Permanent magnet and electromagnetic hybrid hanging type suspension pipe rail transportation system

Abstract

The invention provides a permanent magnet and electromagnetic hybrid hanging type suspension pipe rail transportation system. The permanent magnet and electromagnetic hybrid hanging type suspension pipe rail transportation system comprises a pipeline, a magnetic levitation vehicle, a traction module and a suspension module. The magnetic levitation vehicle is provided with the levitation module based on the permanent magnet and electromagnetic hybrid levitation technology, and the levitation module is arranged between the magnetic levitation vehicle and the inner top of the pipeline, so that the innovative design of combining permanent magnet and electromagnetic hybrid levitation and suspension type layout is realized; according to the innovative design, a permanent magnet part in the permanent magnet and electromagnetic hybrid electromagnet can be used for providing basic suspension force so as to greatly reduce energy consumption required by suspension, and a complex walking supporting mechanism in a traditional magnetic suspension system can be omitted through a hanging type structure, so that the section size of a pipeline is remarkably reduced; therefore, the technical problems of high energy consumption, complex structure and high construction cost of the existing magnetic suspension type pipe rail transportation system are synchronously solved, and the magnetic suspension type pipe rail transportation system with low energy consumption and high space utilization rate is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of pipe-rail transportation systems, and in particular to a permanent magnet and electromagnetic hybrid hanging suspended pipe-rail transportation system. Background Art

[0002] The contents in this section merely provide background information related to the present disclosure and may not constitute prior art.

[0003] With the acceleration of urbanization and rising living standards, logistics demand has increased exponentially, putting enormous pressure on traditional ground freight. Pipeline rail transport, as an emerging logistics and transportation solution, uses vehicles to transport goods within closed pipeline tracks, effectively alleviating ground traffic pressure and improving transportation efficiency.

[0004] At present, some explorations have been conducted on the tube rail transportation system both at home and abroad, but the carrying vehicles in the known tube rail transportation systems are usually vehicle-on-rail or rail-on-vehicle maglev vehicles based on conventional electromagnetic levitation technology.

[0005] However, both vehicle-on-rail and rail-on-vehicle maglev vehicles require a complex running mechanism to support the vehicle, which necessitates a larger cross-section of the pipeline, hindering system cost reduction. Furthermore, maglev vehicles based on conventional electromagnetic levitation technology require the electromagnets to remain energized continuously, resulting in high energy consumption for the entire pipeline-rail transport system. Summary of the Invention

[0006] In view of this, the object of the present invention is to provide a permanent magnet electromagnetic hybrid suspension type suspended rail transportation system, in the hope of simplifying the structure of the maglev vehicle to reduce system costs, while reducing the energy consumption of the rail transportation system.

[0007] The purpose of the present invention is achieved through the following technical solutions:

[0008] The present invention provides a permanent magnet electromagnetic hybrid hanging type suspended pipe rail transportation system, comprising:

[0009] pipeline;

[0010] a magnetic levitation vehicle, disposed in the pipe and capable of traveling along the extension direction of the pipe;

[0011] a traction module, configured to provide traction or braking force for the maglev vehicle along the extending direction of the pipeline;

[0012] A suspension module, comprising a suspension rail and a permanent magnet-electromagnet hybrid electromagnet cooperating with the suspension rail;

[0013] The suspension rail is arranged at the inner top of the pipeline and extends along the extension direction of the pipeline;

[0014] The permanent magnet-electromagnet hybrid electromagnet is arranged on the maglev vehicle and maintains a predetermined air gap with the suspension rail to generate a suspension force for suspending the maglev vehicle.

[0015] Optionally, the traction module is arranged at the center between the top of the magnetic levitation vehicle and the inner top of the pipeline.

[0016] Optionally, the traction module includes:

[0017] a linear motor secondary, disposed at the center of the top portion of the pipe and extending along the extension direction of the pipe;

[0018] The primary of the linear motor is arranged at the center of the top of the magnetic levitation vehicle and cooperates with the secondary of the linear motor to generate the traction force or braking force.

[0019] Optionally, there are two suspension modules, and the two suspension modules are symmetrically arranged with the traction module as the center.

[0020] Optionally, the permanent magnet electromagnetic hybrid hanging suspended pipe rail transportation system further includes an auxiliary module, and the auxiliary module includes:

[0021] Two support rails, the two support rails are arranged below the magnetic levitation vehicle and are parallel to each other; each of the support rails extends along the extension direction of the pipeline;

[0022] Wheels: the magnetic levitation vehicle is provided with wheels corresponding to the two support rails respectively, and the wheels can move along the corresponding support rails.

