Underground logistics transportation driving system and driving method thereof

Abstract

The invention relates to an underground logistics transportation driving system and a driving method thereof. The system comprises a track, a mover trolley moving along the upper surface of the track and a controller. The track is composed of a plurality of stators which are linearly arranged in sequence, and gaps are formed among the stators; the stator comprises a stator track, a track groove, a stator coil, a Hall plate and a plurality of optical fiber sensors; the stator coil is arranged in the track groove along the length direction of the stator track, the Hall plate is located at one side of the stator coil and is arranged in the track groove along the length direction of the stator track, and the plurality of optical fiber sensors are distributed in the track groove along the length direction of the stator track; the plurality of optical fiber sensors are electrically connected with the controller, the plurality of Hall sensors are electrically connected with the controller, and the stator coil is electrically connected with the controller; according to the system, the cost can be reduced, the transportation length is not limited, and the multiple transportation trolleys can be controlled to operate synchronously and asynchronously.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics and transportation, and in particular to an underground logistics and transportation driving system and a driving method thereof. Background Art

[0002] The underground logistics system can effectively utilize idle resources and release the pressure on the road surface. The underground logistics system can realize the underground transportation of goods, thereby playing a role in alleviating road traffic. During the transportation process, the transportation equipment uses electricity as a power source, does not produce environmental pollutants, and the equipment does not produce a lot of noise pollution; not only that, the application of intelligent equipment in the underground logistics system has a high level of automation, can achieve all-round control through the dispatching system, and can greatly reduce the negative impact of traffic congestion and natural disasters, and improve the safety factor of cargo transportation. At the same time, it reduces the time of goods in transit and reduces time costs.

[0003] There are many different underground logistics transportation systems. Some use belt drive, but the problem is that the transportation speed is slow and the transportation weight is light; some use internal combustion engine drive, but the problem is that the air pollution is large and the transportation cost is high; some use subway transportation, but the problem is that it can only run at night and the timeliness cannot be guaranteed. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an underground logistics transportation driving system and a driving method thereof which can reduce costs, have no restrictions on transportation length, and can control multiple transportation vehicles to operate asynchronously at the same time.

[0005] In a first aspect, the technical solution adopted by the present invention is an underground logistics transportation drive system, comprising a track, a moving vehicle moving along the upper surface of the track, and a controller;

[0006] The track is composed of a plurality of stators arranged linearly in sequence, and gaps are provided between the stators; the stator includes a stator track, a track groove, a stator coil, a Hall plate and a plurality of optical fiber sensors; the stator coil is arranged in the track groove along the length direction of the stator track, the Hall plate is located on one side of the stator coil and is arranged in the track groove along the length direction of the stator track, and the plurality of optical fiber sensors are distributed in the track groove along the length direction of the stator track; the stator coil includes a stator core and a plurality of coils embedded in the stator core; the stator also includes a plurality of Hall sensors embedded in the Hall plate, and the plurality of Hall sensors are arranged in sequence along the length direction of the Hall plate;

[0007] The mover trolley comprises a frame moving along the upper surface of the stator track and a permanent magnet arranged in the frame;

[0008] Controller; the plurality of optical fiber sensors are electrically connected to the controller, the plurality of Hall sensors are electrically connected to the controller, and the stator coil is electrically connected to the controller.

[0009] The beneficial effects of the present invention are as follows: the underground logistics transportation drive system mentioned above is adopted. On the basis of the linear motor, the mover is designed in the form of a trolley, the coil design is cancelled, and only permanent magnets and laminations are used, which simplifies the structure, reduces the cost, and can make the transportation length unrestricted; a stator coil, a Hall sensor and a plurality of optical fiber sensors are designed in each stator track. When the mover trolley is located on the stator track, the permanent magnet on the mover trolley is induced by the Hall sensor, and the magnetic field generated by the permanent magnet causes the Hall sensor to induce an electrical signal, and the electrical signal is fed back to the controller, and the controller energizes the stator coil. , generating an electromagnetic field to drive the mover trolley to run, so that multiple mover trolleys can run on the track asynchronously at the same time; a number of stators are arranged in a track form according to the gaps, and the gaps are directly set between the stators. In the process of the stator guiding the mover trolley to move, the mover trolley can use inertia to drive from one stator track to another stator track, which can greatly reduce the cost; the present invention uses an optical fiber sensor in the stator. When the mover trolley moves on the stator track, the optical fiber sensor detects the signal and uploads the signal to the controller to record the position and number of the mover trolley, so as to prevent collision during the operation of the mover.

