and plain conductor are closed shell
In.The arrangement of GIL generally use underground pipe galleries, this kind of arrangement is with not affected by environment, operational reliability is high, section
The remarkable advantages such as occupation of land are saved, therefore are widely used.
GIL needs regularly to detect and repair during underground pipe gallery is run, it is therefore desirable to by some equipment from ground
The insulating gas that face is transported in the appointed place in piping lane, such as the insulation gas chamber of GIL is frequently necessary to inflation, recycling, purification
Deng processing, this is just needed the process points being transported in piping lane for storing the gas cylinder of insulating gas, handle need later by
Gas cylinder transports piping lane.Therefore, how efficiently and safely transport has become urgent problem to be solved in the industry in piping lane.
Existing a kind of piping lane transportation system, as shown in Figure 1, including more tractors 01 and more trailers 02.It is transporting
When, it is placed on trailer 02 in shipping point of origin by object is transported first, then tractor 01 will be transported by the way of pilot steering
Object is transported to transportation terminal.
Existing this piping lane transportation system is to transport gas by way of 01 breakdown trailer 02 of pilot steering tractor
The objects to be transported such as bottle can not ensure tractor 01 along defined route row in this way due to being influenced by factors such as people's driving efficiencies
It sails, lateral swing occurs than tractor 01 if in the process of moving, trailer 02 can be made also to swing laterally in this way, due to pipe
Narrow space in corridor, and have many barriers, the trailer 02 swung laterally is easy to collide with barrier,
Thus it cannot be guaranteed that with transporting safely for object is transported；Simultaneously as tractor 01 is to use pilot steering, as one in piping lane
When travelling the tractor 01 of more breakdown trailers 02 between a shipping point of origin and a transportation terminal, system cannot achieve to more
The traveling of tractor 01 carries out Comprehensive Control, and especially in more 01 Facing Movements of tractor, tractor 01 can not just be accomplished
In the place with avoiding space, evacuation reduces the conevying efficiency in piping lane in this way to which appearance causes traffic jam in time.
Utility model content
The embodiments of the present invention provide a kind of piping lane transportation system, and can solve existing piping lane transportation system cannot
Enough the problem of realizing safe efficient transport well.
In order to achieve the above objectives, in a first aspect, the embodiments of the present invention provide a kind of piping lane transportation system, packet
It includes：More automated guided vehicles；Transportation point in piping lane, the transportation point include shipping point of origin and transportation terminal；Fortune
Defeated track, the transport track are connected between the shipping point of origin and the transportation terminal；At least one evacuation track, at least
One evacuation track is connected with the transport track, and the extending direction along the transport track is separated by setting；
Upper computer control system, when two automated guided vehicles are along transport track Facing Movement, and described in two from
When the distance between dynamic guide transport lorry is less than or equal to pre-determined distance L, the upper computer control system can control priority level low
The automated guided vehicle enter the evacuation track, kept away with the automated guided vehicle high to priority level
It allows.
The piping lane transportation system that the utility model embodiment provides is to realize shipping point of origin by automated guided vehicle
Transport between transportation terminal, due to automated guided vehicle be under the navigation of its navigation system it is automatic along transport track
Mobile, such automated guided vehicle can follow the prescribed course in shipping point of origin and the moving process of transportation terminal
It is travelled, can transversely be swung to avoid car body occurs, to avoid in the transport object and piping lane on automated guided vehicle
Barrier collide, it is ensured that transport object safety during transport；Meanwhile when two automated guided vehicles are along transport
During the Facing Movement of track, when distance is less than or equal to pre-determined distance L between two automated guided vehicles, one to another
Evacuation be to be completed under the control of upper computer control system, can thus accomplish to avoid in time, ensure more it is automatic
Traffic when guide transport lorry is along transport track Facing Movement is unobstructed, so as to improve the conevying efficiency in piping lane.
Second aspect, the embodiments of the present invention additionally provide a kind of piping lane transportation system as described in first aspect
Control method, include the following steps：Object will be transported to be loaded on automated guided vehicle in shipping point of origin；The transport object dress
After the completion of load, the automated guided vehicle is moved along transport track to transportation terminal, the transport object is transported to described
Transportation terminal；During transport, when two automated guided vehicles are along transport track Facing Movement, and two
When the distance between described automated guided vehicle is less than or equal to pre-determined distance L, according to two automated guided vehicles
The height of priority level, upper computer control system control the low automated guided vehicle of priority level and enter the evacuation vehicle
Road is avoided with the automated guided vehicle high to priority level.