[0023] Optionally, the wheel includes a rim, and the outer side of the rim contacts the inner side of the corresponding support rail.

[0024] Optionally, a foundation platform is provided at the bottom of the pipeline;

[0025] The two support rails are arranged on the basic platform.

[0026] Optionally, the permanent magnet electromagnetic hybrid hanging suspended pipe rail transportation system further includes a power supply module, and the power supply module includes:

[0027] a power supply rail, disposed inside the pipeline and extending along an extension direction of the pipeline;

[0028] The current collector is arranged on the magnetic levitation vehicle and cooperates with the power supply rail.

[0029] Optionally, the power supply rail is arranged close to the bottom of the pipeline, and the current collector is arranged at the bottom of the maglev vehicle.

[0030] Optionally, the permanent magnet electromagnetic hybrid hanging suspended pipe rail transportation system further includes a detection module and a control module, the detection module is communicatively connected to the control module, and the permanent magnet electromagnetic hybrid electromagnet is electrically connected to the control module;

[0031] The detection module is configured to obtain air gap information between the permanent magnet electromagnetic hybrid electromagnet and the suspension rail and vibration information of the permanent magnet electromagnetic hybrid electromagnet, and send the air gap information and the vibration information to the control module;

[0032] The control module is configured to control the current of the permanent magnet hybrid electromagnet based on the air gap information and the vibration information.

[0033] The technical solutions of the embodiments of the present invention have at least the following advantages and beneficial effects:

[0034] The present invention equips the maglev vehicle with a suspension module based on permanent magnet electromagnetic hybrid suspension technology and arranges the suspension module between the maglev vehicle and the top of the pipeline, thereby realizing an innovative design that combines permanent magnet electromagnetic hybrid suspension with a hanging layout. This innovative design can not only utilize the permanent magnet part of the permanent magnet electromagnetic hybrid electromagnet to provide basic suspension force to greatly reduce the energy consumption required for suspension, but also eliminate the complex running support mechanism in the traditional maglev system through the hanging structure, so that the cross-sectional size of the pipeline can be significantly reduced, thereby simultaneously solving the technical problems of high energy consumption, complex structure and high construction cost of the existing maglev tube rail transportation system, and realizing a low-energy-consumption, high-space-utilization maglev tube rail transportation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic cross-sectional view of a permanent magnet electromagnetic hybrid suspended suspended rail transport system according to an embodiment of the present invention;

[0036] Figure 2 for Figure 1 A magnified view of the local structure at point A;

[0037] Figure 3 for Figure 1 A magnified view of the local structure at point B in the middle.

[0038] Icons: 10- pipeline, 20- maglev vehicle, 30- traction module, 31- linear motor secondary, 32- linear motor primary, 40- suspension module, 41- suspension rail, 42- permanent magnet electromagnetic hybrid electromagnet, 50- auxiliary module, 51- support rail, 52- wheel, 521- wheel rim, 60- basic platform, 70- power supply module, 71- power supply rail, 72- current collector, 80- automatic double door, 90- conveying mechanism. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific implementation methods. The same figure marks in the accompanying drawings represent the same components. It should be noted that the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] Compared to the embodiments shown in the drawings, feasible embodiments within the scope of protection of the present invention may have fewer components, additional components not shown in the drawings, different components, components arranged differently, components connected differently, etc. In addition, two or more components in the drawings may be implemented in a single component, or a single component shown in the drawings may be implemented as multiple separate components.

[0041] Embodiments of the present invention provide a permanent magnet electromagnetic hybrid suspension-type levitation pipe rail transportation system, specifically a magnetic levitation pipe rail transportation system with low energy consumption, high space utilization, and high switching efficiency. For ease of description, the permanent magnet electromagnetic hybrid suspension-type levitation pipe rail transportation system provided by embodiments of the present invention will be referred to as the "pipe rail transportation system" below.

[0042] Figure 1 The cross-sectional structure diagram of an exemplary pipe rail transportation system provided by an embodiment of the present invention is shown in FIG. Figure 1 As shown, according to an embodiment of the present invention, a pipe-rail transportation system may include a pipeline 10 , a magnetic levitation vehicle 20 , a traction module 30 and a suspension module 40 .

[0043] In an embodiment of the present invention, the conduit 10 is a tubular structure with a hollow interior extending in a predetermined direction. The conduit 10 primarily serves to provide protection and travel space for the maglev vehicle 20. The conduit 10 can have any suitable cross-sectional shape, such as circular, square, or annular. In actual implementation, the conduit 10 can be constructed underground or above ground.