[0010] Preferably, the length of the Hall plate is greater than the length of the stator coil, and the stator coil is located between one side of the Hall plate; the Hall sensors are embedded in the Hall plate in pairs; a plurality of pairs of Hall sensors are arranged in sequence and at equal intervals along the length direction of the Hall plate; the phase angle between the two Hall sensors in each pair of Hall sensors differs by 90 degrees; with this structure, the Hall sensors detect the speed of the mover car while sensing the permanent magnet in the mover car, the Hall sensors are embedded in the Hall plate in pairs, and the phase angle between the two Hall sensors in each pair of Hall sensors differs by 90 degrees, and the distance between each pair of Hall sensors is an integer multiple of 180 degrees in electrical angle, so that the speed of the mover car can be accurately detected.

[0011] Preferably, the spacing between each adjacent front and rear pairs of Hall sensors is an integer multiple of the distance corresponding to an electrical angle of 180 degrees; with this structure, the front and rear ends of the mover car can be located on the Hall sensors, ensuring the continuity of the electrical angle at this time and outputting the maximum thrust while ensuring control accuracy.

[0012] Preferably, the mover trolley further comprises a barcode plate arranged in the frame, the barcode plate being located below the permanent magnet; a plurality of barcodes are arranged at equal intervals on the lower surface of the barcode plate; the optical fiber sensor is used to obtain the position information of the mover trolley by scanning the barcode. With this structure, the position of the mover trolley can be recorded by the optical fiber sensor, which has a simple structure, low cost, can sense the dynamics of the mover trolley, and prevent collisions during the operation of the mover.

[0013] Preferably, the stator also includes a bottom mounting plate located in the track groove and a stator cover plate covering the track groove. The stator coil, Hall plate and optical fiber sensor are located on the upper surface of the bottom mounting plate. The stator cover plate is provided with an optical fiber reserved hole for exposing the optical fiber sensor. With this structure, the bottom mounting plate protects the stator groove to prevent the components in the stator groove from wearing the track groove. The stator cover plate covers the track groove to protect the components in the track groove. An optical fiber reserved hole is provided on the stator cover plate for the optical fiber sensor to scan the barcode of the mover trolley. The structure is simple, the cost is low, and the dynamics of the mover trolley can be accurately sensed.

[0014] Preferably, the optical fiber sensor includes a front-end optical fiber sensor located at the front end of the bottom mounting plate, a middle optical fiber sensor located in the middle of the bottom mounting plate, and a rear-end optical fiber sensor located at the rear end of the bottom mounting plate; with this structure, the optical fiber sensors are distributed at the front end, middle position and rear end position of the bottom mounting plate, which can ensure that the system can accurately detect the position of the mover trolley and avoid the situation where the system cannot find the mover trolley.

[0015] Preferably, the Hall sensors include four pairs, namely a first Hall sensor, a second Hall sensor, a third Hall sensor and a fourth Hall sensor; the four pairs of Hall sensors are arranged in sequence at equal intervals along the length direction of the Hall plate; the first Hall sensor is located at the front end of the Hall plate, and the second Hall sensor is located at the rear end of the Hall plate; with this structure, four pairs of Hall sensors are arranged at equal intervals on the Hall plate, which can better guide the operation of the mover car and effectively obtain the running speed of the mover car.

[0016] In a second aspect, the present invention provides an underground logistics transportation driving method, the method comprising the following steps:

[0017] S1, the mover car enters the stator on the track at a certain speed, and first contacts the first Hall sensor of the stator. The permanent magnet of the mover car generates a magnetic field, which causes the first Hall sensor to induce an electrical signal. The generated electrical signal is fed back to the controller, and the controller powers on the stator coil. The stator coil generates an electromagnetic field to drive the mover car to move straight; at the same time, the front-end optical fiber sensor scans the barcode on the barcode board of the mover car and sends a signal to the controller to obtain the position of the mover car;

[0018] S2, the mover trolley runs under the drive of electromagnetic force and passes through the second Hall sensor. The distance between the first Hall sensor and the second Hall sensor is an integer multiple of the distance corresponding to 180 degrees in electrical angle. At this time, the front end of the mover trolley is located above the second Hall sensor, and the rear end of the mover trolley is located above the first Hall sensor.

[0019] S3, the mover trolley continues to run under the drive of electromagnetic force, at this time the mover trolley contacts the middle optical fiber sensor, the middle optical fiber sensor scans the barcode on the barcode plate of the mover trolley and then sends a signal to the controller to obtain the position of the mover trolley;

[0020] S4, the moving carriage continues to run under the drive of electromagnetic force and passes through the third Hall sensor;

[0021] S5, when the mover car moves to the position of the fourth Hall sensor, a part of the mover car has left the area where the stator coil is located. The rear optical fiber sensor sends the position signal of the mover car to the controller, and the current changes.