The control method for the piping lane transportation system that the utility model embodiment is provided, it is solved the technical issues of and institute
The technique effect reached is identical as the piping lane transportation system described in first aspect, and details are not described herein.
Description of the drawings
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, other drawings may also be obtained based on these drawings.
Fig. 1 is the schematic diagram of existing piping lane transportation system；
Fig. 2 is the schematic diagram of the piping lane transportation system of the utility model embodiment；
Fig. 3 is to be loaded with SF in the utility model embodiment6Gas bottle truck be loaded into the schematic diagram on automated guided vehicle；
Fig. 4 is the schematic diagram that two automated guided vehicle Facing Movements avoid in the utility model embodiment；
Fig. 5 is the first schematic diagram being arranged around runway around runway and second in the utility model embodiment；
Fig. 6 is the setting schematic diagram of charge point in the utility model embodiment.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be understood that term "center", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of describing the present invention and simplifying the description, rather than indicates or imply and is signified
Device or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as to this practicality
Novel limitation.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；For the ordinary skill in the art, the tool of above-mentioned term in the present invention can be understood with concrete condition
Body meaning.
Term " first ", " second " are used for description purposes only, be not understood to indicate or imply relative importance or
Implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or imply
Ground includes one or more this feature.In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two
It is a or more than two.
In a first aspect, the utility model embodiment provides a kind of piping lane transportation system, as shown in Fig. 2, including：More certainly
Dynamic guide transport lorry 1；Transportation point 2 in piping lane, transportation point 2 include shipping point of origin 21 and transportation terminal 22；Transport track
3, transport track 3 is connected between shipping point of origin 21 and transportation terminal 22；At least one evacuation track 4, at least one evacuation vehicle
Road 4 is connected with transport track 3, and the extending direction along transport track 3 is separated by setting；Upper computer control system, when two
Automated guided vehicle 1 is along transport 3 Facing Movement of track, and the distance between two automated guided vehicles 1 are less than etc.
When pre-determined distance L, the automated guided vehicle 1 that upper computer control system can control priority level low enters evacuation track 4, with
The automated guided vehicle 1 high to priority level avoids.
Wherein, shipping point of origin 21 is the place transported object and be loaded on automated guided vehicle 1, for example, can be to transport
Object is lifted the pick-up point to piping lane by ground；Transportation terminal 22 is the place for needing to transport object in piping lane, for example, when band transports
Object is SF6When gas cylinder, transportation terminal 22 is SF6The inflation point of gas.
As shown in Fig. 2, when transport starts, it will transport object in shipping point of origin 21 and (such as be loaded with SF shown in Fig. 36Gas cylinder
Gas bottle truck 9) be loaded on automated guided vehicle 1, then, automated guided vehicle 1 along transport track 3 by shipping point of origin 21
It is moved to transportation terminal 22, to complete with the transport for transporting object in piping lane；During transport, when two homing guidances
Transport vehicle 1 along transport 3 Facing Movement of track when, spacing between the two can constantly reduce, when spacing between the two be less than etc.
When pre-determined distance L, among the two, the low automated guided vehicle of priority level can under the control of upper computer control system into
Enter into evacuation track 4, to which the automated guided vehicle 1 high to priority level avoids.
The piping lane transportation system that the utility model embodiment provides is to realize shipping point of origin by automated guided vehicle 1
Transport between 21 and transportation terminal 22, due to automated guided vehicle 1 be under the navigation of its navigation system it is automatic along fortune
What defeated track 3 was moved, such automated guided vehicle 1 can be by shipping point of origin 21 and the moving process of transportation terminal 22
It is travelled, can transversely be swung to avoid car body occurs, to avoid the fortune on automated guided vehicle 1 according to defined route
Object is sent to collide with the barrier in piping lane, it is ensured that transport the safety of object during transport；Meanwhile when two homing guidances
Transport vehicle 1 during transport 3 Facing Movement of track, between two automated guided vehicles 1 distance be less than or equal to it is default away from
From when, one to another evacuation is completed under the control of upper computer control system, can thus accomplish to keep away in time
It allows, ensures that traffic of the more automated guided vehicles 1 along transport 3 Facing Movement of track when is unobstructed, so as to improve in piping lane
Conevying efficiency.