[0044] The maglev vehicle 20 is disposed within the conduit 10 and is capable of traveling along the conduit 10. The traction module 30 is primarily used to provide traction or braking force to the maglev vehicle 20 along the conduit 10, enabling the traction to propel the vehicle 20 along the conduit 10 or to brake the vehicle 20 under the braking force. The specific structure of the traction module 30 will be described later.

[0045] The suspension module 40 is mainly used to provide the maglev vehicle 20 with a suspension force to enable it to suspend.

[0046] Specifically, combined Figure 2As shown, the suspension module 40 may include a suspension rail 41 and a permanent magnet-electromagnet hybrid electromagnet 42 cooperating with the suspension rail 41 .

[0047] The levitation rail 41 is disposed at the inner top of the pipe 10 and extends along the extension direction of the pipe 10. A permanent magnet hybrid electromagnet 42 is mounted on the maglev vehicle 20 and maintains a predetermined air gap with the levitation rail 41 to generate a levitation force that levitates the maglev vehicle 20. The levitation force described in this embodiment of the present invention is specifically the electromagnetic attraction generated by the cooperation between the permanent magnet hybrid electromagnet 42 and the levitation rail 41.

[0048] It should be noted that the permanent magnet-electromagnet hybrid electromagnet 42 provided in the embodiment of the present invention is a hybrid electromagnet that includes a permanent magnet part and an electromagnet part, and in particular, it can be a hybrid electromagnet disclosed in the patent document with application number "CN202410702106.X" and patent name "A permanent magnet-electromagnet hybrid electromagnet". Among them, the suspension force provided by the permanent magnet-electromagnet hybrid electromagnet 42 includes a first suspension force generated by the cooperation of the permanent magnet part and the suspension rail 41, and a second suspension force generated by the cooperation of the electromagnet part and the suspension rail 41 after power is applied. As far as this type of permanent magnet-electromagnet hybrid electromagnet 42 is concerned, since it includes a permanent magnet part, even when the electromagnet part is not powered, there is a basic suspension force, that is, the first suspension force, between the permanent magnet-electromagnet hybrid electromagnet 42 and the suspension rail 41. When the levitation force required for normal suspension of the maglev vehicle 20 is constant, this hybrid electromagnet can reduce the second levitation force provided by the electromagnet part. Compared with the maglev system based on conventional electromagnetic levitation technology, this maglev system using permanent magnet hybrid electromagnet 42 has significant advantages in energy consumption and can significantly reduce energy consumption.

[0049] It should be further noted that, by employing the permanent magnet hybrid electromagnet 42 disclosed in the aforementioned patent document, the maglev vehicle 20 can also achieve an anti-stuck function. Specifically, in the event of a malfunction in the electromagnet portion of the permanent magnet hybrid electromagnet 42, the permanent magnet hybrid electromagnet 42 can be prevented from being attracted to the levitation rail 41 by the first levitation force. The specific structure and function of the permanent magnet hybrid electromagnet 42 can be found in the aforementioned patent document and will not be further elaborated upon here.

[0050] In summary, it can be seen that the pipe rail transportation system disclosed in the embodiment of the present invention, by equipping the maglev vehicle 20 with a suspension module 40 based on permanent magnet electromagnetic hybrid suspension technology, and arranging the suspension module 40 between the maglev vehicle 20 and the top of the pipe 10, realizes an innovative design that combines permanent magnet electromagnetic hybrid suspension with a hanging layout. This innovative design can not only utilize the permanent magnet part in the permanent magnet electromagnetic hybrid electromagnet 42 to provide basic suspension force to greatly reduce the energy consumption required for suspension, but also eliminate the complex running support mechanism in the traditional maglev system through the hanging structure, so that the cross-sectional size of the pipe 10 can be significantly reduced, thereby simultaneously solving the technical problems of high energy consumption, complex structure and high construction cost existing in the existing maglev pipe rail transportation system, and realizing a low-energy-consumption, high-space-utilization maglev pipe rail transportation system.

[0051] In some possible embodiments, the traction module 30 for providing traction can be positioned centrally between the top of the maglev vehicle 20 and the inner top of the tube 10. This design can further optimize space utilization within the tube 10, facilitating the placement of a maglev vehicle 20 with a larger internal volume within the limited space within the tube 10, thereby increasing the cargo capacity of the maglev vehicle 20. Furthermore, this design achieves a suspended layout with an upwardly shifted center of gravity, thereby enhancing the stability of the maglev vehicle 20 during travel.

