CN107963085A - A kind of vehicle, control method for vehicle and system - Google Patents
A kind of vehicle, control method for vehicle and system Download PDFInfo
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- CN107963085A CN107963085A CN201711166188.7A CN201711166188A CN107963085A CN 107963085 A CN107963085 A CN 107963085A CN 201711166188 A CN201711166188 A CN 201711166188A CN 107963085 A CN107963085 A CN 107963085A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B13/00—Other railway systems
- B61B13/10—Tunnel systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
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Abstract
The present invention discloses a kind of vehicle, control method for vehicle and system, and this method includes：Detection obtains detectable signal, the signal that the detectable signal sends for vehicle near in the investigative range of the vehicle；According to the signal strength of the detectable signal, the speed of the vehicle is controlled, wherein, the signal strength characterizes the spacing of the vehicle and the vehicle nearby, the signal strength and the spacing inverse correlation.Method, system and the vehicle that the application provides are alleviating existing traffic congestion and safety problem.Realize the technique effect for the security for improving vehicle traveling.
Description
Technical field
The present invention relates to technical field of vehicle control, more particularly to a kind of vehicle, control method for vehicle and system.
Background technology
At present, as the field such as expanding economy, logistics, traffic also all obtains the development of increasingly high speed.The purchase of people
The every aspects such as thing, cargo are sent, go on a tour, daily life all become increasingly dependent on public transport, this brings to urban ground traffic
Great pressure, traffic congestion and security issues become increasingly urgent.
In order to solve the traffic above-ground of increasingly congestion, the transport pressure on ground can be alleviated using underground pipeline transportation system
Power, but underground pipeline transportation system cannot necessarily have pilot steering, this just travels and stops to the intelligence of vehicle and challenges.
As it can be seen that Vehicular intelligent control program when being badly in need of a kind of unmanned at present.
The content of the invention
The present invention provides a kind of vehicle, control method for vehicle and system, is asked to alleviate existing traffic congestion and safety
Topic.
On the one hand, the present invention provides a kind of control method for vehicle, the method to be applied in underground pipeline transportation system
Vehicle, including：
Detection obtain detectable signal, the detectable signal be in the investigative range of the vehicle near vehicle send
Signal；
According to the signal strength of the detectable signal, the speed of the vehicle is controlled, wherein, the signal strength characterizes institute
State the spacing of vehicle and the vehicle nearby, the signal strength and the spacing inverse correlation.
Optionally, convoy spacing detecting module is installed, the detection, which obtains detectable signal, to be included on the vehicle：Pass through
The convoy spacing detecting module, receives the convoy spacing detecting module installed near in the investigative range on vehicle
The detectable signal sent.
Optionally, the convoy spacing detecting module obtains detectable signal bag towards the head of the vehicle, the detection
Include：By the convoy spacing detecting module, reception vehicle near vehicle heading front sends described
Detectable signal.
Optionally, the signal strength according to the detectable signal, controls the speed of the vehicle, including：When described
When the signal strength of detectable signal is more than intensity in front of default level-one, the vehicle deceleration is controlled.
Optionally, the signal strength according to the detectable signal, controls the speed of the vehicle, including：When described
When the signal strength of detectable signal is more than intensity in front of default level-one, the vehicle is controlled to slow down with the first acceleration, it is described
First acceleration and the signal strength positive correlation.
Optionally, the signal strength according to the detectable signal, controls the speed of the vehicle, including：When described
When the signal strength of detectable signal is more than intensity in front of default level-one and is less than or equal to intensity in front of default two level, institute is controlled
State vehicle deceleration；When the signal strength of the detectable signal is more than intensity in front of default two level, the vehicle is controlled to brake.
Optionally, the convoy spacing detecting module towards the vehicle afterbody, it is described detection obtain detectable signal bag
Include：By the convoy spacing detecting module, reception sends described positioned at vehicle near the vehicle heading rear
Detectable signal.
Optionally, the signal strength according to the detectable signal, controls the speed of the vehicle, including：When described
When the signal strength of detectable signal is more than default level-one rear intensity, the vehicle is controlled to accelerate.
Optionally, the signal strength according to the detectable signal, controls the speed of the vehicle, including：When described
When the signal strength of detectable signal is more than default level-one rear intensity, the vehicle is controlled to accelerate with the second acceleration, it is described
Second acceleration and the signal strength positive correlation.
Optionally, the vehicle is the vehicle in underground pipeline transportation system.
On the other hand, there is provided a kind of vehicle control system, including：
Convoy spacing detecting module, obtains detectable signal, the detectable signal is the spy positioned at the vehicle for detecting
The signal that vehicle is sent near in the range of survey；
Automatic traction and braking system, for controlling vehicle speed；
Automatic protection and control system, according to the signal strength of the detectable signal, pass through the automatic traction and braking
System, controls the speed of the vehicle, wherein, the signal strength characterizes the spacing of the vehicle and the vehicle nearby, institute
State signal strength and the spacing inverse correlation.
Optionally, the convoy spacing detecting module is additionally operable to, and is received near in the investigative range on vehicle
The detectable signal that the convoy spacing detecting module of installation is sent.
Optionally, the convoy spacing detecting module detects mould towards the head of the vehicle by the convoy spacing
Block, receives the detectable signal that vehicle is sent near in front of the vehicle heading.
Optionally, the automatic protection and control system are additionally operable to：Preset when the signal strength of the detectable signal is more than
Level-one in front of intensity when, control the vehicle deceleration.
Optionally, the automatic protection and control system are additionally operable to：Preset when the signal strength of the detectable signal is more than
Level-one in front of intensity when, control the vehicle to slow down with the first acceleration, first acceleration and the signal strength are just
It is related.
Optionally, the automatic protection and control system further include：First deceleration unit, for when the detectable signal
When signal strength is more than intensity in front of default level-one and is less than or equal to intensity in front of default two level, the vehicle is controlled to subtract
Speed；Second deceleration unit, in front of being more than default two level when the signal strength of the detectable signal during intensity, described in control
Vehicle is braked, wherein, intensity is more than intensity in front of the level-one in front of the two level.
Optionally, the convoy spacing detecting module detects mould towards the afterbody of the vehicle by the convoy spacing
Block, receives the detectable signal sent positioned at vehicle near the vehicle heading rear.
Optionally, the automatic protection and control system are additionally operable to：Preset when the signal strength of the detectable signal is more than
Level-one rear intensity when, control the vehicle to accelerate.
Optionally, the automatic protection and control system further include：Accelerator module, for when the signal of the detectable signal
When intensity is more than default level-one rear intensity, the vehicle is controlled to accelerate with the second acceleration, second acceleration and institute
State signal strength positive correlation.
Another further aspect, there is provided a kind of vehicle, including：
Vehicle body；
Convoy spacing detecting module, is arranged on the vehicle body, and the convoy spacing detecting module includes receiving single
Member, the receiving unit receive the detectable signal that vehicle is sent near in the investigative range of the vehicle；
Automatic protection and control system, are connected with the receiving unit, described in the automatic protection and control system acquisition
The detectable signal that receiving unit receives, and the car of the vehicle is controlled according to the signal strength of the detectable signal, generation
The control signal of speed；
Automatic traction and braking system, are connected with the automatic protection and control system, the automatic traction and braking system
System receives the control signal, and the speed of the vehicle is controlled according to the control signal.
Optionally, the convoy spacing detecting module further includes：Transmitting element, the transmitting element persistently send detection letter
Number.
Optionally, the receiving unit of the convoy spacing detecting module is located at institute towards the head of the vehicle to receive
State the detectable signal that vehicle is sent near in front of vehicle heading.
Optionally, the automatic protection and control system are additionally operable to：Preset when the signal strength of the detectable signal is more than
Level-one in front of intensity when, control the vehicle deceleration.
Optionally, the receiving unit of the convoy spacing detecting module is located at institute towards the afterbody of the vehicle to receive
State the detectable signal that vehicle is sent near vehicle heading rear.
Optionally, the automatic protection and control system are additionally operable to：Preset when the signal strength of the detectable signal is more than
Level-one rear intensity when, control the vehicle to accelerate.
Optionally, the vehicle is the vehicle in underground pipeline transportation system.
The one or more technical solutions provided in the embodiment of the present invention, have at least the following technical effects or advantages：
Method, system and vehicle provided by the embodiments of the present application, first detection obtain car near in the investigative range of vehicle
The alarm signal sent, further according to the signal strength of the detectable signal, to automatically control the travel speed of vehicle, and due to
The signal strength of the detectable signal characterizes the spacing of the vehicle and neighbouring vehicle, so as to automatically adjust car according to spacing
Speed, avoids the excessively near caused security incident of spacing, the effective security for improving vehicle traveling.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, and in order to allow above and other objects of the present invention, feature and advantage can
Become apparent, below especially exemplified by the embodiment of the present invention.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are this hairs
Some bright embodiments, for those of ordinary skill in the art, without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the schematic diagram of pipeline-transporting vehicle control system in the embodiment of the present invention；
Fig. 2 is the schematic diagram of vehicle control syetem in the embodiment of the present invention；
Fig. 3 is the schematic diagram one of train-ground communication module in the embodiment of the present invention；
Fig. 4 is the schematic diagram two of train-ground communication module in the embodiment of the present invention；
Fig. 5 is the schematic diagram three of train-ground communication module in the embodiment of the present invention；
Fig. 6 is the schematic diagram four of train-ground communication module in the embodiment of the present invention；
Fig. 7 is the schematic diagram five of train-ground communication module in the embodiment of the present invention；
The step of Fig. 8 is control method for vehicle in the embodiment of the present invention is schemed；
Fig. 9 is the structure diagram of vehicle control system and vehicle in the embodiment of the present invention；
Figure 10 is the structure diagram of stream carrier vehicle system provided in an embodiment of the present invention；
Figure 11 is the bogie of stream carrier vehicle system provided in an embodiment of the present invention and the structure diagram of car body；
Figure 12 is the enlarged diagram of bogie in Figure 11；
Figure 13 is the left view of Figure 12；
Figure 14 is the partial enlarged view of wheel in Figure 12, wheel hub motor, pillar and framework；
Figure 15 be revoked in Figure 12, the partial enlarged view of rubber bushing and framework；
Figure 16 is the structure left view of stream carrier vehicle system provided in an embodiment of the present invention；
Figure 17 is the partial cutaway schematic of underground piping system provided in an embodiment of the present invention；
Figure 18 is the partial enlarged view of rail end in Figure 17；
Figure 19 is the structure diagram of stream carrier vehicle system provided in an embodiment of the present invention；
Figure 20 is the structure diagram of pipeline provided in an embodiment of the present invention；
Figure 21 is the structure diagram of bogie provided in an embodiment of the present invention；
Figure 22 is the cooperation schematic diagram of vehicle body bottom frame in Figure 21, centre of pull pin, bearing spring and framework；
Figure 23 is the partial enlarged view of centre of pull pin, bearing spring and framework in Figure 21；
Figure 24 is the cooperation schematic diagram of centre of pull pin, traction flexural pivot and framework in Figure 21；
Figure 25 is the schematic diagram in A-A direction of centre of pull pin and traction flexural pivot in Figure 24；
Figure 26 is that the cooperation of the guided way and directive wheel provided in an embodiment of the present invention for being used to be oriented to stream carrier vehicle is shown
It is intended to；
Figure 27 is the enlarged diagram of guided way in Figure 26；
Figure 28 is that the cooperation of the guided way and directive wheel provided in an embodiment of the present invention for being used to be oriented to stream carrier vehicle is shown
It is intended to；
Figure 29 is the enlarged diagram of guided way in Figure 28；
Figure 30 is the side provided in an embodiment of the present invention for being used to coordinate the guided way that stream carrier vehicle is oriented to directive wheel
View；
Figure 31 is the closing of the door view of the stream carrier vehicle provided in an embodiment of the present invention with door type structure；
Figure 32 is the car door opening view of the stream carrier vehicle provided in an embodiment of the present invention with door type structure；
Figure 33 is the upper slide and switching mechanism of the stream carrier vehicle provided in an embodiment of the present invention with door type structure
Connection diagram；
Figure 34 is the structure diagram at second of visual angle of Figure 33；
Figure 35 is the partial enlarged view of part A in Figure 34；
Figure 36 is the schematic cross-section that door-plate provided in an embodiment of the present invention, hinge, slide and pulley coordinate；
Figure 37 is the first structure diagram of underground pipeline transportation cargo adapting system provided in an embodiment of the present invention；
Figure 38 is the combination unit structure schematic diagram of underground tumbler in Figure 37；
Figure 39 is the combination unit structure schematic diagram of lifting tourelle in Figure 37；
Figure 40 is the combination unit structure schematic diagram of ground tumbler in Figure 37；
Figure 41 is the combination unit structure schematic diagram of abnormal cargo apparatus for temporary storage in Figure 37；
Figure 42 is second of structure diagram of underground pipeline transportation cargo adapting system provided in an embodiment of the present invention.
(component that each label represents in diagram is followed successively by：1 " pipeline, 2 " rails, 3 " by trajectory, 4 " stream carrier vehicles,
5 " bogies, 6 car bodies, 7 frameworks, 8 axis pins, 9 rubber bushings, 10 wheels, 11 wheel hub motors, 12 electric boxs, 13 revoke, 14 are flowed
Device, 15 pillars, 16 ear mounts, 17 lightening holes, 18 rail levels, 19 limiting blocks, 20 the 3rd rails, 21 the 6th rails, 1 ' pipeline,
2 ' car bodies, 3 ' rail groups, 4 ' bogies, 5 ' adapting systems, slide on 201,202 upper frames, 203 centers are every beam, 204 headwalls,
209 observation windows, 210 automatic loading and unloading goods platforms, 211 slides, 212 hinges, 213 door-plates, 214 pulleys, 401 ' wheels, 402 ' structures
Frame, 403 traction flexural pivots, 404 centre of pull pins, 405 bearing springs, 406 brake apparatus, 407 directive wheels, 408 driving devices,
409 pantagraph current collectors, 410 vehicle body bottom frames, 411 grooves, 412 fixed platforms, 413 backstops, 414 second connecting plates, 415 first connections
Plate, 416 convex navels, 417 springs, 418 guided ways, 4181 expand structure, 4182 middle parts, 4183 lower parts, 51 ground tumblers,
52 second supports, 53 support transfer stations, 54 underground tumblers, 55 lifting tourelles, 56 abnormal cargo apparatus for temporary storage, 511
3rd stent, 512 the 3rd roller-ways, 541 first roller-ways, 542 first supports, 551 transfer fixed frames, 552 transfer lifting frame, 553
Lifting driving part, 554 first transfer roller-ways, 555 second transfer roller-ways, 561 temporary stents, 562 temporary roller-ways).