In the above-described embodiments, when two automated guided vehicles 1 are along transport 3 Facing Movement of track, and two automatic
When the distance between guide transport lorry 1 is less than or equal to pre-determined distance L, two automated guided vehicle 1 priority level height are judged
Mode it is not unique, for example, as shown in figure 4, can be judged by the size of S values, the big automated guided vehicle 1 of S values
Priority level higher than the small automated guided vehicle 1 of S values, wherein S is the evacuation of automated guided vehicle 1 and nearest neighbours
The distance between the entrance in track 4.Since the time that the small automated guided vehicle 1 of S values enters evacuation track 4 is shorter, this
It is entered in evacuation track 4 before the arrival of automated guided vehicle 1 that sample can be over there, avoids the occurrence of a homing guidance
Transport vehicle 1 stops the case where waiting for another automated guided vehicle 1 to enter evacuation track 4, so as to so that transport vehicle road 3 more
Add unimpeded.
Other than the size of S values, it can also be judged by the moving direction of two automated guided vehicles 1, by transporting
The priority level that defeated starting point 21 drives towards the automated guided vehicle 1 of transportation terminal 22 is higher than and by transportation terminal 22 drives towards shipping point of origin
21 automated guided vehicle 1.What the automated guided vehicle 1 by driving towards transportation terminal 22 by shipping point of origin 21 was transported is
Generally require the article used, such as SF6Gas cylinder is driven towards 1 institute of automated guided vehicle of shipping point of origin 21 by transportation terminal 22
What is transported is the article after use, such as the SF being finished6The height of priority level is arranged, so that it may to ensure piping lane in empty bottle in this way
Article required for interior can be sent in time.
On transport track 3, evacuation track 4 can be one, in addition, as shown in figure 4, evacuation track 4 may be more
A, extending direction of multiple evacuation tracks 4 along transport track 3 is separated by setting.Compared to only there are one evacuation tracks 4, when with more
When a evacuation track 4, in the automated guided vehicle 1 of two Facing Movements, the low automated guided vehicle 1 of priority level is just
Can according to avoid start when its specific location selection on transport track 3 drive into and carried out away from its nearest evacuation track 4
Evacuation so as to shorten the time of entire evacuation process, and then improves the efficiency of piping lane transportation system.
As shown in figure 4, the value of pre-determined distance L should not be too large, and it is also unsuitable too small, it is excellent in evacuation if L is excessive
The low automated guided vehicle 1 of first rank waited in avoiding track 4 the high automated guided vehicle 1 of priority level by when
Between it is longer, also increase the total time of evacuation；If L is too small, when avoiding beginning, the low homing guidance fortune away from priority level
The entrance in the nearest evacuation track 4 of defeated vehicle 1 is easy at the rear of low 1 moving direction of automated guided vehicle of priority level,
Then the low automated guided vehicle 1 of priority level in this way retreats the evacuation track 4 into nearest neighbours with regard to needing to stop, this
Sample needs to stop, and increases the total time of evacuation.It is calculated through research, works as M<L<When 2M, the total time of evacuation is shorter, so as to
Improve the efficiency of piping lane transportation system；Wherein, M is extending direction spacing distance of the two neighboring evacuation track 4 along transport track 3
Maximum value.
In multiple evacuation tracks 4, extending direction spacing distance of the two neighboring evacuation track 4 along transport track 3 can be with
It is equal (such as shown in Fig. 4), can also be not all equal, it can be depending on the space in piping lane.
Since piping lane is usually long, the place (namely transportation terminal 22) of article demand is typically to change in piping lane
, in order to shorten the distance transported to different demands place, then being also required to that multiple and different shipping point of origin 21 is arranged, such as scheme
Shown in 5, shipping point of origin 21 includes the first shipping point of origin 211 and the second shipping point of origin 212, and transportation terminal 22 includes that the first transport is whole
Point 221 and the second transportation terminal 222, transport track 3 include that track 32, the first transport vehicle are transported in the first transport track 31 and second
Road 31 is connected between the first shipping point of origin 211 and the first transportation terminal 221, and the second transport track 32 is connected to the second transport and rises
Between point 212 and the second transportation terminal 222.Article needed for such first transportation terminal 221, so that it may with by automated guided vehicle
1 transports from the first shipping point of origin 211 along the first transport track 31；Appliance arrangement etc. needed for second transportation terminal 222, so that it may
To be transported from the second shipping point of origin 212 along the second transport track 32 by automated guided vehicle 1, setting in this way can expire
The demand that article demand place changes in sufficient piping lane shortens and transports the time that object transports, and further improves piping lane transport system
The conevying efficiency of system.