[0052] In some possible embodiments, such as Figure 2 As shown, the traction module 30 may specifically include a linear motor secondary 31 and a linear motor primary 32. The linear motor secondary 31 is located at the center of the top of the pipe 10 and extends along the extension direction of the pipe 10. The linear motor primary 32 is located at the center of the top of the maglev vehicle 20 and cooperates with the linear motor secondary 31 to generate traction or braking force. Specifically, based on the linear motor secondary 31 being energized to generate traction, a braking force opposite to the travel direction of the maglev vehicle 20 can be generated by simply changing the direction of the current flowing into the linear motor secondary 31.

[0053] Among them, the linear motor secondary 31 and the linear motor primary 32 can actually be the secondary and primary of a short stator linear induction motor. It is worth noting that a short stator linear induction motor is used as the traction module 30, and the linear motor secondary 31 and the linear motor primary 32 are respectively arranged at the top center of the pipe 10 and the top center of the maglev vehicle 20. Through this centrally symmetrical layout, the traction force can be accurately and centrally transmitted, thereby helping to eliminate the impact of the eccentric load torque on the operating stability of the maglev vehicle 20 and improving the traction effect. At the same time, this arrangement also fully utilizes the structural strength advantage of the top center of the pipe 10, allowing the linear motor secondary 31 to serve as a load-bearing beam to enhance the overall rigidity of the pipe 10, while forming a compact "suspension-traction" integrated module with the top suspension rail 41, thereby helping to save lateral installation space.

[0054] Furthermore, while the traction module 30 is positioned centered between the top of the maglev vehicle 20 and the top of the tube 10, two suspension modules 40 may be provided, symmetrically arranged around the traction module 30. This design, in which two suspension modules 40 are symmetrically arranged around the traction module 30, creates a more balanced and stable suspended maglev structure, ensuring a more uniform levitation force on the maglev vehicle 20 and ensuring reliable levitation of the maglev vehicle 20.

[0055] In some possible embodiments, the pipe rail transportation system provided by the embodiments of the present invention may further include an auxiliary module 50 .

[0056] Combine Figure 1 and Figure 3 As shown, the auxiliary module 50 may include two support rails 51 and wheels 52. The two support rails 51 are arranged below the maglev vehicle 20 and are parallel to each other. Each support rail 51 extends along the extension direction of the pipeline 10. The bottom of the maglev vehicle 20 is provided with wheels 52 corresponding to the two support rails 51, and the wheels 52 can move along the corresponding support rails 51.

[0057] Through the provision of the auxiliary module 50, during the normal levitation of the maglev vehicle 20, the wheels 52 on the maglev vehicle 20 have slight or no contact with the corresponding support rails 51. If the maglev vehicle 20 stops or malfunctions, preventing normal levitation, the wheels 52 on the maglev vehicle 20 can be supported on the corresponding support rails 51, allowing the maglev vehicle 20 to continue moving along the extension direction of the pipeline 10. This design establishes a reliable mechanical emergency support system under the maglev vehicle 20, enabling safe docking or emergency movement through the support of the wheels 52 in the event of a malfunction or outage, significantly improving the reliability and safety of the pipeline-rail transportation system.

[0058] Further, if Figure 3As shown, the wheels 52 on the maglev vehicle 20 include rims 521, the outer sides of which contact the inner sides of the corresponding support rails 51. The inner side of the support rail 51 refers to the side of the support rail 51 facing the vertical axis of the pipe 10, while the outer side of the rim 521 refers to the side of the rim 521 facing away from the vertical axis of the pipe 10. It is worth noting that this design utilizes the rims 521 of the wheels 52 located on both sides of the vertical axis of the pipe 10 to form a guide and limit structure. This, on the one hand, limits lateral deviation of the maglev vehicle 20 to a certain extent. On the other hand, when the maglev vehicle 20 is levitating normally but the guiding force provided by the levitation module 40 is insufficient, resulting in excessive lateral deviation of the maglev vehicle 20, or when the maglev vehicle 20 is navigating a narrow curve, the rims 521 of the wheels 52 can be kept in close contact with the corresponding support rails 51, guiding the maglev vehicle 20 to continue its smooth journey.

[0059] In some possible embodiments, such as Figure 1 As shown, a base platform 60 is provided at the bottom of the pipeline 10, extending along the direction of the pipeline 10. The base platform 60 allows for manual navigation during construction, inspection, and maintenance work within the pipeline 10. Furthermore, with the base platform 60 provided, the two support rails 51 in the auxiliary module 50 can be laid on the base platform 60.