Embodiment
The embodiment of the present application is gathered around by providing a kind of vehicle, control method for vehicle and system to alleviate existing traffic
Stifled and safety problem.Realize the technique effect for the security for improving vehicle traveling.
Technical solution in the embodiment of the present application, general thought are as follows：
Detection obtain detectable signal, the detectable signal be in the investigative range of the vehicle near vehicle send
Signal；According to the signal strength of the detectable signal, the speed of the vehicle is controlled, wherein, the signal strength characterizes institute
State the spacing of vehicle and the vehicle nearby, the signal strength and the spacing inverse correlation.
The above method first detects the alarm signal that vehicle is sent near in the investigative range for obtaining vehicle, further according to described
The signal strength of detectable signal, to automatically control the travel speed of vehicle, and since the signal strength of the detectable signal characterizes
The spacing of the vehicle and neighbouring vehicle, so as to automatically adjust speed according to spacing, safety caused by avoiding spacing excessively near
Accident, the effective security for improving vehicle traveling.
It should be noted that pipeline is in the present embodiment：Piping laying in underground and is connected into multiple dresses
Unloading website, rail is fixed in the duct；The bogie of stream carrier vehicle is run on rail；Set in handling goods station point
Put adapting system；Realize and make full use of underground piping (including city integrated piping lane) network, cargo transport is carried out in underground.
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
All other embodiments obtained without creative efforts, belong to the scope of protection of the invention.
Embodiment one
Before the control method for vehicle and vehicle of the application offer is introduced, the present embodiment first introduces the method that the application provides
And the pipeline transportation vehicle control that vehicle is applied to, it is specific as follows：
As shown in Figure 1, the present embodiment provides a kind of pipeline transportation vehicle control, including：
General control system 1, the general control system 1 obtain goods handling information from information system 2；
Signals of vehicles control system 3, communicates to connect with the general control system 1, to obtain the goods handling information, root
The vehicle transport cargo in underground pipeline transportation system is controlled according to the goods handling information, and feeds back the state letter of the vehicle
Cease to the general control system；
Station level control system 4, communicates to connect with the general control system 1, to obtain the goods handling information, according to institute
State stop and cargo handling that goods handling information controls the vehicle.
It should be noted that the pipeline transportation vehicle control is for controlling the vehicle in underground pipeline transportation system
Traveling, the system stopped and load and unload goods, the system include general control system 1, signals of vehicles control system 3, and station level control system
System 4.The general control system 1 is responsible for carrying out whole pipeline transportation net whole monitoring and control, the signals of vehicles control system
System 3 is used for the traveling for controlling vehicle, and the station level control system 4 is used to control vehicle in the stop of a website and handling goods etc..
Each system is described in detail respectively below：
First, general control system 1.
In the embodiment of the present application, the general control system can be made of one or more groups of computing devices, it possesses meter
Calculate function.
The general control system 1 can communicate with information system 2, obtain the goods handling information in described information system 2,
The cargo transport information can include：The species of cargo, the quantity of cargo, the requirement of the haulage time of cargo, the starting of cargo
Site information that ground and destination, the transportation route of cargo, cargo pass through on the way etc..
In specific implementation process, described information system 2 can be the subsystem in the pipeline transportation vehicle control,
Can also be other independent Information Acquisition Systems, this is not restricted.
The general control system 1, can be according to the cargo transport after described information system 2 obtains the cargo transport information
Information generates scheduling information, and the cargo transport information and the scheduling information are handed down to signals of vehicles control system 3, with
The allotment of the signals of vehicles control system 3 control vehicle is set to go to transport corresponding cargo.
Further, the general control system 1 can also obtain the travel condition of vehicle that the signals of vehicles control system 3 is fed back
Information and positional information, to generate new scheduling information according to feedack to adjust, certainly, the general control system may be used also
The travel condition of vehicle information and positional information of acquisition are sent to the corresponding client of cargo, for inquiry.
Further, the general control system 1 can also obtain the website occupied information or rail that the station level control system 4 is sent
Road occupied information, to notify the signals of vehicles control system 3 to adjust route or travel by vehicle.
2nd, signals of vehicles control system 3.
The signals of vehicles control system 3 is safe, the orderly and efficient traveling for controlling vehicle, is by a series of
Relevant device is formed, and specifically, the signals of vehicles control system 3 further includes：
Ground control system 31, communicates to connect with the general control system 1, to obtain the goods handling information, and root
According to the goods handling information, vehicle scheduling driving information is generated；
Vehicle control syetem 32, the vehicle control syetem 32 be installed on vehicle on, the vehicle control syetem with it is described
Ground control system communicates, and to obtain the vehicle scheduling driving information, and is controlled according to the vehicle scheduling driving information
The vehicle traveling；
Ground subsystem 33, the ground subsystem 33 are installed in the underground piping of the underground pipeline transportation system,
To obtain the orbit occupancy condition information of the underground piping, the ground subsystem and the ground control system and the car
Borne control system communicates to connect, and the orbit occupancy condition information is fed back to the ground control system and the vehicle-mounted control
System processed.
Ground control system 31, vehicle control syetem 32 and ground subsystem 33 are illustrated separately below：
1) ground control system 31.
The ground control system 31 is made of one or more groups of computing devices, with 1 communication link of general control system
Connect, and as the continuity system of the general control system 1, the function of mainly possessing has：Monitor the operating status of transport vehicle and obtain
Obtain the positional information of transport vehicle；The dispatched loads that general control system 1 issues are received, then according to the dispatched loads
Go to send haulage vehicle to receive cargo；The format dispatched according to cargo, automatically generates most according to starting point and destination
Shortest path；Key signal mark point information on the optimal path of generation is sent to haulage vehicle according to travel direction order,
The mark point can be the mark being preset in the underground piping；Keep connecting in real time with haulage vehicle by wireless network
Connect, monitor the driving information and status information of vehicle；By track equipment, road ahead occupancy situation is obtained, is according to circumstances adjusted
The full line plan of sailing, haulage vehicle is handed down to by the traveling plan after adjustment.
As it can be seen that the ground control system 31 has continued the part control function of the general control system 1, advised in path
Draw, vehicle monitoring, vehicle scheduling and vehicle running path adjustment etc. functionally all the general control system 1 is supplemented.
Certainly, in specific implementation process, which part control is placed on the general control system 1, which part control is placed on the ground control
System 31 processed can be arranged as required to, and this is not restricted.
2) vehicle control syetem 32.
Vehicle control syetem 32 is used for operation, the safety and protection for controlling vehicle, as shown in Fig. 2, can be by a series of phases
Gateway subsystem is formed.Divided by function, the vehicle control syetem 32 can be divided into：
Automatic protection and control system, communicate with the ground control system, to obtain the vehicle scheduling driving information,
And according to the vehicle scheduling driving information and current vehicle running state information formation speed control information and direction controlling
Information；
Automatic traction and braking system, communicate with the automatic protection and control system, are believed with obtaining the speed control
Breath and the direction controlling information, and according to the speed control information and the row of the direction controlling information control vehicle
Sail speed and direction；
Information gathering and transmission system, described information collection and transmission system are used to gather the vehicle-surroundings environmental information
With vehicle running state information, and the information of collection is fed back into the automatic protection and control system.
First, the automatic protection and control system are introduced.
The automatic protection and control system can be one or more groups of equipment for possessing computing function.
The automatic protection and control system can be gathered from described information and transmission system obtains vehicle-surroundings environment letter
Breath and vehicle running state information, and the road information issued according to ground control system 31 and general control system 1, in conjunction with institute
The information such as car speed and the braking of automatic traction and braking system feedback are stated, various information are calculated by internal processes
And analysis, formation speed control information and direction controlling information.And formation speed control information and direction controlling information are sent
To the automatic traction and braking system, to control vehicle safety to run.
Wherein, the automatic protection and control system are calculated and analyzed to various information, it is possible to achieve spacing is excessively near
When automatic vehicle velocity modulation section and/or the automatic safe such as automatic braking during emergency drive.
Then, the automatic traction and braking system are introduced.
The automatic traction and braking system are specially Vehicle Controller.The automatic traction and braking system are mainly used for
The control information of the automatic protection and control system is received, and is performed.Its executive mode is the electricity by controlling haulage vehicle
Machine and brake apparatus are realized.
For example, after the deceleration instruction of the automatic protection and control system is received, the automatic traction and braking system
The motor of haulage vehicle is controlled, is slowed down.
Further, the information such as the current speed of the vehicle can also be fed back to institute by the automatic traction and braking system
Automatic protection and control system are stated, so that the automatic protection and control system can calculate generation more suitably control information.
Subsequently, the information gathering and transmission system are introduced.
Specifically, the accuracy of the automatic protection and the control information of control system generation is mainly just fixed against described
The information that information gathering and transmission system obtain.In specific implementation process, described information can have the car of vehicle and front and rear car
The traffic information in region, the general control system 1 that vehicle receives or ground are currently located away from information, the velocity information of vehicle, vehicle
The information that control system 31 is sent.
Described information gathers and transmission system mainly includes a series of information acquisition module or sensor, is set forth below several
Exemplified by kind：
The first, car speed acquisition module.
The car speed acquisition module is used for the current driving speed for gathering the vehicle, is specifically as follows velocity pick-up
Device or Doppler radar.
Wherein, the velocity sensor may be mounted at the travel speed of direct collection vehicle on vehicle, can also install
On tire or transmission device car speed is obtained by gathering vehicle wheel rotational speed mode.The Doppler radar is installed on vehicle
On, come measuring speed by way of testing radar signal reflections duration.
Certainly, in specific implementation process, it can be the velocity sensor to be installed the Doppler radar is also installed, lead to
Cross the velocity information for obtaining both to be compared to correct final speed, to reduce wheel " idle running " and " sliding " brings
Velocity error.
Second, convoy spacing detecting module.
The convoy spacing detecting module is used for the spacing for gathering the vehicle and front or behind vehicle so that it is described from
Dynamic protection and control system can adjust the travel speed of the vehicle according to the spacing.
In the embodiment of the present application, the convoy spacing detecting module can be infrared distance measurement equipment or microwave
Distance-measuring equipment, this is not restricted.
The convoy spacing detecting module may be mounted at head or the afterbody of vehicle, with to vehicle front and front vehicle
Spacing all detected.The convoy spacing detecting module can possess receive capabilities and emission function, can detect and its
The spacing of his car, can also be easy to the spacing of other vehicle detections and this car.
The third, trackside equipment detecting module.
The trackside equipment detecting module is used to detect information storage or sending module in the underground piping, to obtain
Road information in the underground piping.
In the embodiment of the present application, the trackside equipment detecting module can be one or more of：
Transponder information receives parsing module, on the vehicle, when the vehicle passes through installed in the underground
During transponder in pipeline, the traffic information of the transponder memory storage is obtained.Specifically, the transponder information receives solution
It can be transponder antenna to analyse module, when vehicle drives through transponder, by the transponder antenna, utilize low-frequency wireless
Electric wave reception obtains the content information stored in the transponder, and the content information of acquisition is passed to the parsing mould on vehicle
Block is to parse the traffic information that the content information includes, so that the automatic protection and control system can be according to the road conditions
Information control vehicle traveling.
Track circuit information receiving module, on the vehicle, when the vehicle passes through in the underground piping
During track section, the low frequency and carrier frequency information of the section are obtained, the occupied information of the section is sent to the master control
System processed.Specifically, the track circuit information receiving module can be track circuit antenna, when vehicle passes through certain track electricity
Lu Shi, by the track circuit antenna, obtains the low frequency and frequency information carrying breath of the track circuit storage, and by the low frequency and
Frequency information carrying breath passes to general control system 1 by train-ground communication module, so that the general control system 1 is according to the low frequency and frequency
Information carrying breath determines that the track near the track circuit is occupied.
Detecting module is identified, on the vehicle, by detecting the mark being installed in the underground piping, is obtained
The information that the mark carries.In specific implementation process, there can be a variety of marks in the underground piping, for example, root
Position according to mark arrangement is different, can be divided into mark by the other mark in station and branch road, wherein, when vehicle by the station by identifying
When, the mark detecting module detects mark by the station, obtains the front stored by the station in mark and stops website
Information, including site name, website occupancy situation etc..When vehicle by the branch road by identifying, the mark detecting module
Mark by the branch road is detected, obtains the information of each branch road and branch near being stored by the branch road in mark, including
Stand branch road quantity, branch road route, branch road position etc..The site information and branch road information obtained according to the mark detecting module,
The route planning information that the automatic protection and control system prestore in conjunction with original, determines travel direction and the path of vehicle.
4th kind, train-ground communication module.
The train-ground communication module is used for the communication of the vehicle and ground installation in the underground piping.
Specifically, it is contemplated that the problem of the signal interference of underground, the embodiment of the present application provides the car of following several optimizations
Ground communication module, to strengthen train-ground communication effect, in specific implementation process, can select following one or more train-ground communications
Module：
As shown in figure 3, radio receiving transmitting module 301 can be installed on vehicle, the radio receiving transmitting module can be GSM,
The radio receiving transmitting module of GPRS or LTE patterns, it is established with ground launch tower 302 and communicates to connect, so as to fulfill train-ground communication.
As shown in figure 4, orientation wireless transmitter module 401 can also be installed in the underground piping, the orientation is wireless
Transmitting module can be WLAN, bluetooth or Zigbee patterns, and this is not restricted.Wireless connection is installed on the vehicle again
Module 402, the wireless connection module 402 installed on the vehicle can be strong according to the signal of the orientation wireless transmitter module 401
Weak, the most strong orientation wireless transmitter module of selection signal is attached.Wherein, the wireless connection module on vehicle and the orientation
Wireless transmitter module establishes wireless connection, and the orientation wireless transmitter module is controlled by the fiber optic network being laid with advance and in ground
Communication connection is established in room, so as to fulfill train-ground communication.