When track 32 is transported in the first transport track 31 and second to partly overlap, in order to ensure the first transport track 31 and the
Automated guided vehicle 1 is run unobstructedly on two transport tracks 32, as shown in figure 5, piping lane transportation system further includes the first detour
For track 5a and second around runway 5b, first is (such as shown in the figure with the first intermediate transportation point respectively around the both ends of runway 5a
The second transportation terminal 222) along first transport 31 extending direction of track both sides first transport track 31 connect one to one；
Second around the both ends of runway 5b respectively with the second intermediate transportation point (such as first transportation terminal 221 shown in figure) along second
The the second transport track 32 for transporting the both sides of 32 extending direction of track connects one to one, in this way when an automated guided vehicle
1 stops in the first intermediate transportation point, and when another automated guided vehicle 1 is needed by the first intermediate transportation point, needs
The first intermediate transportation point is bypassed to continue to move around runway 5a along first by the automated guided vehicle 1 of the first intermediate transportation point
It is dynamic；When an automated guided vehicle 1 is stopped in the second intermediate transportation point, and another automated guided vehicle 1 need through
When crossing the second intermediate transportation point, need automated guided vehicle 1 by the second intermediate transportation point along second around runway 5b around
The second intermediate transportation point is crossed to continue to move to.By setting first first is ensure that around runway 5b around runway 5a and second
Transport track 31 and second is transported automated guided vehicle 1 on track 32 and is run unobstructedly, to further improve piping lane fortune
The conevying efficiency of defeated system.
For the ease of the control to automated guided vehicle 1, as shown in figure 4, the piping lane that the utility model embodiment provides
Transportation system further includes multiple first position sensor 8a, and multiple first position sensor 8a may be contained in piping lane and along transport
The extending direction interval in track 3 is arranged, and first position sensor 8a is used to acquire the location information of automated guided vehicle 1, and
Location information is transmitted to upper computer control system, upper computer control system can determine that homing guidance is transported according to the location information of reception
The position of defeated vehicle 1.Upper computer control system is just monitored the operating condition of automated guided vehicle 1 in this way, with to automatic
The evacuation etc. of guide transport lorry 1 is controlled well.
Wherein, sensor 8a in first position can be arranged on transport track 3, can also be arranged on the side wall of piping lane,
It is not specifically limited herein.
When two automated guided vehicles 1 are along transport 3 Facing Movement of track, in order to keep upper computer control system smart
The position for really obtaining two automated guided vehicles 1 starts to indicate, as shown in figure 4, two neighboring keep away to make evacuation in time
Passing bay 4 is N along the minimum value of the extending direction spacing distance in transport track 3, and two neighboring first position sensor 8a is along fortune
The maximum value of the extending direction spacing distance in defeated track 3 meets for P, P and N：P<N, in this way, upper computer control system can root
The exact position of two automated guided vehicles 1, such upper computer control system are obtained according to first position sensor 8a
Judge whether the distance between two automated guided vehicles 1 are less than or equal to pre-determined distance in time, to control in time
The low automated guided vehicle 1 of priority level processed enters evacuation track 4, to be avoided.
Wherein, the value of P is the smaller the better, for example the value of P can be 5 meters；The value of N can be 100 meters.
Since the movement of automated guided vehicle 1 is driven using mobile power (such as battery), in order to make homing guidance
Transport vehicle 1 can be supplemented in time in electric power deficiency, as shown in fig. 6, the piping lane transport that the utility model embodiment provides
System further includes the charge point 6 being located in piping lane, and charge point 6 is located at outside transport track 3 and evacuation track 4, charge point 6 and fortune
It is equipped with charging track 7 between defeated point 2, is equipped with charging unit 61 at charge point 6, charging unit 61 can be to automated guided vehicle 1
It charges.It can be reached at charge point 6, be passed through by track 7 of charging in the not enough power supply of automated guided vehicle 1 in this way
Charging unit 61 charges.
Wherein, charge point 6 can be arranged around shipping point of origin 21, can also be arranged around transportation terminal 22,
Both sides in transport track 3 can also be set, be not specifically limited herein；Charging track 7 can be not be overlapped with transport track 3,
It can also overlap with transport track 3, it specifically can be depending on the space in piping lane.