[0060] In addition, auxiliary facilities such as ventilation pipes, lighting equipment, cable supports, etc. (not shown in the figure) can be constructed in the upper areas on both sides of the pipeline 10 in the horizontal direction to achieve rational use of the limited space inside the pipeline 10.

[0061] In some possible embodiments, the pipe-rail transportation system may further include a power supply module 70 .

[0062] Combine Figure 1 As shown, the power collection module 70 may include a power rail 71 and a current receiver 72. The power rail 71 is located within the pipe 10 and extends along the extension direction of the pipe 10. The current receiver 72 is located on the maglev vehicle 20 and cooperates with the power rail 71. Specifically, the sliding shoe on the current receiver 72 slides in contact with the power rail 71 to achieve the coordination between the current receiver 72 and the power rail 71. This design allows the current receiver 72 to obtain the electrical energy required for the operation of the maglev vehicle 20 and its related electrical devices from the power rail 71, thereby powering the maglev vehicle 20 and its related electrical devices.

[0063] Furthermore, the power supply rail 71 can be set near the bottom of the pipeline 10, and the current collector 72 can be set at the bottom of the maglev vehicle 20, so as to further optimize the structural layout of the pipeline-rail transportation system.

[0064] In some possible embodiments, the pipe rail transportation system may further include a detection module (not shown) and a control module (not shown). The detection module is in communication with the control module, and the permanent magnet-electromagnet hybrid electromagnet 42 is electrically connected to the control module.

[0065] The detection module is configured to obtain the air gap information between the permanent magnet electromagnetic hybrid electromagnet 42 and the suspension rail 41, as well as the vibration information of the permanent magnet electromagnetic hybrid electromagnet 42, and send the air gap information and vibration information to the control module. The air gap can also be understood as the distance between the permanent magnet electromagnetic hybrid electromagnet 42 and the suspension rail 41, and the vibration can also be understood as the vertical motion acceleration of the permanent magnet electromagnetic hybrid electromagnet 42. Both the air gap information and the vibration information can be obtained by corresponding sensors. For example, the detection module can include devices such as laser sensors, ultrasonic sensors, etc. that can detect air gaps, as well as devices such as vibration acceleration sensors that can detect vertical motion acceleration. In addition, the detection module can be set at an appropriate position on the top of the maglev vehicle 20.

[0066] The control module is configured to control the current of the permanent magnet electromagnetic hybrid electromagnet 42 based on the air gap information and the vibration information, so as to dynamically adjust the magnitude of the suspension force generated by the permanent magnet electromagnetic hybrid electromagnet 42, thereby providing a reliable guarantee for the normal suspension travel of the maglev vehicle 20 for a long time.

[0067] Specifically, the control module controls the current of the permanent magnet hybrid electromagnet 42 based on air gap information and vibration information as follows: After the detection module detects a detection signal containing air gap information and vibration information, it transmits the detection signal to the control module via a cable. The control module is equipped with a suspension control algorithm. After receiving the detection signal from the detection module, the control module converts the detection signal into a corresponding electrical signal. The converted detection signal is then processed by a DSP based on the suspension control algorithm to calculate the current required by the permanent magnet hybrid electromagnet 42. The DSP then outputs PWM pulses to the control module based on the calculated current, which are used to control the switching transistor (IGBT) in the control module. The control module controls the power supply for the permanent magnet hybrid electromagnet 42 by turning it on and off, and controls the IGBT by turning it on and off through a chopper, so that the actual current of the permanent magnet hybrid electromagnet 42 is controlled to be the calculated current.

[0068] In some possible embodiments, since the maglev vehicle 20 in the pipe-rail transportation system is mainly used to transport goods, a driver's cab may not be provided inside the maglev vehicle 20 , and the maglev vehicle 20 automatically travels in the pipeline 10 based on unmanned driving technology.

[0069] At the same time, the space at both ends of the maglev vehicle 20 can be used as a space for installing and arranging other electrical equipment for the suspension and auxiliary systems. The middle area inside the maglev vehicle 20 can be used as an item storage area, thereby achieving rational utilization of the interior space of the maglev vehicle 20.

[0070] In addition, if Figure 1 As shown, automatic double-doors 80 aligned with the article placement area can be provided on both sides of the maglev vehicle 20 in the transverse direction to facilitate articles or equipment loaded with articles to enter and exit the article placement area.