As shown in figure 5, leakage cable mode can also be used, the coaxial cable with emission port is laid with the underground piping
501, it is provided with opening on the coaxial cable, the terminal of the opening and the coaxial cable passes through wired mode and ground
Communication connection is established in middle control.Be further opened with slot on the coaxial cable, the slot on outer conductor make cable built-in field and
Coupling is produced between extraneous electric wave, specific coupling mechanism is related to the spread pattern of slot, a part of electromagnetic energy in cable
Amount passes through slot and the Environment communication in pipeline, and by the energy in the slot receiving pipeline, so as to fulfill coaxial cable
With the signal interaction of environment in the underground piping, so as to fulfill train-ground communication.
As shown in fig. 6, the microwave tube 601 with signal generator and signal receiver, specifically, letter can also be used
Number generator, which produces, can use microwave signal, the hollow aluminum of fluting of the Signal separator between signal generator and signal receiver
Extrude on waveguide.At the fluting of waveguide, added with slide.A slide part is contacted with microwave signal, another portion
Divide and can be connected by call wire with transport vehicle, slide can also be directly connected with transport vehicle, so as to fulfill car-ground logical
Letter.
As shown in fig. 7, the rail communication network based on Mobile Internet Protocol IPV6 can also be used, haulage vehicle is embedding
Enter into the network of any full IP.
Specifically, the letter that the automatic protection and control system are based on above- mentioned information collection and transmission system obtains
Cease to optimize wagon control.
3) ground subsystem 33.
The ground subsystem 33 includes a series of orbit occupancy condition informations for obtaining the underground piping, and road conditions letter
The equipment of breath, including：
Transponder, the transponder are arranged in the underground piping, and the transponder week is stored with the transponder
The traffic information of border region；The vehicle control syetem can communicate with the transponder, to obtain the traffic information, and according to
The traffic information adjusts the traveling of the vehicle.
Chain lower computer system, arrangement in orbit, by gathering the information such as meter shaft, track switch, semaphore, obtain rail
Road occupancy situation, then passes it to chain host computer and general control system, for adjusting subsequent vehicle route, draws
Guide-car runs.
All kinds of marking arrangements, including the station side whether mark website takes mark and mark the trouble road side signs of branch road information
Deng.
3rd, station level control system 4.
In the embodiment of the present application, the station level control system 4 is mainly used for each website in the underground piping
Parking and handling goods control.In order to improve the efficiency of cargo transport, strengthen order, website can be classified, specific point
The foundation of level can be according to the size of website handling capacity, or according to website connect website number be classified.Drawing
After separating large-scale website and substation point, cargo can first be transported to large-scale website as transfer, further according to goods handling destination
Each substation is transported to from large-scale website.Branch website sectional transports cargo in this way, can accelerate whole underground piping network
The efficiency of cargo transport.
When in the embodiment of the present application, in order to realize that vehicle arrives at a station, it can stop automatically in place, in website first end installation the
One detection device and website second end install the second detection device, the first end and the second end are respectively the website
Both ends；And control device is set to obtain the first detection information and second detection device that first detection device is sent
The second detection information sent；When first detection information and second detection information are characterized when detecting vehicle, really
Recognize vehicle parking in place；When first detection information characterization detects vehicle, the second detection information characterization does not detect
During to vehicle, the stop position of the vehicle is corrected.
Further, unload for convenience, opening is reserved in pipeline that side of unloading, and in opening addition safety door, works as fortune
When defeated vehicle is accurately stopped in place, safety door is opened.In order to ensure the security of vehicle traveling, when transport vehicle need not be at the station
During stop, which is to close.
Further, in order to help vehicle accurately to stop in place, the station level control system further includes：Site identity, if
Put at the pre-determined distance of website, the site identity is corresponding with the website for being provided with the site identity.When vehicle travel to
When at the site identity, scanning obtains the site identity, and judges whether the site identity is default stop website
Mark, if so, then controlling the vehicle deceleration to drive into the website.
Further, when vehicle is by the site identity, can according to the distance of the site identity to website, and from
The speed of body at that time, calculates optimal deceleration acceleration, and slows down according to the deceleration acceleration, to enable the vehicle to just
It is parked in by the safety door of the platform.
Describe the application offer control method for vehicle and vehicle application in system after, below by embodiment two
The control method for vehicle and vehicle of the application offer are provided with embodiment three.
Embodiment two
As shown in figure 8, the present embodiment provides a kind of control method for vehicle, the method is applied to underground pipeline transportation system
In vehicle, including：
Step S801, detection obtain detectable signal, and the detectable signal is attached in the investigative range of the vehicle
The signal that nearly vehicle is sent；
Step S802, according to the signal strength of the detectable signal, controls the speed of the vehicle, wherein, the signal
Intensity characterizes the spacing of the vehicle and the vehicle nearby, the signal strength and the spacing inverse correlation.
It should be noted that the vehicle can be the vehicle described in embodiment one in underground pipeline transportation system, fortune
Row is in underground piping, and the method is implemented by the signals of vehicles control system 3 in embodiment one, due to buried pipe
Road can only use it is unmanned, method provided in this embodiment be applied to the underground pipeline transportation system can ensure it is unmanned
The driving safety of vehicle.
The implementation steps of the control method for vehicle are discussed in detail with reference to Fig. 8：
First, step S801 is performed, detection obtains detectable signal, and the detectable signal is the detection model positioned at the vehicle
The signal that vehicle is sent near in enclosing.
In the embodiment of the present application, it can be by the signals of vehicles control system 3 that the detection, which obtains detectable signal,
In convoy spacing detecting module realize that the convoy spacing detecting module is installed on vehicle, for gathering the car
Spacing with front or behind vehicle, so that the automatic protection and control system can adjust the vehicle according to the spacing
Travel speed.
In the embodiment of the present application, the convoy spacing detecting module can be infrared distance measurement equipment or microwave
Distance-measuring equipment, this is not restricted.It should also be noted that, the investigative range can be the Microwave Distance Measuring Equipment itself
Detection limit scope or the investigative range artificially set in advance, this is not restricted.
The convoy spacing detecting module may be mounted at head or the afterbody of vehicle, with to vehicle front and front vehicle
Spacing all detected.The convoy spacing detecting module can possess receive capabilities and emission function, can receive and be located at
The detectable signal that the convoy spacing detecting module installed near in the investigative range on vehicle is sent, with detection and its
The spacing of his car；Also detectable signal can be sent, in order to which other vehicles receive the detectable signal, so as to detect the car with this car
Away from.
As an example it is assumed that the convoy spacing detecting module is Microwave Distance Measuring Equipment, the microwave is installed on A cars and is surveyed
Away from equipment, when A cars in the process of moving, on the one hand, pass through the Microwave Distance Measuring Equipment and receive the microwave nearby installed on vehicle
The microwave sounding signal that distance-measuring equipment is sent, to determine spacing according to the microwave sounding signal strength；On the other hand, institute is passed through
State Microwave Distance Measuring Equipment and continuously send out microwave sounding signal, so that neighbouring vehicle is by receiving the microwave sounding signal come really
Fixed and A cars spacing.
In specific implementation process, according to the difference of convoy spacing detecting module installation site, there can be different acquisitions
The method of detectable signal, is set forth below exemplified by three kinds：
The first, convoy spacing detecting module is mounted on the head of vehicle and afterbody.
In this case, the convoy spacing detecting module of front part of vehicle, which can detect to obtain, is located at the vehicle heading
The detectable signal that the vehicle in front is sent, the convoy spacing detecting module of vehicle tail can detect acquisition and be located at the vehicle row
The detectable signal that the vehicle at direction rear is sent is sailed, so as to monitor vehicle front and the spacing of front vehicle at the same time.
Second, convoy spacing detecting module only is installed on the head of vehicle.
In this case, the convoy spacing detecting module of front part of vehicle only detects acquisition before the vehicle heading
The detectable signal that sends of vehicle of side, and the spacing of the vehicle positioned at the vehicle heading rear and the car can be not as
The reference factor of car speed control, alternatively, can also be sent out rear spacing by wireless communication mode by vehicle below
Give the vehicle.
The third, is only provided with convoy spacing detecting module in the afterbody of vehicle.
In this case, the convoy spacing detecting module of vehicle tail only detects acquisition after the vehicle heading
The detectable signal that sends of vehicle of side, and the spacing of the vehicle in front of the vehicle heading and the car can be not as
The reference factor of car speed control, alternatively, can also be sent out front spacing by wireless communication mode by vehicle above
Give the vehicle.
Next, performing step S802, according to the signal strength of the detectable signal, the speed of the vehicle is controlled, its
In, the signal strength characterizes the spacing of the vehicle and the vehicle nearby, the signal strength and the spacing inverse correlation.
In specific implementation process, according to signal with different type and the relation of transmission range, the inverse correlation can be into
Inverse ratio or be inversely proportional square or linear inverse ratio, this is not restricted, also will not enumerate.
For example, using distance as D, exemplified by signal strength is A, the relation of A and D can be：D=1 ÷ (A*b), b are
Positive count；The relation of A and D can also be：D=1 ÷ (b*An), b is positive count, and n is positive count；The relation of A and D is also
Can be：D=1 ÷ (b+A), b are arbitrary constant；The relation of A and D can also be：D=1 ÷ (b+An), b is arbitrary constant, n
For positive count；The relation of A and D can also be：D=a+1 ÷ (A*b), b are positive count, and a is arbitrary constant, herein no longer
Enumerate.
In the embodiment of the present application, the convoy spacing detecting module is installed on different positions, it is possible to achieve to difference
The judgement of direction vehicle spacing, so as to take different speed-control schemes, is set forth below exemplified by two kinds：
The first, according to front truck spacing, come control slow down.
Specifically, the head installation being installed as towards the vehicle of the convoy spacing detecting module, will be described
The receiving unit of convoy spacing detecting module is installed as receiving the direction of vehicle traveling front signal, so that the convoy spacing is visited
The detectable signal that vehicle is sent near in front of the vehicle heading can be received by surveying module.At this time, it is described
The detectable signal characterization that convoy spacing detecting module receives is the vehicle and the spacing of front vehicles.
In the embodiment of the present application, the signal strength of the detectable signal can be classified in advance, when the detection
When the signal strength of signal is more than intensity in front of default level-one, it is believed that the vehicle and the spacing of front vehicles have been subjected to closely, therefore
The vehicle deceleration is automatically controlled, to keep safe distance with front truck.
Further, in order to ensure that vehicle can recover to safe distance with front truck in time, can set when the detectable signal
Signal strength be more than default level-one in front of intensity when, control the vehicle to slow down with the first acceleration, it is described first acceleration
Degree and the signal strength positive correlation, so that when spacing is close, vehicle rapidly slows down, when spacing is also safer, car
Slowly slow down.The positive correlation can be directly proportional, linear proportional, or into multiple upright ratio, this is not restricted, also not
Enumerate again.
Certainly, in specific implementation process, the first acceleration and the relation list of signal strength can also be pre-set,
After the signal strength for detecting detectable signal, searched according to the signal strength of acquisition into relation list and determine the first acceleration
Concrete numerical value, and slowed down according to the first acceleration magnitude found to control.
Further, it is contemplated that when vehicle and the spacing of front vehicles particularly near when, accident may also be caused by only slowing down, therefore
Multiple ranks can be set：When the signal strength of the detectable signal is more than intensity in front of default level-one and is less than or equal to default
Two level in front of intensity when, control the vehicle deceleration；When the signal strength of the detectable signal is more than in front of default two level
During intensity, the vehicle is controlled to brake, intensity is more than intensity in front of the level-one in front of the two level.
As an example it is assumed that when vehicle A is during traveling, the vehicle in front of vehicle A breaks down and is parked in suddenly
When on road, vehicle A detects the detectable signal that front vehicles are sent, and the intensity of the detectable signal is less than or equal in front of level-one by force
Degree, therefore vehicle A keeps current speed to move on.Then, with the reduction with front spacing, when vehicle A detects front
When the intensity for the detectable signal that vehicle is sent is more than intensity in front of level-one and is less than or equal to intensity in front of two level, vehicle A starts to control
System is slowed down.As vehicle A and when reaching danger vehicle distance of front spacing, i.e., when vehicle A detects that the detection that front vehicles are sent is believed
Number intensity be more than two level in front of intensity when, vehicle A emergency brakings, to avoid with front fault car bump against, in time ensure
Traffic safety.
Certainly, in specific implementation process, when the signal strength of vehicle detection to the detectable signal is more than default one
During the intensity of level front, except that can slow down or brake, notification signal can also be sent to front vehicles, to remind front vehicles to add
Speed avoids.
Second, according to rear car spacing, come control accelerate.
Specifically, the afterbody installation being installed as towards the vehicle of the convoy spacing detecting module, will be described
The receiving unit of convoy spacing detecting module is installed as receiving the direction of vehicle traveling rear signal, so that the convoy spacing is visited
The detectable signal that vehicle is sent near the vehicle heading rear can be received by surveying module.At this time, it is described
The detectable signal characterization that convoy spacing detecting module receives is the vehicle and the spacing of front vehicle.
In view of to keep safe distance between vehicles with front vehicle, the signal strength when the detectable signal can be set to be more than in advance
If level-one rear intensity when, control the vehicle to accelerate.
To it is foregoing the first deceleration it is similar, when the signal strength of the detectable signal is more than default level-one rear intensity
When, control the vehicle to accelerate with the second acceleration, second acceleration and the signal strength positive correlation.The positive correlation
Can be directly proportional, linear proportional, or into multiple upright ratio, this is not restricted, also will not enumerate.
Certainly, in specific implementation process, the second acceleration and the relation list of signal strength can also be pre-set,
After the signal strength for detecting detectable signal, searched according to the signal strength of acquisition into relation list and determine the second acceleration
Concrete numerical value, and accelerated according to the second acceleration magnitude found to control.Certainly, in specific implementation process, it is contemplated that prominent
So accelerate to be possible to danger vehicle distance occur with front truck, therefore can also set, preset when the signal strength of the detectable signal is more than
Level-one rear intensity when, signal of giving notice is to front vehicle, to notify front vehicle to slow down.
As an example it is assumed that when vehicle A is during traveling, the vehicle at vehicle A rears accelerates suddenly because of failure
And when quickly close to vehicle A, vehicle A detects the detectable signal that front vehicle is sent, the intensity of the detectable signal is less than or equal to
Level-one rear intensity, therefore vehicle A keeps current speed to move on.Then, with the reduction with rear spacing, as vehicle A
When detecting that the intensity for the detectable signal that front vehicle is sent is more than level-one rear intensity, vehicle A can have two kinds of processing modes：
The first, vehicle A starts control and accelerates, to pull open the distance with rear fault car, so as to avoid and rear event
Hinder automobile crash, ensure traffic safety in time.