In order to reduce the occupied space of charging unit 61, as shown in fig. 6, charging unit 61 (does not show including charging pile in figure
Go out), charging pile is set on piping lane ground, its charging plug retraction subsurface when charging pile does not work, when homing guidance is transported
When vehicle 1 charges, the charging plug of charging pile elevate above the soil it is above, to charge to automated guided vehicle 1.
In the piping lane transportation system that the utility model embodiment provides, the navigation mode of automated guided vehicle 1 is not
Uniquely, for example laser navigation may be used in automated guided vehicle 1, that is, pacifies around transport track 3 and evacuation track 4
The accurate laser reflection plate of holding position, automated guided vehicle 1 emits laser beam by laser scanner, while acquiring by reflecting
The laser beam of plate reflection, to determine its current position and course, and is led by continuous triangle geometric operation to realize automatically
Draw the guiding of transport vehicle 1；In addition, automated guided vehicle 1 can also use magnetic stripe to navigate, that is, in transport track 3 and keep away
Magnetic stripe is attached on passing bay 4, the guiding of automated guided vehicle 1 is realized by magnetic strength induction signal.Compared to laser navigation, using magnetic
Bar navigation flexibility is more preferable, changes or extended route is easier to, magnetic stripe laying is simple and practicable, and cost is lower.
Automated guided vehicle 1 using magnetic stripe navigation embodiment in, first around runway 5a, second around runway
5b, charging are also equipped with magnetic stripe on track 7, to navigate to the automated guided vehicle 1 travelled on above-mentioned track；Fortune
Defeated track 3, evacuation track 4, first can be transported around runway 5a, the second magnetic stripe on runway 5b transporting object arrival
It is laid with, can also be temporarily spread according to the position of transportation terminal 22 after transporting object and reaching shipping point of origin 21 in advance before point 21
If depending on actual conditions.
In piping lane, the place of article demand is typically variation, then shipping point of origin 21 and transportation terminal 22 are usual
It is also unfixed, in order to accurately determine the exact position of shipping point of origin 21 and transportation terminal 22, as shown in Fig. 2, this reality
The piping lane transportation system provided with new embodiment further includes second position sensor 8b, and second position sensor 8b is respectively set
At shipping point of origin 21 and transportation terminal 22.By the way that second position sensor is arranged at shipping point of origin 21 and transportation terminal 22
8b thus can accurately determine the accurate position of transportation terminal 22 and shipping point of origin 21, in order to automated guided vehicle 1
Operating range and route are predefined, while the size for the distance that can be travelled as needed judges that whether sufficient the electricity of itself is high
In default electricity, if electricity is less than default electricity, automated guided vehicle 1 can replace mobile power or arrive charge point 6
Place's charging, to prevent midway not enough power supply from stopping.
Wherein, default electricity refers at least ensureing that automated guided vehicle 1 can be moved to transport eventually by shipping point of origin 21
22 are put, or is moved to the electricity of shipping point of origin 21 by transportation terminal 22；Second position sensor 8b, which is respectively arranged at, to be transported
It is specifically referred at point 21 and transportation terminal 22 when automated guided vehicle 1 reaches shipping point of origin 21 or transportation terminal 22, second
Position sensor 8b can sense the position that automated guided vehicle 1 arrives.
The piping lane transportation system that the utility model embodiment provides, evacuation track 4 with do not transport the connection type in track 3 also not
Uniquely, for example, evacuation track 4 can be connected with one end with transport track 3.In addition, as shown in Fig. 2, evacuation track 4 can also two
End is connected with transport track 3.Compared to evacuation 4 one end of track with transport track 3 be connected, when avoid 4 both ends of track with
When transport track 3 is connected, automated guided vehicle 1 can drive into from the one end in evacuation track 4, and the other end is driven out to, very
It is convenient, be conducive to save the time.
In the piping lane transportation system that the utility model embodiment provides, shipping point of origin 21, transportation terminal 22 and charging
Point 7 is not a point geometrically, but the website that automated guided vehicle 1 can be allowed to stop.