[0071] In addition, a conveying mechanism 90 with lateral conveying capability may be provided at the bottom of the article placement area, with the conveying area of ​​the conveying mechanism 90 extending to the automatic double-door 80 to facilitate automatic loading and unloading of articles. For example, the conveying mechanism 90 may be a roller conveyor.

[0072] In this way, the conveyor mechanism 90 can automatically transport items or equipment loaded with items in the item placement area to the corresponding automatic double-leaf door 80 for easy unloading. Correspondingly, when loading, the items or equipment loaded with items only need to reach the corresponding automatic double-leaf door 80 and enter the conveying area of ​​the conveyor mechanism 90. The conveyor mechanism 90 will then automatically transport the items or equipment loaded with items to the appropriate location in the item placement area. This design facilitates the automated loading and unloading of items, overcoming the disadvantages of manual loading and unloading.

[0073] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A permanent magnet electromagnetic hybrid hanging suspended pipe rail transportation system, characterized in that: include: pipeline; a magnetic levitation vehicle, disposed in the pipe and capable of traveling along the extension direction of the pipe; a traction module, configured to provide traction or braking force for the maglev vehicle along the extending direction of the pipeline; A suspension module, comprising a suspension rail and a permanent magnet-electromagnet hybrid electromagnet cooperating with the suspension rail; The suspension rail is arranged at the inner top of the pipeline and extends along the extension direction of the pipeline; The permanent magnet-electromagnet hybrid electromagnet is arranged on the maglev vehicle and maintains a predetermined air gap with the suspension rail to generate a suspension force for suspending the maglev vehicle.

2. The permanent magnet electromagnetic hybrid hanging suspended pipe rail transportation system according to claim 1 is characterized in that: The traction module is arranged in the center between the top of the maglev vehicle and the inner top of the tube.

3. The permanent magnet electromagnetic hybrid hanging suspended pipe rail transportation system according to claim 1 or 2, characterized in that: The traction module includes: a linear motor secondary, disposed at the center of the top portion of the pipe and extending along the extension direction of the pipe; The primary of the linear motor is arranged at the center of the top of the magnetic levitation vehicle and cooperates with the secondary of the linear motor to generate the traction force or braking force.

4. The permanent magnet electromagnetic hybrid hanging suspended pipe rail transportation system according to claim 2 is characterized in that: There are two suspension modules, and the two suspension modules are symmetrically arranged with the traction module as the center.

5. The permanent magnet electromagnetic hybrid hanging suspended pipe rail transportation system according to claim 1 is characterized in that: Also included is an auxiliary module, the auxiliary module including: Two support rails, the two support rails are arranged below the magnetic levitation vehicle and are parallel to each other; each of the support rails extends along the extension direction of the pipeline; Wheels: the magnetic levitation vehicle is provided with wheels corresponding to the two support rails respectively, and the wheels can move along the corresponding support rails.

6. The permanent magnet electromagnetic hybrid hanging suspended pipe rail transportation system according to claim 5 is characterized in that: The wheel includes a rim, an outer side of the rim being in contact with an inner side of the corresponding support rail.

7. The permanent magnet electromagnetic hybrid hanging suspended pipe rail transportation system according to claim 5 is characterized in that: A basic platform is provided at the bottom of the pipeline; The two support rails are arranged on the basic platform.

8. The permanent magnet electromagnetic hybrid hanging suspended pipe rail transportation system according to claim 1 is characterized in that: It also includes a power supply module, which includes: a power supply rail, disposed inside the pipeline and extending along an extension direction of the pipeline; The current collector is arranged on the magnetic levitation vehicle and cooperates with the power supply rail.

9. The permanent magnet electromagnetic hybrid hanging suspended pipe rail transportation system according to claim 8, characterized in that: The power supply rail is arranged close to the bottom of the pipeline, and the current collector is arranged at the bottom of the magnetic levitation vehicle.

10. The permanent magnet electromagnetic hybrid hanging suspended pipe rail transportation system according to claim 1, characterized in that: It also includes a detection module and a control module, wherein the detection module is in communication with the control module, and the permanent magnet electromagnetic hybrid electromagnet is electrically connected to the control module; The detection module is configured to obtain air gap information between the permanent magnet electromagnetic hybrid electromagnet and the suspension rail and vibration information of the permanent magnet electromagnetic hybrid electromagnet, and send the air gap information and the vibration information to the control module; The control module is configured to control the current of the permanent magnet hybrid electromagnet based on the air gap information and the vibration information.

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