Second, vehicle A sends notification signal to front vehicle, to notify front vehicle is slowed down to avoid.
In specific implementation process, above two processing mode can be taken at the same time, one of which can also be selected to handle
Mode, this is not restricted.
In specific implementation process, the convoy spacing detecting module is installed on the head that can be only oriented to the vehicle,
The afterbody that can be only oriented to the vehicle installs the convoy spacing detecting module, can also be towards the afterbody knead dough of the vehicle
The convoy spacing detecting module is respectively mounted to the head of the vehicle, this is not restricted.
Based on same inventive concept, present invention also provides the corresponding system of control method for vehicle in embodiment two, refer to
Embodiment three.
Embodiment three
The present embodiment provides a kind of vehicle control system, as shown in figure 9, including：
Convoy spacing detecting module 902, obtains detectable signal, the detectable signal is positioned at the vehicle for detecting
The signal that vehicle is sent near in investigative range；
Automatic traction and braking system 904, for controlling vehicle speed；
Automatic protection and control system 903, according to the signal strength of the detectable signal, pass through the automatic traction and system
Dynamic system, controls the speed of the vehicle, wherein, the signal strength characterizes the spacing of the vehicle and the vehicle nearby,
The signal strength and the spacing inverse correlation.
In the embodiment of the present application, the convoy spacing detecting module 902 is additionally operable to, and is received in the investigative range
Near the detectable signal that sends of the convoy spacing detecting module installed on vehicle.
In the embodiment of the present application, the convoy spacing detecting module 902 passes through the car towards the head of the vehicle
Interval detecting module, receives the detectable signal that vehicle is sent near in front of the vehicle heading.
In the embodiment of the present application, the automatic protection and control system 903 are additionally operable to：
When the signal strength of the detectable signal is more than intensity in front of default level-one, the vehicle deceleration is controlled.
In the embodiment of the present application, the automatic protection and control system 903 are additionally operable to：
When the signal strength of the detectable signal is more than intensity in front of default level-one, the vehicle is controlled to add with first
Speed reduction, first acceleration and the signal strength positive correlation.
In the embodiment of the present application, the automatic protection and control system 903 further include：
First deceleration unit, for when the signal strength of the detectable signal is more than intensity in front of default level-one and is less than
During equal to default two level front intensity, the vehicle deceleration is controlled；
Second deceleration unit, for during intensity, being controlled in front of being more than default two level when the signal strength of the detectable signal
The vehicle braking is made, wherein, intensity is more than intensity in front of the level-one in front of the two level.
In the embodiment of the present application, the convoy spacing detecting module 902 passes through the car towards the afterbody of the vehicle
Interval detecting module, receives the detectable signal that vehicle is sent near the vehicle heading rear.
In the embodiment of the present application, the automatic protection and control system 903 are additionally operable to：
When the signal strength of the detectable signal is more than default level-one rear intensity, the vehicle is controlled to accelerate.
In the embodiment of the present application, the automatic protection and control system 903 further include：
Accelerator module, for when the signal strength of the detectable signal is more than default level-one rear intensity, controlling institute
State vehicle with the second acceleration to accelerate, second acceleration and the signal strength positive correlation.
By the system that the embodiment of the present invention three is introduced, adopted by the control method for vehicle for implementing the embodiment of the present invention two
System, so the method introduced based on the embodiment of the present invention two, the affiliated personnel in this area can understand the tool of the system
Body structure and deformation, so details are not described herein.System belongs to this hair used by the method for every embodiment of the present invention two
The bright scope to be protected.Based on same inventive concept, present invention also provides corresponding with control method for vehicle in embodiment two
Vehicle, detailed in Example four.
Example IV
The present embodiment provides a kind of vehicle, as shown in figure 9, including：
The vehicle control system that vehicle body 901 and embodiment three are introduced, the vehicle control system are installed on the car
In main body 901.
The vehicle control system includes：
Convoy spacing detecting module 902, is arranged on the vehicle body 901, and the convoy spacing detecting module 902 wraps
Receiving unit is included, the receiving unit receives the detectable signal that vehicle is sent near in the investigative range of the vehicle；
Automatic protection and control system 903, are connected with the receiving unit, and the automatic protection and control system obtain institute
The detectable signal of receiving unit reception is stated, and the vehicle is controlled according to the signal strength of the detectable signal, generation
The control signal of speed；
Automatic traction and braking system 904, are connected with the automatic protection and control system 903, the automatic traction and
Braking system 904 receives the control signal, and the speed of the vehicle is controlled according to the control signal.
It should be noted that the vehicle can be the vehicle in the underground pipeline transportation system, buried pipe is run on
In road, due to underground piping can only use it is unmanned, vehicle application provided in this embodiment is in the underground pipeline transportation system
System can ensure the driving safety of automatic driving vehicle.
In the embodiment of the present application, the convoy spacing detecting module 902 further includes：
Transmitting element, the transmitting element persistently send detectable signal.
In the embodiment of the present application, the receiving unit of the convoy spacing detecting module 902 is towards the head of the vehicle,
To receive the detectable signal that vehicle is sent near in front of the vehicle heading.
Further, the automatic protection and control system 903 are additionally operable to：When the signal strength of the detectable signal is more than in advance
If level-one in front of intensity when, control the vehicle deceleration.
In the embodiment of the present application, the receiving unit of the convoy spacing detecting module 902 towards the vehicle afterbody,
To receive the detectable signal sent positioned at vehicle near the vehicle heading rear.
Further, the automatic protection and control system 903 are additionally operable to：When the signal strength of the detectable signal is more than in advance
If level-one rear intensity when, control the vehicle to accelerate.
By the vehicle that the embodiment of the present invention four is introduced, adopted by the control method for vehicle for implementing the embodiment of the present invention two
Device, so the method introduced based on the embodiment of the present invention two, the affiliated personnel in this area can understand the tool of the vehicle
Body structure and deformation, so details are not described herein.Device belongs to this hair used by the method for every embodiment of the present invention two
The bright scope to be protected.
Control method for vehicle above can be applied to pipelines transportation system, be described below two kinds：
The first pipeline：
Referring to attached drawing 20, which includes：Pipeline 1 ', at least one rail group 3 ', stream carrier vehicle, Power Supply Assembly and
Adapting system 5 '；Pipeline 1 ' is embedded in underground, connects multiple handling goods station points；Rail group 3 ' is fixed on underground piping 1 '
In inner wall；Rail group 3 ' includes two rails being arranged in parallel；Stream carrier vehicle includes：Run in rail group 3 '
Bogie 4 ', the car body 2 ' being arranged on bogie 4 '；Power Supply Assembly is used to provide the electric energy needed for operation to stream carrier vehicle；
Adapting system 5 ' includes：Underground tumbler 54, lifting gear and ground tumbler 51；Adapting system 5 ' is arranged on handling goods
Website, for the cargo machine for collecting load on stream carrier vehicle to be transported to the unloading warehouse of ground surface platform, or the goods by warehouse of unloading
Thing machine for collecting load is transported on stream carrier vehicle.
Further, the both ends connection Large Underground handling goods station point of pipeline 1 '；The intermediate connection of pipeline 1 ' has more root knots
The structure branch pipe(tube) identical with pipeline 1 ', the end connection small underground handling goods station point of branch pipe(tube)；Branch pipe(tube) is internally provided with knot
Structure and the quantity traveling branch rail group identical with rail group 3 ', traveling branch rail group are connected with corresponding rail group 3 '.Pass through pipe
Road 1 ' and branch pipe(tube) realize the cargo transport between each large-scale and small underground handling goods station point, improve conevying efficiency.Pipeline
1 ' and branch pipe(tube) in be provided with multiple ventilating parts and multiple illuminace components, in order to personnel enter pipeline 1 ' in overhauled or
Replace component.
Pipeline 1 ' and a kind of concrete structure of rail group 3 ' in the pipeline of the application is described below：
1：
The material of pipeline 1 ' is steel or concrete, and section is circle；One rail group 3 ' is set in circular pipe 1 ', this
When, rail group 3 ' includes：First rail and the second rail, the center line on circular pipe 1 ' is symmetrical, the first traveling
The material of rail and the second rail is steel；First rail and the second rail by fastener or are weldingly fixed on pipeline 1 '
On, alternatively, the first rail and the second rail are made with pipeline 1 ' by global formation, since stream carrier vehicle has in itself
Standby certain weight, higher to the structural requirement of rail group 3 ' He pipeline 1 ' in fully loaded with cargo transported, steel pipe
1 ' and rail group 3 ' integral strength and rigidity it is higher, the suspention and transport that can meet stream carrier vehicle require, and ensure good
Structural stability.Steel pipe 1 ' has good closure, adapts to underground environment, avoids soil and water from entering transport and lead to
Road, ensures transportation environment.
Pipeline 1 ' arranges one by trajectory, is arranged on the inner wall at the top of pipeline 1 '；Power supply part is connected by trajectory, to pass
Transmission of electricity can give stream carrier vehicle；It is fixed on by trajectory by fastener on the inner wall at the top of pipeline 1 ', when the material of pipeline 1 ' is
During steel, felt pad is provided between by trajectory and pipeline 1 '.It is real by being obtained electric energy by trajectory with the driving device of supply vehicle
The driven by power of existing stream carrier vehicle, reduces air pollution caused by traditional fuel driving.
Pipeline and another concrete structure of rail group in the pipeline of the application is described below：
2：
The material of pipeline 1 ' is steel or concrete, and section is oval or square；Two rail groups are set in pipeline 1 '
3 ', one of rail group 3 ' includes：3rd rail and the 4th rail, another rail group 3 ' include：5th walks
Row rail and the 6th rail.3rd rail and the 6th rail are symmetricly set on the both sides of the bottom of oval ducts 1 ', and the 4th
Rail and the 5th rail are fixed on the centre of the bottom of oval ducts 1 ', and the 4th rail can be independent with the 5th rail
Arrangement, can also be made an entirety by the 4th rail and the 5th rail.The material of the rail group 3 ' of the present embodiment, with
The connection mode of pipeline 1 ' is all identical with the situation of embodiment 1.Two rail groups 3 ' are set to realize stream carrier vehicle
Run side by side in the same direction, alternatively, the way traffic of stream carrier vehicle, improve the transport capacity of whole underground piping transportation system.
Two are set in pipeline 1 ' by trajectory, rail group 3 ' is corresponded to respectively and is arranged on the inner wall of pipeline 1 '；By trajectory
It is fixed on by fastener on pipeline 1 ', when pipeline 1 ' is steel material, felt pad is provided between by trajectory and pipeline 1 '.
A kind of concrete structure of the bogie of stream carrier vehicle in the pipeline of the application is described below：
3：
Referring to attached drawing 21~25, bogie provided in this embodiment includes：Framework 402 ', centre of pull pin 404, tow ball
Hinge 403 and bearing spring 405；The middle part of framework 402 ' opens up pin hole；Centre of pull pin 404 is threaded through in pin hole, top and transport
The vehicle body bottom frame 410 of car is fixedly connected；Traction flexural pivot 403 is set on centre of pull pin 404, in pin hole；Bearing spring
405 are fixed on framework 402 '；Vehicle body bottom frame 410 is pressed on bearing spring 405.
Wherein, coordinated by centre of pull pin 404 with traction flexural pivot 403 to car body transmission and draw horizontal force；Pass through carrying
Spring 405 transmits the vertical force between car body and framework 402 '；Said structure can meet that transport vehicle is wanted in underground pipeline transportation
Ask, compared to existing bogie structure, the application eliminates the components such as bolster, drawing pull bar, makes simple and reasonable, occupied space
It is smaller, cargo containing space is improved, ensures underground pipeline transportation ability.
Further, the top of centre of pull pin 404 stretches out a circular fixed platform 412；Fixed platform 412 is logical
Several are crossed to be fixedly connected with vehicle body bottom frame 410 along the circumferentially uniformly distributed fastener of fixed platform.Circular 412 energy side of fixed platform
Just centre of pull pin 4 and the connection of vehicle body bottom frame 410 are fixed, the connective stability of enhancing car body and framework 402 '.As one kind
Preferred embodiment, fixed platform 412 can be fixedly connected by four circumferentially uniformly distributed bolts with vehicle body bottom frame 410, a side
Face ensures the fastness that centre of pull pin 404 is connected with vehicle body bottom frame 410, on the other hand can optimize stream carrier vehicle operational process
The distribution of middle horizontal drag force.
Further, it is rubber bushing to draw flexural pivot 403, and the cylindrical of traction flexural pivot 403 is pressed into framework by being interference fitted
In pin hole in the middle part of in the of 402 ', the upper surface of flexural pivot 403 and the either flush of framework 402 ', lower face and the bottom of framework 402 ' are drawn
Face is concordant；Traction flexural pivot 403 axially has big displacement and small rigidity along it, discharges centre of pull pin 404 in catenary motion,
Car body vertical load is born by bearing spring 405, and car body vertical and horizontal load is by centre of pull pin 404 by drawing flexural pivot
403 are transferred to framework 402 ', and rubber bushing has good cushion performance, ensures the stationarity of tractive force transmission, avoids drawing
Centrepin 404 produces structural wear or bad deformation with the rigid contact of framework 402 '.Centre of pull pin 404 is provided with backstop 413,
Traction flexural pivot 403 corresponds to backstop 413 and is provided with backstop groove, the backstop 413 stretched out on centre of pull pin 404 and tow ball compared with
Matching grooves on 403, abrasion are produced to prevent from rotating between the two.
Further, bogie is provided with two bearing springs 405, is fixed on the on both sides of the middle of framework 402 '；Car body
The secondary spring that vertical load has the on both sides of the middle of framework 402 ' is born；Bearing spring 405 includes：Spring 417, be fixed on spring
First connecting plate 415 at 417 tops and the second connecting plate 414 for being fixed on 417 bottom of spring；The top surface of first connecting plate 415
It is provided with least one convex navel 416；Vehicle body bottom frame 410 corresponds to convex navel 416 and sets fluted 411；Convex navel 416 is matched somebody with somebody with groove 411
Close effectively limitation vehicle body bottom frame 410 and relative displacement occurs with bearing spring 405, ensure both relative position stability, second connects
Fishplate bar 414 is fixedly connected by fastener with framework 402 '.Spring 417 has good delay on the basis of vertical force is carried
Punching performance, ensures the stationarity of transport vehicle operational process.