Second aspect, the utility model embodiment additionally provides a kind of piping lane transportation system as described in first aspect
Control method includes the following steps：
Object will be transported to be loaded on automated guided vehicle 1 in shipping point of origin 21；Such as shown in Fig. 3, which show fortune
It is to be loaded with SF to send object6The gas bottle truck 9 of gas cylinder, after gas bottle truck 9 lifts shipping point of origin 21 to piping lane from ground, homing guidance
Transport vehicle 1 is moved to the lower section of gas bottle truck 9, and the towing mechanism on automated guided vehicle 1 rises, and gas bottle truck 9 is pulled
On automated guided vehicle 1, to complete the loading of gas bottle truck 9；
After the completion of transporting object loading, automated guided vehicle 1 is moved along transport track 3 to transportation terminal 22, will be transported
Object is transported to transportation terminal 22；
During transport, when two automated guided vehicles 1 are along transport 3 Facing Movement of track, and two are led automatically
When drawing the distance between transport vehicle 1 less than or equal to pre-determined distance L, according to the height of the priority level of two automated guided vehicles 1
Low, upper computer control system controls the low automated guided vehicle 1 of priority level and enters evacuation track 4, with to priority level height
Automated guided vehicle 1 avoided.
The control method for the piping lane transportation system that the utility model embodiment is provided, it is solved the technical issues of and institute
The technique effect reached is identical as the piping lane transportation system described in first aspect, and details are not described herein.
Wherein, object will transported before shipping point of origin 21 is loaded on automated guided vehicle 1, and will be further including following step
Suddenly：Object will be transported by being transported to shipping point of origin 21 outside piping lane；
During transporting object by being transported to shipping point of origin 21 outside piping lane, when the electricity of automated guided vehicle 1 is less than
When default electricity, charge at 1 charged track 7 of automated guided vehicle to charge point 6；It is placed in shipping point of origin 21 when transporting object
In place, when and the electricity of automated guided vehicle 1 is not less than default electricity, automated guided vehicle 1 is moved to shipping point of origin
21。
Since automated guided vehicle 1 is charged by the process for being transported to shipping point of origin 21 outside piping lane using transport object
, it can thus reduce charging time of the automated guided vehicle 1 in transportational process, to improve piping lane transportation system
Conevying efficiency.
It is further comprising the steps of after automated guided vehicle 1 reaches transportation terminal 22：Object will be transported to transport from homing guidance
It is unloaded on defeated vehicle 1, at this point, if the electricity of automated guided vehicle 1 is not less than default electricity, automated guided vehicle 1 is along fortune
Defeated track 3 returns to shipping point of origin 21 and goes to transport next transport object, if the electricity of automated guided vehicle 1 is less than default electricity
Amount, 1 charged track 7 of automated guided vehicle are arrived at charge point 6 and charge.
In the case where the first transport track 31 and second transports track 32 and partly overlaps, as shown in figure 5, in order to ensure the
One transport track 31 and second is transported automated guided vehicle 1 on track 32 and is run unobstructedly, when an automated guided vehicle 1
Stopped in the first intermediate transportation point, and when another automated guided vehicle 1 is needed by the first intermediate transportation point, need through
The automated guided vehicle 1 for crossing the first intermediate transportation point bypasses the first intermediate transportation point to continue to move along first around runway 5a
It is dynamic；When an automated guided vehicle 1 is stopped in the second intermediate transportation point, and another automated guided vehicle 1 need through
When crossing the second intermediate transportation point, need automated guided vehicle 1 by the second intermediate transportation point along second around runway 5b around
The second intermediate transportation point is crossed to continue to move to.Automated guided vehicle 1 by first around runway 5a or second around runway
5b is around the automated guided vehicle 1 stopped at intermediate transportation point 2, this ensure that the first transport track 31 and second is transported
Automated guided vehicle 1 on track 32 is run unobstructedly, to further improve the conevying efficiency of piping lane transportation system.
Above description is only a specific implementation of the present invention, but the scope of protection of the utility model is not limited to
In this, any one skilled in the art within the technical scope disclosed by the utility model, can readily occur in variation
Or replace, it should be covered within the scope of the utility model.Therefore, the scope of protection of the utility model should be with the power
Subject to the protection domain that profit requires.