Wherein, spring 417 is rubber spring or steel spring；Rubber spring or steel spring cost are low, simple in structure, without dynamic
Power source, performance meet the requirement of stream carrier vehicle.Two are set on first connecting plate 415 along the direction of travel of stream carrier vehicle
Convex navel 416, therefore, the knot of four convex 416 mating grooves 411 of navel in rectangular layout between vehicle body bottom frame 410 and bearing spring 5
Structure, forms the excellent support to vehicle body bottom frame 410, the good adaptation transport vehicle of energy is in steering, startup and moderating process because used
Tilting of car body caused by property, ensures the safety in operation of transport vehicle.Second connecting plate 414 is rectangular slab；Spring 417 is fixed on
The center of two connecting plates 414；Four angles of the second connecting plate 414 are fixedly connected by bolt with framework 402 ', ensure to hold
Carry the connective stability of spring 405 and framework 402 '.
Further, referring to attached drawing 20, framework 402 ' includes：Two longerons being arranged in parallel, intermediate transverse girder and two sides
Crossbeam；Side beam vertical is fixed on the end of longeron；Intermediate transverse girder is vertically fixed on the centre of longeron；Opened in the middle part of intermediate transverse girder
If pin hole.Longeron, intermediate transverse girder and two side crossbeams ensure whole framework 402 ' after welding between each other positioned at horizontal plane is same as
With good strength and stiffness, meet the requirement of stream carrier vehicle cargo transport；Longeron, intermediate transverse girder and two side crossbeams are all
Manufactured using hollow square steel structure, ensure the dead weight of mitigation bogie on the basis of structure tension performance.
Further, further include：Driving device 408, wheel 401 ', brake apparatus 406；Driving device 408 is arranged on structure
The lower section of frame 402 '；Wheel 401 ' is connected with the output terminal of driving device 408；Brake apparatus 406 is connected with wheel 401 '.Pass through
Driving device 408 is rotated with motor car wheel 401 ', realizes the walking of stream carrier vehicle, brake apparatus 406 realizes stream carrier vehicle
Stop.Driving device 408 is connected fixation with framework 402 ' by fastener；It is provided between driving device 408 and framework 402 '
Rubber pad；Rubber pad can improve the stressing conditions between driving device 408 and framework 402 ', and there is certain vibration reduction and cushioning to imitate
Fruit, in vehicle operation, weakens the vibration that framework 402 ' is delivered to driving device 408, protection driving device 408 is stablized
Work.Wheel 401 ' is any one in pneumatic rubber wheel, solid rubber wheel or steel wheel, and transport vehicle generally operates in buried pipe
On track in corridor, for the wall thickness of underground pipe gallery generally than relatively thin, pneumatic rubber wheel or solid rubber wheel can reduce stream carrier vehicle
To the impact force of piping lane, and solid rubber wheel bearing capacity is stronger, security higher, and therefore, solid rubber wheel is the application's
Preferred solution.
Further, include as the first way of realization, driving device 408：Dual-output motor and it is connected to dual output
Two gear-boxes of the output terminal of motor；Two gear-boxes are rotated by the wheel 401 ' of axle drives front-end and back-end respectively.
As another way of realization, driving device 408 can be that two motors being arranged on below framework 402 ' drive one respectively
Gear-box works, and then drives the wheel 401 ' of front-end and back-end to rotate.As the third way of realization, driving device 408 is also
Can be decelerating motor, decelerating motor is rotated by the wheel 401 ' of axle drives front-end and back-end.
Further, further include：At least two guide wheel groups, two of which guide wheel group are separately positioned on framework 402 '
On two side crossbeams；Guide wheel group includes the symmetrically arranged directive wheel 407 in central axes of two opposite frameworks 402 '；Two guiding
Wheel 407 is arranged on the both ends or centre of side crossbeam, and directive wheel 407 is correspondingly arranged with guided way 418, when two 407 cloth of directive wheel
Put at the both ends of side crossbeam, can be led two walking rails as guided way 418, four of front and rear two sides crossbeam both ends
Rolled to wheel 407 along the side of walking rails, realize steady guiding when stream carrier vehicle is turned.When two 407 cloth of directive wheel
Put at the centre of side crossbeam, it is necessary to two walking rails one guided way 418 of intermediate arrangement, two 407 edges of directive wheel
Two lateral movements of guided way 418, realize steady guiding when stream carrier vehicle is turned.
Further, further include：At least one pantagraph current collector 409, is arranged on the lower section of framework 402 ', by with underground pipe gallery
Being coordinated by trajectory for interior laying obtains electric energy, then provides electric energy for driving device 408 and other consuming parts.
The pipeline of the application is additionally provided with guided way 418, and the specific knot of one kind of guided way 418 is described below
Structure：
4：
Referring to attached drawing 26~30, directive wheel 407 is symmetricly set on the bottom of framework 402 ' by fastener, respectively with guiding
The spill rail level of 418 both sides of rail coordinates, and realizes the excessively curved guiding of stream carrier vehicle.
Guided way 418 includes：It is fixed on the lower part 4183, middle part 4182 and expanding above middle part 4182 on ground
Structure 4181；4182 both sides rail level of middle part is plane；The vertical section width of lower part 4183 is more than middle part 4182 and expands structure
4181 width；As a kind of preferred embodiment, the vertical section at middle part 4182 is isosceles trapezoid, and the base of isosceles trapezoid
Longer than top margin, i.e. the inclination rail level of 4182 both sides of middle part tilts down, when vehicle is excessively curved, directive wheel energy relative tilt rail level hair
Raw a degree of sliding, offsets the centrifugal force that vehicle produces to a certain extent, running gear and car when strengthening vehicle processes
The stationarity of body 2 '.4183 width of lower part of guided way 418 is larger, ensures the firm of guided way 418, turns in order to provide enough
Xiang Li.
The angle for tilting rail level and perpendicular could be provided as 5 °~15 °, and angle, which crosses conference, causes directive wheel 407 to provide
Steering force deficiency；And angle it is too small when directive wheel 407 can not effectively tilt rail level on slide, reduce vehicle it is excessively curved when turn to
The stationarity of frame 4 ' and the car body 2 ' of stream carrier vehicle.The radial section of directive wheel 407 and the middle part 4182 of guided way 418 tilt
Rail level is vertical.
The middle part 4182 of guided way 418 passes through cambered surface transition with lower part 4183.Expand structure 4181 the two of guided way 418
Side is arcwall face；The cross-sectional width for expanding structure 4181 of guided way 418 gradually increases from bottom to top.Middle part 4182 and lower part
4183 use cambered surface transition, expand structure 4181 be arranged to arcwall face be all conducive to directive wheel 407 guided way 418 rail level slide
Move；The arc-shaped skidding distance for expanding the energy restricted guidance of structure 4181 wheel 407, effectively prevents from derailing.
The pipeline of the application is additionally provided with guided way, and another concrete structure of guided way 418 is described below：
5：
Referring to attached drawing 26~30, directive wheel 407 is symmetricly set on the bottom of framework 402 ' by fastener, respectively with guiding
The spill rail level of 418 both sides of rail coordinates, and realizes the excessively curved guiding of stream carrier vehicle.
Guided way 418 includes：In being fixed on the lower part 4183 on ground, the middle part 4182 that both sides are arc rail level and being located at
Expand structure 4181 in the top of portion 4182；The both sides for expanding structure 4181 are arcwall face, and cross-sectional width gradually increases from bottom to top；
The middle part 4182 of guided way 418 is arranged to concave-shaped arc surface with lower part 4183 by cambered surface transition, i.e. 418 both sides of guided way, ensures
The ride comfort that directive wheel 407 slides on the rail level of guided way 418, bogie 4 ' and car body 2 ' is steady when enhancing vehicle is excessively curved
Property.The outer surface of directive wheel 407 is arcwall face, is coordinated with concave-shaped arc surface, ensures the ride comfort that directive wheel 407 slides.Guided way
418 4183 width of lower part is larger, ensures the firm of guided way 418, in order to provide enough steering forces.
A kind of concrete structure of the car body of the pipeline of the application is described below：
6：
Referring to attached drawing 31~36, car body 2 ' includes：Chassis, headwall 204, upper frame 202, upper slide 201 and switching mechanism；
Chassis is fixed on bogie 4 '；Headwall 204 is fixed on the end of chassis；Upper frame 202 is fixed on the top of headwall 204；Upper cunning
Door 201 is slidably arranged between headwall 204, positioned at the side of chassis；The upper slide 201 of switching mechanism driving is slid onto upper frame upwards
202 lower sections.
Wherein, after stream carrier vehicle is accommodated to handling goods station point, slide 201 in opening, make cargo machine for collecting load be moved from opening
Enter or remove vehicle body, upper slide 201 slides up to the lower section of upper frame 202, and the pipeline space being not take up outside car body, ensures
Car body has larger cargo space, and increases carrying cargo amount, ensures cargo underground pipeline transportation transfer efficiency.
Further, upper slide 201 includes the door-plate 213 that polylith is arranged side by side vertically；Adjacent door-plate 213 passes through hinge
212 is hinged.Switching mechanism includes：Slide 211, traction electric machine, traction rope, guide wheel and multiple pulleys 214；Slide 211 is symmetrically set
Put in the both sides of upper slide 201；Pulley 214 is movably arranged in slide 211, is fixedly connected with hinge 212；Guide wheel is arranged on cunning
The top of rail 211；Traction rope is set on guide wheel, and one end is fixedly connected with the door-plate 213 at the top of upper slide 201, the other end with
The door-plate 213 of upper 201 bottom of slide is fixedly connected；Traction electric machine is either-rotation motor；Traction electric machine driving guide wheel rotates, and drive is led
Messenger is driven, and then drives upper slide 201 to rise or fall, meanwhile, pulley 214 scrolls up in slide 211.
Further, slide 211 includes：Vertical section, segmental arc and the horizontal segment on top of lower part；Segmental arc and vertical section
And horizontal segment connection；Horizontal segment is arranged in parallel in the lower section of upper frame 202, and parallel with headwall 204；Guide wheel is fixed on the end of horizontal segment
Portion.
Further, door-plate 213 is provided with observation window 209, and observation window 209 is used for the cargo collection for observing delivery in car body 2 '
The situation of device is filled, observation window 209 can be combining glass or waffle slab.The side of car body 2 ' is provided with two pieces of upper cunnings
Door 201；The centre of chassis side is provided with center every beam 203, and center is each between beam 203 and two pieces of headwalls 204 to set one
Upper slide 201；The slide 211 of upper 201 side of slide is fixed on center every on beam 203, and the slide 211 of opposite side is fixed on end
On wall 204；Traction electric machine is centrally disposed every on beam 203.
As a kind of implementation：Car body 2 ' further includes a side wall, is fixed on the side of chassis, upper slide 201 and opening and closing
Mechanism is arranged on the opposite side of chassis, realizes car door opening or the closing of the side of car body 2 ', and cargo machine for collecting load all passes through the sidesway
Enter or remove the inside of car body 2 '.To realize the both sides of car body 2 ' handling goods machine for collecting load, present invention also provides another realization side
Formula：The both sides of car body 2 ' are both provided with slide 201；The upper slide 201 of both sides is driven by corresponding switching mechanism, can be upwards
It is slid onto the different height of the lower section of upper frame 202.
In order to facilitate cargo into and out car body 2 ', car body 2 ' is additionally arranged automatic loading and unloading goods platform 210.
The automatic loading and unloading goods platform 210 includes：More rotating rollers and the transfer roller motor being connected with rotating roller；More rotating rollers
It is arranged side by side on the chassis of car body；Transfer roller motor-driven rotation roller rotates, and the cargo machine for collecting load in rotating roller is removed or is moved
Enter car body 2 '；After stream carrier vehicle is accommodated to handling goods station point, automatic loading and unloading goods platform 210 rotates rod with loading and unloading goods station point
Conveyor roller docks, and the cargo machine for collecting load for rotating rod removal is sent to cargo storage point, or, the cargo packaging by cargo storage point
Device is sent on the rotation rod in car body 2 '.
Wherein, cargo machine for collecting load is placed on more internal rotation rods of car body 2 ', and the band motor vehicles bodies 2 ' of bogie 4 ' are run
To after the handling goods station point of underground, the upper slide 201 of car body 2 ' is opened, and transfer roller motor-driven rotation rod rotates, and makes on rotation rod
The cargo machine for collecting load of placement removes car body 2 ', or the cargo machine for collecting load of handling goods station point is moved into the internal warehousing sky of car body 2 '
Between, complete the loading of cargo without using the dress discharger such as crane or fork truck or unload, improve cargo underground pipeline transportation
Transfer efficiency.
Further, the transmission direction of automatic loading and unloading goods platform 210 is transported perpendicular to the traffic direction of bogie 4 ' in logistics
In defeated car operational process, rotate rod and bear axial force and be not subject to rotating torque, ensure that stream carrier vehicle turns in the process of running
The positional stability of cargo machine for collecting load on dynamic rod, avoids inertia force caused by the operation of cargo machine for collecting load from making cargo machine for collecting load opposite
Rotate rod sliding.
Further, transfer roller motor is Double-directional rotary motor, and rotation rod can be driven to rotate forward or backwards, can drive rotation
Rod rotates forward or backwards, enables cargo machine for collecting load into and out car body 2 ', alternatively, when car body 2 ' opens the upper cunning of not homonymy
During door 201, by the different traffic direction of Double-directional rotary selection of Motor, move the upper slide 201 of cargo machine for collecting load never homonymy
Go out or move into car body 2 '.Multiple automatic loading and unloading goods platforms 210 are disposed with along its length in car body 2 ', due to the length of car body 2 ' compared with
Greatly, the cargo machine for collecting load of small size can be placed respectively on each automatic loading and unloading goods platform 210, each automatic loading and unloading goods is put down
Platform 210 is docked with loading and unloading the conveyor roller of goods station point successively, is realized the loading of each cargo machine for collecting load or is unloaded；Can also be more
The cargo machine for collecting load of a large volume is placed on a automatic loading and unloading goods platform 210, abundance is provided for the cargo machine for collecting load of large volume
Driving force.
Further, the roll body whole body for rotating rod is arranged with skid resistant course, increases rubbing between cargo machine for collecting load and rotation rod
Power is wiped, when stream carrier vehicle starts or stops, cargo machine for collecting load in traffic direction there is certain inertia force to act on, and rotate rod
Skid resistant course can effectively prevent cargo machine for collecting load and relatively rotate rod sliding.
Further, the chassis of car body 2 ' is provided with limiting device close to automatic loading and unloading goods platform 210；Limiting device bag
Include：Limit electric machine, rack and pinion mechanism and limited block；Limit electric machine is fixed on chassis, the gear with rack and pinion mechanism
Connection；Limited block is fixedly connected with the rack of rack and pinion mechanism；Limited block is close to the side of automatic loading and unloading goods platform 210
It is provided with rubber pad.
As a kind of preferred embodiment, a limit can be respectively arranged in the middle part of the surrounding of automatic loading and unloading goods platform 210
Position device；During handling goods machine for collecting load, the limited block of limiting device is in less than the position for rotating rod, when cargo collection
Device is filled on automatic loading and unloading goods platform 210 after dropping place, the work of limit electric machine drive gear rackwork, rack drives limited block
The position for being higher by and rotating rod is risen to, cargo machine for collecting load is limited in the limited block of surrounding, prevents stream carrier vehicle from transporting
Row process, cargo pallet skid off automatic loading and unloading goods platform 210.In addition, also a kind of mode of operation is：Stream carrier vehicle is accommodated to
After loading and unloading goods station point, the rotation rod of automatic loading and unloading goods platform 210 is docked with loading and unloading the conveyor roller of goods station point, by conveyor roller pair
The limited block of the limiting device of side rises, and other limiting devices keep original states, in this way, cargo machine for collecting load is from transport roller
Road migrates to when rotating on rod, and the limited block of rise is avoided that cargo machine for collecting load is put down in the effect of inertia automatic loading and unloading goods that glides out
Platform 210, after cargo machine for collecting load is in dropping place on automatic loading and unloading goods platform 210, other limiting device work, by automatic loading and unloading goods
The limited block in 210 other orientation of platform rises.
A kind of concrete structure of adapting system in the pipeline of the application is described below：
7：
Referring to attached drawing 37~42, which includes：Underground tumbler 54, lifting gear and ground tumbler
51；Underground tumbler 54 is arranged on ground lower platform, to receive and transmit the cargo machine for collecting load of stream carrier vehicle submitting；Lifting
Device is arranged in the passage between ground lower platform and ground surface platform, to receive the cargo packaging of the transmission of underground tumbler 54
Device, and cargo machine for collecting load is promoted to ground surface platform；Ground tumbler 51 is arranged in ground surface platform, to receive lifting gear
The cargo machine for collecting load of transmission, and cargo machine for collecting load is sent into unloading warehouse.Underground tumbler 54 and ground tumbler 51 are each
Freely multiple assembled units are arranged to make up.
Meanwhile ground tumbler 51 can also receive and transmit the cargo machine for collecting load that unloading warehouse is sent out, lifting gear
The cargo machine for collecting load of the transmission of ground tumbler 51 can be received, and cargo machine for collecting load is dropped into ground lower platform, underground rotates dress
The cargo machine for collecting load of lifting gear transmission can also be received by putting 54, and cargo machine for collecting load is sent into stream carrier vehicle.
Referring to attached drawing 21, underground tumbler 54 includes：It is fixed on the first support 542 of ground lower platform, is arranged on first
Some first roller-ways 541 being arranged in parallel at the top of stent 542 and the first driving part of driving the first roller-way 541 transmission；
Stream carrier vehicle is provided with the roller-way of automatic loading and unloading goods, to carry and transmit cargo machine for collecting load；Stream carrier vehicle is accommodated to handling
After the point of goods station, roller-way is docked with the first roller-way 541；Roller-way is identical with the direction of transfer of the first roller-way 541.First driving part can
Think any one in gear transfer mechanism, belt transmission agency or chain transport mechanism.
Implementation one, is described below a kind of concrete structure of underground tumbler：
First roller-way 541 includes the roller that multiple direction of transfers along the first roller-way are arranged；Roller is rotated by roller bearing and set
Put in first support 542.
First driving part is gear transfer mechanism, including：Either-rotation motor, driving tooth, multiple driven tooths and it is arranged on phase
Idle pulley between adjacent driven tooth；Either-rotation motor is fixed in first support 542, and output terminal is fixedly connected with driving tooth, with driving
Driving tooth rotates forward or backwards；Driven tooth is fixed on corresponding roller bearing, is followed driving tooth to rotate synchronously by idle pulley, is then made
Multiple rollers in first support 542 rotate synchronously.
Implementation two, is described below another concrete structure of underground tumbler：
First roller-way 541 includes the first conveying roller that multiple direction of transfers along the first roller-way are arranged；First conveying roller leads to
Shaft is crossed to be rotatably arranged in first support 542.
First driving part is belt transmission agency, including：Either-rotation motor and multiple synchronous belts.
A wherein synchronous belt is set on the output shaft of either-rotation motor and the shaft of adjacent first conveying roller, remaining synchronization
Band is respectively sleeved in the shaft of adjacent first conveying roller；Either-rotation motor makes multiple first conveying rollers synchronously turn by synchronous belt
It is dynamic.
Implementation three
Adapting system provided in this embodiment includes the underground tumbler in implementation one or implementation two, also wraps
Include following lifting gear：
Referring to attached drawing 20 and 25, which includes：Fixed second support 52 in the channel, support transfer station 53 and
Lifting driver part；Second support 52 is provided with rail plate；Lifting driver part driving supports transfer station 53 along rail plate
Rise or fall；Support transfer station 53 can transmit cargo machine for collecting load, and support the direction of transfer and the first roller-way 541 of transfer station 53
Direction of transfer it is identical.
Wherein, when support transfer station 53 rises to upper limit position, support transfer station 53 and the top surface of ground tumbler 51
Concordantly；When support transfer station 53 drops to lower position, support transfer station 53 and the either flush of underground tumbler 54.
Support transfer station 53 includes multiple the second conveying roller being arranged side by side, the second driving part and supporting racks；Second is defeated
Roller is sent to be rotatably arranged on by shaft on supporting rack；Second driving part can be gear transfer mechanism, belt transmission agency or
Any one in chain transport mechanism.
The second driving part is specifically described for the situation of belt transmission agency below：
Second driving part includes：Either-rotation motor and multiple synchronous belts.
A wherein synchronous belt is set on the output shaft of either-rotation motor and the shaft of adjacent second conveying roller, remaining synchronization
Band is respectively sleeved in the shaft of adjacent second conveying roller；Either-rotation motor makes multiple second conveying rollers synchronously turn by synchronous belt
It is dynamic.
Further, supporting rack is provided with the pulley coordinated with sliding rail；Lifting driver part is cylinder or hydraulic cylinder.
Implementation four, the underground that adapting system provided in this embodiment is included in implementation one or implementation two turn
Dynamic device, further includes following lifting gear：
The lifting gear includes：Fixed second support 52, support transfer station 53 and lifting driver part in the channel；The
Two stents 52 are provided with rail plate；Lifting driver part driving support transfer station 53 rises or falls along rail plate；Support
Transfer station 53 can transmit cargo machine for collecting load, and support the direction of transfer of transfer station 53 vertical with the direction of transfer of the first roller-way 541.
Adapting system 5 ' further includes：Lifting tourelle 55, is arranged to make up by multiple assembled units.
Lifting tourelle 55 includes：It is transfer fixed frame 551, transfer lifting frame 552, lifting driving part 553, some
The direction of transfer first transfer roller-way 554 identical with the direction of transfer of the first roller-way 541, some direction of transfers and support transfer station
The second identical transfer roller-way 555 of 53 direction of transfer, one end of the second transfer roller-way 555 extends to the second of lifting gear
Stent 52.
Second transfer roller-way 555 is arranged on transfer fixed frame 551；First transfer roller-way 554 is arranged on transfer lifting frame
On 552；Lifting driving part 553 is fixed on transfer fixed frame 551, and output terminal is connected with transfer lifting frame 552, with driving
Turn lifting frame 552 to lift or decline.
Wherein, when support transfer station 53 rises to upper limit position, the top surface and ground tumbler 51 of transfer station 53 are supported
Either flush；Support transfer station 53 is when dropping to lower position, supports the top surface and the second transfer roller-way 555 of transfer station 53
Either flush.
When transfer lifting frame 552 rises to upper limit position, top surface and the underground tumbler 54 of the first transfer roller-way 555
The either flush of first roller-way 541, and higher than the top surface of the second transfer roller-way 555；Transfer lifting frame 552 drops to lower position
When, the top surface of the first transfer roller-way 554 is less than the top surface of the second transfer roller-way 555.
Further, the first transfer roller-way 554 includes multiple rollers arranged along 554 direction of transfer of the first transfer roller-way；
Roller is rotatably arranged in transfer lifting frame 552 by roller bearing；First transfer roller-way 554 is passed by gear transfer mechanism, belt
Send any one driving in mechanism or chain transport mechanism, the gear conveyer that wherein gear transfer mechanism is provided with embodiment one
The structure of structure is identical, and belt transmission agency is identical with the structure for the belt transmission agency that embodiment two provides.
Second transfer roller-way 555 includes multiple conveying rollers arranged along 555 direction of transfer of the second transfer roller-way；Conveying roller leads to
Shaft is crossed to be rotatably arranged on transfer fixed frame；Second transfer roller-way 555 passes through gear transfer mechanism, belt transmission agency or chain
Any one driving, wherein the structure phase for the gear transfer mechanism that gear transfer mechanism is provided with embodiment one in transport mechanism
Together, belt transmission agency is identical with the structure for the belt transmission agency that embodiment two provides.
Adapting system 5 ' provided in this embodiment further includes abnormal cargo apparatus for temporary storage 56, by least one assembled unit structure
Into for temporarily storing the cargo machine for collecting load of abnormality.
Referring to attached drawing 24, abnormal cargo apparatus for temporary storage 56 includes：It is fixed on the temporary stent 561 of ground lower platform, is arranged on
The temporary driving that some temporary roller-ways 562 being arranged in parallel and the temporary roller-way 562 of driving at the temporary top of stent 561 transmit
Component；Temporary roller-way 562 is identical with supporting the direction of transfer of transfer station 53；Temporary stent 561 is arranged on lifting tourelle 55
Transfer fixed frame 551 side, temporary roller-way 562 docks with the other end of the second transfer roller-way 555, i.e., lifting gear and
Abnormal cargo apparatus for temporary storage 56 is located at the both ends of lifting tourelle 55 respectively.
When the cargo machine for collecting load that the first roller-way 541 of underground tumbler 54 transmits is normal condition, lifting rolls dress
Put 55 the cargo machine for collecting load is transferred in lifting gear, when the cargo collection that the first roller-way 541 of underground tumbler 54 transmits
When dress device is abnormality, which is transferred to the temporary roller of abnormal cargo apparatus for temporary storage 56 by lifting tourelle 55
Temporarily stored on road 562, when the abnormality of cargo machine for collecting load is changed into normal, abnormal cargo apparatus for temporary storage 56 again will
The cargo machine for collecting load is sent to lifting tourelle 55 and lifting gear, carries out normal transmit process；In cargo machine for collecting load
Abnormality when can not release, can be by the way that the cargo machine for collecting load of the abnormality manually be moved away from abnormal cargo apparatus for temporary storage
56。
Temporary driving part is any one in gear transfer mechanism, belt transmission agency or chain transport mechanism.
It is specifically described below to keeping in driving part for the situation of belt transmission agency：
Temporary roller-way 562 includes the temporary conveying roller that multiple direction of transfers along temporary roller-way 562 are arranged；Temporary conveying roller
It is rotatably arranged on by shaft on temporary stent 561.
Temporary driving part includes：Either-rotation motor and multiple synchronous belts.
A wherein synchronous belt is set on the output shaft of either-rotation motor and the shaft of adjacent temporary conveying roller, remaining synchronization
Band is respectively sleeved in the shaft of adjacent temporary conveying roller；Either-rotation motor makes multiple temporary conveying rollers synchronously turn by synchronous belt
It is dynamic.
Implementation five, adapting system 5 ' provided in this embodiment include：Ground in implementation one or implementation two
Lower tumbler 54, and, the lifting gear in implementation three or implementation four, further includes following ground tumbler
51：
Referring to attached drawing 23, ground tumbler 51 includes：It is fixed on the 3rd stent 511 of ground surface platform, is arranged on the 3rd
Some articles of the 3rd roller-ways 512 being arranged in parallel at the top of stent 511 and the 3rd driving part of driving the 3rd roller-way 512 transmission；
3rd roller-way 512 is identical with supporting the direction of transfer of transfer station 53；3rd driving part is gear transfer mechanism, belt conveyor
Any one in structure or chain transport mechanism.
The 3rd driving part is specifically described for the situation of belt transmission agency below：
3rd roller-way 512 includes the 3rd conveying roller that multiple direction of transfers along the 3rd roller-way 512 are arranged；3rd conveying roller
It is rotatably arranged on by shaft on the 3rd stent 511.
3rd driving part includes：Either-rotation motor and multiple synchronous belts.
Wherein one article of synchronous belt is set on the output shaft of either-rotation motor and the shaft of adjacent 3rd conveying roller, remaining synchronization
Band is respectively sleeved in the shaft of adjacent 3rd conveying roller；Either-rotation motor makes multiple 3rd conveying rollers synchronously turn by synchronous belt
It is dynamic.
Implementation six, adapting system provided in this embodiment include：Underground in implementation one or implementation two
Tumbler 54, implementation three or the lifting gear in implementation four, the ground tumbler 51 in implementation five, also
Including：Parking auxiliary easing gear；
Parking auxiliary easing gear includes multiple auxiliary identical with 55 structure of lifting tourelle in implementation four
Unloading unit, multiple auxiliary unloading units are arranged side by side in the edges of handling goods station point, the first roller-way of underground tumbler 54
541 dock with the first transfer roller-way of the auxiliary unloading unit of setting in an intermediate position.After stream carrier vehicle is stopped, certain
First transfer roller-way of one auxiliary unloading unit is docked with the roller-way of the automatic loading and unloading goods of stream carrier vehicle, but the auxiliary is unloaded
Unit is not docked with the first roller-way 541 of underground tumbler, then by aiding in the second transfer roller-way of unloading unit by goods
Thing machine for collecting load is transported on the auxiliary unloading unit of setting, then, is risen the first transfer roller-way, is passed through the first transfer roller-way handle
Cargo machine for collecting load, which is transmitted on the first roller-way 541 of underground tumbler 54, starts normal transmit process.In this way, when logistics is transported
When defeated car stops the position of website and non-setting position, parking auxiliary easing gear can be by the cargo packaging of stream carrier vehicle submitting
Device is adjusted to the 541 corresponding position of the first roller-way with underground tumbler 54.