Claims (10)
1. a kind of piping lane transportation system, which is characterized in that including：
More automated guided vehicles；
Transportation point in piping lane, the transportation point include shipping point of origin and transportation terminal；
Track is transported, the transport track is connected between the shipping point of origin and the transportation terminal；
At least one evacuation track, at least one evacuation track are connected with the transport track, and along the fortune
The extending direction in defeated track is separated by setting；
Upper computer control system, when two automated guided vehicles are along transport track Facing Movement, and two institutes
When stating the distance between automated guided vehicle less than or equal to pre-determined distance L, the upper computer control system can control priority
The not low automated guided vehicle enter the evacuation track, with to the high automated guided vehicle of priority level into
Row evacuation.
2. piping lane transportation system according to claim 1, which is characterized in that when two automated guided vehicles are along institute
State transport track Facing Movement, and the distance between two described automated guided vehicles be less than or equal to pre-determined distance L when, S
The priority level of the big automated guided vehicle of value is higher than the small automated guided vehicle of S values, wherein S is described
The distance between the entrance in the evacuation track of automated guided vehicle and nearest neighbours；
Alternatively, the priority level for driving towards the automated guided vehicle of the transportation terminal by the shipping point of origin is higher than by institute
State the automated guided vehicle that transportation terminal drives towards the shipping point of origin.
3. piping lane transportation system according to claim 1, which is characterized in that it is described evacuation track number be it is multiple, it is more
Extending direction of a evacuation track along the transport track is separated by setting.
4. piping lane transportation system according to claim 3, which is characterized in that L and M meets：M<L<2M；Wherein, M is adjacent
Maximum value of two evacuation tracks along the extending direction spacing distance in the transport track.
5. piping lane transportation system according to any one of claims 1 to 4, which is characterized in that the shipping point of origin includes
First shipping point of origin and the second shipping point of origin, the transportation terminal include the first transportation terminal and the second transportation terminal, the fortune
Defeated track include first transport track and second transport track, it is described first transport track be connected to first shipping point of origin and
Between first transportation terminal, second transport track is connected to second shipping point of origin and second transportation terminal
Between；
When the first transport track and second transport track partly overlap, the piping lane transportation system further includes first
Around runway and second around runway, described first around the both ends of runway respectively with the first intermediate transportation o'clock along the first transport vehicle
First transport track of the both sides of road extending direction connects one to one, and the first intermediate transportation point is positioned at described the
The transportation point between one shipping point of origin and first transportation terminal；Described second around the both ends of runway respectively with second
Intermediate transportation o'clock connects one to one along second transport track of the both sides of the second transport track extending direction, and described second
Intermediate transportation point is the transportation point between second shipping point of origin and second transportation terminal.
6. piping lane transportation system according to any one of claims 1 to 4, which is characterized in that further include multiple first
Sensor is set, multiple first position sensors may be contained in the piping lane and between the extending direction in the transport track
Every setting, the first position sensor is used to acquire the location information of the automated guided vehicle, and the position is believed
Breath is transmitted to the upper computer control system, and the upper computer control system can be described certainly according to the determination of the location information of reception
The position of dynamic guide transport lorry.
7. piping lane transportation system according to claim 6, which is characterized in that the number in the evacuation track is multiple
In the case of, it is two neighboring it is described evacuation track along it is described transport track extending direction spacing distance minimum value be N, adjacent two
A first position sensor meets along the maximum value of the extending direction spacing distance in the transport track for P, P and N：P<N.
8. piping lane transportation system according to any one of claims 1 to 4, which is characterized in that the homing guidance transport
Vehicle is navigated using magnetic stripe.
9. piping lane transportation system according to any one of claims 1 to 4, which is characterized in that further include being located at the pipe
Charge point in corridor, the charge point are located at outside the transport track and the evacuation track, the charge point and the fortune
It is equipped with charging track between defeated point, charging unit is equipped at the charge point, the charging unit is used for the homing guidance
Transport vehicle charges.
10. piping lane transportation system according to any one of claims 1 to 4, which is characterized in that further include that the second position passes
Sensor, the second position sensor are respectively arranged at the shipping point of origin and the transportation terminal.
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| CN201820253235.5U CN207860044U (en) | 2018-02-12 | 2018-02-12 | A kind of piping lane transportation system |
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| CN201820253235.5U CN207860044U (en) | 2018-02-12 | 2018-02-12 | A kind of piping lane transportation system |
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| CN108248488A (en) * | 2018-02-12 | 2018-07-06 | 国家电网公司 | A kind of piping lane transportation system and its control method |
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| CN108248488A (en) * | 2018-02-12 | 2018-07-06 | 国家电网公司 | A kind of piping lane transportation system and its control method |
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