8：
Piping lane transportation system provided in this embodiment is included outside the building block that preceding embodiment provides, and is further included：Power supply
System and control system, electric power system provide electric energy for each consuming parts of stream carrier vehicle and adapting system, wherein, electric energy
By introducing power supply from power grid, processing distribution is carried out to power supply through electric substation, piping lane intelligence is then led to by specific power supply mode
Energy each of transportation system uses electric unit.It can be realized for the power supply mode of stream carrier vehicle by following various ways：The
The power supply of three rails, contact net power supply, electromagnetic induction power supply, the energy storage for power supply of slide wire power supply or various media.Power-supplying forms and peace
Dress mode is selected according to specific environment.
Third-rail feeding refers to：Stream carrier vehicle is by current collection device and the powered rail contact electricity getting along line arrangement
Stream carrier vehicle provides electric energy.Powered rail can be placed on circuit both sides and be flowed back by rail out of shape by third-rail feeding；Can also
It is arranged among circuit and is flowed back by rail out of shape；A return current rail can also be separately provided by current back electric substation.3rd rail
Powered mode can be that current collection device is flowed from powered rail top, can also be flowed from powered trackside portion, can also be from powered
Flange of rail portion is flowed.Current collection device can be arranged in the side of vehicle, bottom surface and above, and current collection device can be that pantograph can also
It is collector shoe.Set in the application pipeline provided above by trajectory, electric energy is transmitted to the pantagraph current collector of stream carrier vehicle, for thing
Flow transport vehicle operation is exactly a kind of third-rail feeding mode.
Contact net power supply refers to：Haulage vehicle takes electricity by current collection device from overhead contact net, and electricity is provided for vehicle
Can, contact net power supply can be rigid suspension OCS power supply or rigid contact net is powered.Contact net can be arranged in vehicle
Above can also be arranged in the side of vehicle.Current collection device can be that pantograph can also be collector shoe.Current collection device can be with
Flowed, can also be flowed from the side of contact net below contact net.
Electromagnetic induction power supply refers to：Primary circuit is arranged on vehicle circuit out of shape and is passed through the AC power of high frequency, when
When vehicle is run on the line, the secondary coil being arranged on vehicle can produce alternating current due to electromagnetic induction principle, will hand over
Time-dependent current carries out processing and powers for haulage vehicle.The primary winding of electromagnetic induction power supply can be arranged on face out of shape, can also
The side of haulage vehicle is arranged on, the top of operation vehicle can also be arranged on.Secondary coil can be set according to the layout of vehicle
The side of vehicle can also be arranged in the bottom of vehicle by putting, and can also be arranged on the top of vehicle.
Slide wire power supply and conductor rail power supply the principle are basically identical, and haulage vehicle contacts powered gold by current collection device
Belonging to line takes electricity to provide electric energy for vehicle.Trolley can be arranged in the top of vehicle, or the side of vehicle, can also be arranged in
The lower part of vehicle.Corresponding, current collection device can be arranged in the top, side, bottom of vehicle.
Energy storage type power supply refers to：Haulage vehicle is provided by energy storage devices such as the storage battery that carries, super capacitors for vehicle
Electric energy.Energy storage device in energy storage for power supply can be ultracapacitor group or various chemical storage batteries groups, can also be
A variety of energy-accumulating mediums are mutually combined the energy storage device to be formed.The charging equipment of energy storage for power supply can be contact charging equipment, connect
Tactile form can be the contact charging of the 3rd rail, can be trolley contact charging；The charging equipment of energy storage for power supply can also be nothing
Micro USB electric equipment, charged form can be electromagnetic induction power supplies.
9：
Piping lane transportation system provided in this embodiment is included outside the building block that preceding embodiment provides, and is further included：Processing
The driving device connection of the bogie of device, processor and stream carrier vehicle, by controlling starting or stoping for driving device, is realized
The unmanned automatic driving of stream carrier vehicle.The traction electric machine connection of the switching mechanism of the car body of processor and stream carrier vehicle, leads to
Cross control traction electric machine to rotate forward or backwards, open or close the upper slide of car body, meanwhile, processor and stream carrier vehicle
Car body automatic loading and unloading goods platform transfer roller motor connection, by controlling the rotation forward or backwards of transfer roller motor, make cargo
Pallet is into and out car body, and after arriving at a station so as to stream carrier vehicle, the cargo pallet in car body completes automated handling work.Place
Reason device is connected with each driving part of underground tumbler, lifting gear and ground tumbler in adapting system, with control
Underground tumbler, lifting gear and ground tumbler carry out cargo pallet handling operation automatically.Cargo pallet goes out car automatically
The detailed process that body enters the station is：Processor is connected with the first driving part of underground tumbler, and the lifting with lifting gear is driven
Dynamic component connects, and the 3rd driving part transmitted with the 3rd roller-way of driving of ground tumbler is connected.Stream carrier vehicle arrives at a station
Afterwards, the upper slide of processor control is opened, and cargo pallet is moved out to the first of underground tumbler from automatic loading and unloading goods platform automatically
On roller-way, processor controls the work of the first driving part, cargo pallet is transmitted to along the first roller-way on lifting gear, hereafter,
Processor control lifting driver part work, the support transfer station that driving is loaded with cargo pallet rise along rail plate, arrival pair
After the height for answering ground tumbler, processor controls the work of the 3rd driving part, and cargo pallet is transmitted to along the 3rd roller-way and unloads
Freight house storehouse.The automatic outbound detailed process into car body of cargo pallet is opposite with the action of the above process.
Second of pipeline：
Referring to attached drawing 10, which includes：Pipeline 1 ", at least one rail group and stream carrier vehicle 4 "；Pipeline 1 " buries
It is located in the ground, inside is transport channel；Rail group is fixed on the inner wall at the top of pipeline；Rail group includes：Two travelings
Rail 2 "；The rail level of two rails 2 " is symmetrically obliquely installed；Referring to attached drawing 11,3 and 8, stream carrier vehicle 4 " includes：Bogie 5 "
And car body 6；Car body 6 is hung in the lower section of bogie 5 "；The wheel 10 of the both sides of bogie 5 " is on the rail level 18 of two rails
Operation.
Wherein, hung referring to attached drawing 12 and 18, the car body 6 of stream carrier vehicle 4 " in the lower section of bogie 5 ", bogie 5 "
The wheel of both sides is run on the rail level 18 of two rails 2 ", stream carrier vehicle 4 " is completed the underground haulage of cargo, release
Aboveground space, alleviates urban traffic blocking；Underground pipeline transportation can with Optimizing City logistics distribution network, strengthen line haul with
Effective linking of city distribution, to meeting people's livelihood primary demand and improving logistics, municipal transport bearing capacity and promotion electronics business
Greatly developing for business is played a positive role.Stream carrier vehicle 4 " is suspended in midair and operated on the overhead rail of pipeline 1 ", can be released
The horizontal swing of car body 6 is put, reduces impact force of the stream carrier vehicle 4 " to rail 2 " He pipeline 1 "；Overhead rail is set
Meter, the limited pipeline 1 " in energy good conformity space, is that the car body 6 of stream carrier vehicle 4 " provides the space of bigger, and then increases car
The volume of cargo of body 6, strengthens transport capacity.
The both ends connection Large Underground handling goods station point of pipeline 1 "；The intermediate connection of pipeline 1 " has more root architectures and pipeline 1 "
Identical branch pipe(tube), the end connection small underground handling goods station point of branch pipe(tube)；Branch pipe(tube) be internally provided with structure and quantity with
The identical traveling branch rail group of rail group, traveling branch rail group are connected with corresponding rail group.It is real by pipeline 1 " and branch pipe(tube)
Cargo transport between existing each large-scale and small underground handling goods station point, improves conevying efficiency.Set in pipeline 1 " and branch pipe(tube)
Multiple ventilating parts and multiple illuminace components are equipped with, component is overhauled or replaced in order to which personnel enter in pipeline 1 ".
Rail 2 " opens up lightening hole 17, on the basis of meeting structural stability and there is enough bearing capacitys,
Lightening hole 17 is opened up in rail 2 ", reduces the load of pipeline 1 ", improves transport capacity, while also save the life of rail 2 "
Produce raw material.
The concrete structure of the bogie of the stream carrier vehicle system of the application offer is provided below by specific embodiment：
1：
Referring to attached drawing 12 and 13, bogie 5 " includes：If framework 7, revoke 13, axis pin 8, some wheel hub motors 11 and dry turning
Wheel 10；The middle part of framework 7 opens up pin hole；Revoke 13 and hang and be located in pin hole, lower part opens up axis hole；Axis pin 8 is threaded through in axis hole, is used for
Hang car body 6；Some wheel hub motors 11 are arranged symmetrically in the both sides at the top of framework 7 with respect to the center line of framework 7；Wheel hub motor
11 are fixedly connected with framework 7；Some wheels 10 are arranged on the output terminal of corresponding wheel hub motor 11；The radial section of wheel 10 is vertical
In the rail level 18 of rail 2 ".
The wheel 10 of the both sides of bogie 5 " arranges in splayed, the weight of car body 6 by axis pin 8, revoke 13, framework 7,
Wheel hub motor 11 and wheel 10 are delivered on two rails 2 ", and car body 6 is when passing through curve section, in the effect of centrifugal force
Under, the wheel 10 of 7 side of framework rises along the inclined plane of rail 2 ", and the wheel 10 of opposite side, which corresponds to, to be declined, at this time bogie
5 " center line opposed vertical faces tilt, and when car body 6 reenters straightway, centrifugal force disappears, work of the bogie 5 " in gravity
With lower automatic centering return, without setting directive wheel and guided way, the wheel 10 of splayed arrangement collects load-carrying, walking and guiding three
Kind function is integrated, and reduces the occupied space of bogie 5 ", adapts to the limited underground pipeline transportation in space.
Further, referring to attached drawing 14 and 15, the both sides at the top of framework 7 correspond to wheel hub motor 11 be tiltedly installed with it is some
Pillar 15；Pillar 15 is fixedly connected by fastener with wheel hub motor 11；Wheel 10 is defeated by fastener and wheel hub motor 11
Outlet is fixedly connected；The centerline collineation of pillar 15, wheel hub motor 11 and wheel 10.Framework 7 includes：Top plate, bottom plate and fixation
Polylith connecting plate between top plate and bottom plate；The center of top plate and bottom plate opens up corresponding through hole and forms pin hole.As one kind
Preferred embodiment, top plate and bottom plate are the identical rectangular steel plates of structure, and connecting plate material is steel, is fixed by welding in top plate
Between bottom plate, rectangular lattice structure is formed.Pillar 15 is hollow steel pipe, is fixed by welding on top plate, the top of pillar 15
End is coordinated by flange with multiple bolts is connected fixation with wheel hub motor 11, ensures that connection is firm also convenient for disassembly and assembly.Wheel hub motor
11 output terminal is arranged to flange plate structure, and flange plate structure is fixedly connected by multiple bolts with wheel 10.Due to car body 6 and
The weight of framework 7 passes to wheel hub motor 11 and wheel 10 successively by pillar 15, and rail is passed to finally by wheel 10
2 ", therefore, the center line of pillar 15, wheel hub motor 11 and wheel 10 is arranged to collinearly to can guarantee that the whole structure of bogie 5 "
Force stability.
Further, referring to attached drawing 15 and 16, revoke 13 axis and intersect with the center line of framework 7,13 arrangements will be revoked
In the centre position of framework 7, the gravity distribution of car body 6 can be optimized, make the stress of every single wheel 10 identical, avoid bogie
5 " cause unilateral 10 stress of wheel excessive when excessively curved and influence the stress of rail 2 " of the self structure of bogie 5 " or respective side
Excessive and deformed damaged.Revoking 13 includes：The body of rod for being pressed on the head of 7 top surface of framework and being threaded through in pin hole；Axis hole is set
In the lower part of the body of rod, the centerline parallel of center line and framework 7.Further include：Rubber bushing 9, is arranged in pin hole, revokes 13
It is threaded through in rubber bushing 9；The outer circumference surface of 9 lower part of rubber bushing is interference fitted with pin hole inner wall, outside inner peripheral surface and the body of rod
Wall clearance fit；9 top of the rubber bushing circular ring structure that to be arranged to outside diameter identical with the head outer diameter for revoking 13, circular ring structure
It is close to the top surface of framework 7 in lower surface；13 head is revoked to be pressed on the circular ring structure of rubber bushing 9 to transmit vertical force；Rubber
The lower part of glueballs hinge 9 can transmit the horizontal and vertical load of car body 6, while can also discharge between car body 6 and bogie 5 "
Revolution, beneficial to the sharp radius curve section by rail group.
The head undersurface for revoking 13 is arranged to inclined plane；The top surface of the circular ring structure of rubber bushing 9 is arranged to and revokes
The 13 corresponding inclined plane of head undersurface, the setting of inclined plane can optimize rubber bushing 9 it is vertical to horizontal direction stress, turn
Avoid the circular ring structure of rubber bushing 9 by excessive compression when excessively curved and recurring structure deformation to frame 5 ".
Referring to attached drawing 16, the top of car body 6 is fixedly connected with an ear mount 16, and two lifting lugs of ear mount are hung in axis pin 8 respectively
Both ends, and the axis of axis pin 8 is consistent with the direct of travel of bogie 5 ", so can effectively discharge 6 roll freedom of car body.Car
Wheel 10 is any one in pneumatic rubber wheel, solid rubber wheel or steel wheel, for the logistics transportation of underground piping 1 ", due to ground
For the wall thickness of lower pipeline 1 " generally than relatively thin, pneumatic rubber wheel or solid rubber wheel can reduce bogie 5 " and car body 6 to buried pipe
The impact force in road 1 ", therefore, solid rubber wheel are the preferred solution of the application.
Further, further included referring to attached drawing 10 and 11, the stream carrier vehicle system：By trajectory 3 ", quantity and rail
The quantity of group is identical, is arranged on the inner wall at the top of pipeline 1 ", positioned at the centre of two rails 2 " of corresponding rail group；By
Trajectory 3 " connects power supply part, to transmit electric energy to stream carrier vehicle 4 "；Pipeline 1 " is fixed on by trajectory 3 " by fastener to push up
On the inner wall in portion；When pipeline 1 " is steel material, felt pad is provided between by trajectory 3 " and pipeline 1 ".Set on bogie 5 "
Pantagraph current collector 14 and electric box 12 are equipped with, pantagraph current collector 14 is fixed on the top of framework 7, and electric energy is obtained with being coordinated by trajectory 3 "；Electrically
Case 12 is connected with pantagraph current collector 14 and wheel hub motor 11, by the electrical energy transportation that pantagraph current collector 14 obtains to wheel hub motor 11 and other use
Electrical components, realizes the driven by power of stream carrier vehicle 4 ", reduces air pollution caused by traditional fuel driving.
As a kind of preferred structure, the quantity of wheel hub motor 11 and wheel 10 is 4；4 wheel hub motors 11 are located at respectively
The both ends of 7 side of framework.Car body 6 is hung is arranged on the top two of car body 6 in the lower section of two bogies 5 ", two bogies 5 "
End, on the center line of car body 6；The front-end and back-end of car body 6 are provided with attachment device, and attachment device connects multiple car bodies 6
Connect and operation is organized into groups after fixing；The box structure that car body 6 is adapted for the transport channel of shape and pipeline 1 ".
A kind of pipeline section is described below as circle, the stream carrier vehicle system structure of inside one rail group of arrangement：
2：
The stream carrier vehicle system of the present embodiment includes the bogie of embodiment one, car body, circular pipe, a traveling
Rail group and one are arranged on the inner wall at the top of pipeline 1 ", positioned at the first rail and the second rail by trajectory by trajectory 3 "
Centre；The material of pipeline 1 " is steel or concrete, and section is circle；One rail group is set in circular pipe, at this time, is walked
Two rails 2 " of row rail group are：First rail and the second rail, the center line on circular pipe 1 " is symmetrical, and first
The material of rail and the second rail is steel；First rail and the second rail by fastener or are weldingly fixed on pipeline
On 1 ", alternatively, the first rail and the second rail are made with pipeline 1 " by global formation, due to stream carrier vehicle 4 " itself
Possesses certain weight, in fully loaded with cargo transported, to the structural requirement of the first rail, the second rail and pipeline 1 "
Higher, the integral strength and rigidity of steel pipe 1 " and rail 2 " are higher, can meet the suspention and transport of stream carrier vehicle 4 "
It is required that ensure good structural stability.Steel pipe 1 " has a good closure, adapts to underground environment, avoid soil and
Water enters transport channel, ensures transportation environment.
Further, referring to attached drawing 17 and 18, the rail level 18 of rail 2 " and the angle of horizontal plane are 120 °~170 °,
Because stream carrier vehicle 4 " and cargo are suspended on the first rail and the second rail, both weight finally all passes through wheel 10
It is delivered on the first rail and the second rail, moreover, general wheel 10 is arranged vertically on rail level 18,18 inclination angle of rail level
Size can influence wheel 10 and stream carrier vehicle 4 " bogie 5 " bearing capacity, angle is too small to cause wheel 10 and thing
The bogie stressing conditions of stream transport vehicle 4 " are poor, and wheel 10 bears larger torque, to the bearing capacity and knot of bogie 5 "
Structure stability requirement is higher, is unfavorable for the operation of the long-term safety of bogie 5 "；And angle is excessive, the first rail and can be caused
Two rails act on smaller to the horizontal force of wheel 10, are unfavorable for automatic centering of the stream carrier vehicle 4 " under Gravitative Loads, hold
Deviation phenomenon easily occurs, therefore, the rail level 18 of the first rail or the second rail and the angle of horizontal plane be arranged to 120 °~
170 °, preferable angular range is 150 °~170 °, and special instruction, angle is preferably arranged to 170 °, at this time, bogie 5 " and
First rail and the second rail are in optimal stress, and bogie 5 " will not be translated significantly when excessively curved, and car body 6 is not
It can occur significantly to roll, after returning to the straightway of rail group, stream carrier vehicle 4 " can be quickly returned just under Gravitative Loads.
The shape of the one side on the top of rail 2 " is adapted with the inner wall of pipeline 1 ", and is close to be fixed on the inner wall of pipeline 1 "
On；The another side on the top of rail 2 " is rail level 18；The bottom surface of the lower part of rail 2 " is horizontal plane.The lower part of rail 2 " corresponds to
The side of rail level 18 is provided with limiting block 19；The top surface of limiting block 19 is arranged to arcwall face, the top of the arcwall face of limiting block 19
Connect with the rail level 18 of rail 2 ", lower part levels off to horizontal plane.When stream carrier vehicle 4 " is excessively curved, bogie 5 " is made in inertia
With lower meeting lateral sliding, the wheel 10 of side is caused to be moved up along rail level 7, the wheel 10 of opposite side is moved down along rail level 18, is moved down
Wheel 10 may occur wheel 10 and slip over 18 bottom margin of rail level and derail, the weight for causing whole stream carrier vehicle 4 " to drop
Major break down, and the limiting block 19 that 18 bottom margin of rail level is set can effectively avoid wheel 10 that derailment accident occurs, and ensure logistics fortune
Defeated car 4 " it is safe for operation.
A kind of pipeline section is described below as ellipse, the stream carrier vehicle system knot of inside two rail groups of arrangement
Structure：
3：
The stream carrier vehicle system of the present embodiment include the bogie of embodiment one, car body, oval ducts, two walk
By trajectory 3 ", two are corresponded to rail group by trajectory 3 " and are arranged on the inner wall at the top of pipeline 1 " respectively by row rail group and two.Pipe
The material in road 1 " is steel or concrete, and section is ellipse；Referring to attached drawing 19, two rails are set in oval ducts 1 "
Group, two rails 2 " of one of rail group are：3rd rail 2 " 0, the 4th rail, another rail group
Two rails 2 " are：5th rail and the 6th rail 2 " 1.3rd rail 2 " 0 is symmetrical arranged with the 6th rail 2 " 1
Both sides at the top of oval ducts 1 ", the 4th rail and the 5th rail are fixed on the centre at the top of oval ducts 1 ",
4th rail can be arranged independently with the 5th rail, the 4th rail and the 5th rail can also be made one it is whole
Body.
It is the material of the rail group of the present embodiment, all identical with the situation of embodiment two with the connection mode of pipeline 1 ".The
Three rails, the 4th rail, the 5th rail and the 6th rail are both provided with the limiting block 19 in embodiment two.Set two
A rail group can realize running side by side in the same direction for stream carrier vehicle 4 ", alternatively, the way traffic of stream carrier vehicle 4 ", is improved
The transport capacity of whole stream carrier vehicle system.
The technical solution provided in the embodiment of the present application, has at least the following technical effects or advantages：
Method provided by the embodiments of the present application and vehicle, first detection obtain vehicle near in the investigative range of vehicle and send
Alarm signal, further according to the signal strength of the detectable signal, to automatically control the travel speed of vehicle, and due to the spy
The signal strength for surveying signal characterizes the spacing of the vehicle and neighbouring vehicle, so as to automatically adjust speed according to spacing, keeps away
Exempt from the excessively near caused security incident of spacing, the effective security for improving vehicle traveling.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program
Product.Therefore, the present invention can use the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Apply the form of example.Moreover, the present invention can use the computer for wherein including computer usable program code in one or more
The computer program production that usable storage medium is implemented on (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that it can be realized by computer program instructions each in flowchart and/or the block diagram
The combination of flow and/or square frame in flow and/or square frame and flowchart and/or the block diagram.These computers can be provided
Processor of the programmed instruction to all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices
To produce a machine so that the instruction performed by computer or the processor of other programmable data processing devices produces use
In the dress for realizing the function of being specified in one flow of flow chart or multiple flows and/or one square frame of block diagram or multiple square frames
Put.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which produces, to be included referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, thus in computer or
The instruction performed on other programmable devices is provided and is used for realization in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a square frame or multiple square frames.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation
Property concept, then can make these embodiments other change and modification.So appended claims be intended to be construed to include it is excellent
Select embodiment and fall into all change and modification of the scope of the invention.
Obviously, those skilled in the art can carry out the embodiment of the present invention various modification and variations without departing from this hair
The spirit and scope of bright embodiment.In this way, if these modifications and variations of the embodiment of the present invention belong to the claims in the present invention
And its within the scope of equivalent technologies, then the present invention is also intended to comprising including these modification and variations.
Claims (19)
1. a kind of control method for vehicle, it is characterised in that the method is applied to the vehicle in underground pipeline transportation system, described
Method includes：
Detection obtains alarm signal, the letter that the detectable signal sends for vehicle near in the investigative range of the vehicle
Number；
According to the signal strength of the detectable signal, the speed of the vehicle is controlled, wherein, the signal strength characterizes the car
Spacing with the vehicle nearby, the signal strength and the spacing inverse correlation.
2. the method as described in claim 1, it is characterised in that convoy spacing detecting module is installed on the vehicle, it is described
Detection, which obtains detectable signal, to be included：
By the convoy spacing detecting module, the convoy spacing installed near in the investigative range on vehicle is received
The detectable signal that detecting module is sent.
3. method as claimed in claim 2, it is characterised in that head of the convoy spacing detecting module towards the vehicle
Portion, the detection, which obtains detectable signal, to be included：
By the convoy spacing detecting module, reception vehicle near vehicle heading front sends described
Detectable signal.
4. method as claimed in claim 3, it is characterised in that the signal strength according to the detectable signal, controls institute
The speed of vehicle is stated, including：
When the signal strength of the detectable signal is more than intensity in front of default level-one, the vehicle deceleration is controlled.
5. method as claimed in claim 4, it is characterised in that the signal strength according to the detectable signal, controls institute
The speed of vehicle is stated, including：
When the signal strength of the detectable signal is more than intensity in front of default level-one, the vehicle is controlled with the first acceleration
Slow down, first acceleration and the signal strength positive correlation.
6. method as claimed in claim 4, it is characterised in that the signal strength according to the detectable signal, controls institute
The speed of vehicle is stated, including：
When the signal strength of the detectable signal is more than intensity in front of default level-one and is less than or equal to strong in front of default two level
When spending, the vehicle deceleration is controlled；
When the signal strength of the detectable signal is more than intensity in front of default two level, the vehicle is controlled to brake, wherein, institute
State intensity in front of two level and be more than intensity in front of the level-one.
7. method as claimed in claim 2, it is characterised in that tail of the convoy spacing detecting module towards the vehicle
Portion, the detection, which obtains detectable signal, to be included：
By the convoy spacing detecting module, reception sends described positioned at vehicle near the vehicle heading rear
Detectable signal.
8. the method for claim 7, it is characterised in that the signal strength according to the detectable signal, controls institute
The speed of vehicle is stated, including：
When the signal strength of the detectable signal is more than default level-one rear intensity, the vehicle is controlled to accelerate.
9. method as claimed in claim 8, it is characterised in that the signal strength according to the detectable signal, controls institute
The speed of vehicle is stated, including：
When the signal strength of the detectable signal is more than default level-one rear intensity, the vehicle is controlled with the second acceleration
Accelerate, second acceleration and the signal strength positive correlation.
A kind of 10. vehicle control system, it is characterised in that including：
Convoy spacing detecting module, obtains detectable signal, the detectable signal is the detection model positioned at the vehicle for detecting
The signal that vehicle is sent near in enclosing；
Automatic traction and braking system, for controlling vehicle speed；
Automatic protection and control system, according to the signal strength of the detectable signal, by the automatic traction and braking system,
The speed of the vehicle is controlled, wherein, the signal strength characterizes the spacing of the vehicle and the vehicle nearby, the signal
Intensity and the spacing inverse correlation.
11. system as claimed in claim 10, it is characterised in that the convoy spacing detecting module is additionally operable to, and reception is located at
The detectable signal that the convoy spacing detecting module installed near in the investigative range on vehicle is sent.
12. system as claimed in claim 11, it is characterised in that head of the convoy spacing detecting module towards the vehicle
Portion, by the convoy spacing detecting module, reception vehicle near vehicle heading front sends described
Detectable signal.
13. system as claimed in claim 12, it is characterised in that the automatic protection and control system are additionally operable to：
When the signal strength of the detectable signal is more than intensity in front of default level-one, the vehicle deceleration is controlled.
14. system as claimed in claim 13, it is characterised in that the automatic protection and control system are additionally operable to：
When the signal strength of the detectable signal is more than intensity in front of default level-one, the vehicle is controlled with the first acceleration
Slow down, first acceleration and the signal strength positive correlation.
15. system as claimed in claim 13, it is characterised in that the automatic protection and control system further include：
First deceleration unit, for when the signal strength of the detectable signal is more than intensity in front of default level-one and is less than or equal to
In front of default two level during intensity, the vehicle deceleration is controlled；
Second deceleration unit, for during intensity, controlling institute in front of being more than default two level when the signal strength of the detectable signal
Vehicle braking is stated, wherein, intensity is more than intensity in front of the level-one in front of the two level.
16. system as claimed in claim 11, it is characterised in that tail of the convoy spacing detecting module towards the vehicle
Portion, by the convoy spacing detecting module, reception sends described positioned at vehicle near the vehicle heading rear
Detectable signal.
17. system as claimed in claim 16, it is characterised in that the automatic protection and control system are additionally operable to：
When the signal strength of the detectable signal is more than default level-one rear intensity, the vehicle is controlled to accelerate.
18. system as claimed in claim 17, it is characterised in that the automatic protection and control system further include：
Accelerator module, for when the signal strength of the detectable signal is more than default level-one rear intensity, controlling the car
Accelerated with the second acceleration, second acceleration and the signal strength positive correlation.
A kind of 19. vehicle, it is characterised in that the vehicle is the vehicle in underground pipeline transportation system, including：
Vehicle body；
The vehicle control system as described in claim 10-18 is any on the vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN107963085B (en) | 2019-12-24 |
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