[0022] S6, the mover car runs under the drive of electromagnetic force and completely leaves the stator, and the tail end of the mover car is about to separate from the fourth Hall sensor and the rear optical fiber sensor. When the mover car leaves, the fourth Hall sensor cannot detect the signal of the mover car. At this time, the controller stops powering on, and the optical fiber sensor detects the signal and uploads it to the controller;

[0023] S7. Depending on the speed at this time, the movable carriage will enter the next stator under the action of inertia and operate according to steps S1 to S6. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of a moving trolley running on a stator track in an underground logistics transportation driving system of the present invention;

[0025] Figure 2 is an exploded view of the stator in the present invention;

[0026] Figure 3 Schematic diagram of the distribution of optical fiber sensors in the present invention;

[0027] Figure 4 is a cross-sectional view of a stator in the present invention;

[0028] Figure 5 It is a structural schematic diagram of the stator in the present invention;

[0029] Figure 6 It is a schematic diagram of the structure of the barcode on the barcode plate of the present invention;

[0030] Figure 7 A process diagram of an underground logistics transportation driving method of the present invention;

[0031] As shown in the figure: 1. stator; 2. stator track; 3. track groove; 4. stator coil; 5. Hall plate; 6. optical fiber sensor; 7. stator core; 8. coil; 9. Hall sensor; 10. mover trolley; 11. frame; 12. permanent magnet; 13. barcode plate; 14. barcode; 15. bottom mounting plate; 16. stator cover plate; 17. optical fiber reserved hole; 18. front optical fiber sensor; 19. middle optical fiber sensor; 20. rear optical fiber sensor; 21. Hall sensor reserved hole; 22. first Hall sensor; 23. second Hall sensor; 24. third Hall sensor; 25. fourth Hall sensor. DETAILED DESCRIPTION

[0032] The invention will be further described below with reference to the accompanying drawings and in combination with specific implementations, so that those skilled in the art can implement the invention with reference to the description. The protection scope of the invention is not limited to the specific implementations.

[0033] Those skilled in the art should understand that, in the disclosure of the present invention, the orientation or positional relationship indicated by terms such as "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or positional relationship shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the above terms should not be understood as limiting the present invention.

[0034] Furthermore, the terms “first”, “second”, “third”, etc. are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0035] In the description of the embodiments of the present application, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0036] The present invention relates to an underground logistics transportation driving system, comprising a track, a moving vehicle 10 moving along the upper surface of the track, and a controller;

[0037] The track is composed of a plurality of stators 1 arranged linearly in sequence, that is, the ends of each two adjacent stators 1 are connected, and a gap is provided between the stators 1; for illustration, Figure 1 Only a schematic diagram of the structure of the mover trolley 10 running on a stator 1 is given.

[0038] like Figure 2 As shown, the stator 1 includes a stator track 2, a track groove 3, a stator coil 4, a Hall plate 5 and a plurality of optical fiber sensors 6; the stator coil 4 is arranged in the track groove 3 along the length direction of the stator track 2, the Hall plate 5 is located on one side of the stator coil 4 and is arranged in the track groove 3 along the length direction of the stator track 2, and the plurality of optical fiber sensors 6 are distributed in the track groove 3 along the length direction of the stator track 2; Figure 4 As shown, the stator coil 4 includes a stator core 7 and a plurality of coils 8 embedded in the stator core 7; the stator 1 also includes a plurality of Hall sensors 9 embedded in the Hall plate 5, and the plurality of Hall sensors 9 are sequentially arranged along the length direction of the Hall plate 5;

[0039] like Figure 2 As shown, the mover trolley 10 includes a frame 11 that moves along the upper surface of the stator track 2 and a permanent magnet 12 disposed in the frame 11; wheels are disposed on the frame 11 of the mover trolley 10 for running on the surface of the stator track 2;

[0040] Controller; the plurality of optical fiber sensors 6 are electrically connected to the controller, the plurality of Hall sensors 9 are electrically connected to the controller, and the stator coil 4 is electrically connected to the controller.

[0041] Based on the linear motor, the underground logistics transportation drive system designs the mover in the form of a trolley, cancels the design of the coil 8, and only uses the permanent magnet 12, which simplifies the structure, reduces the cost, and can make the transportation length unlimited; a stator coil 4, a Hall sensor 9 and a plurality of optical fiber sensors 6 are designed in each stator track 2. When the mover trolley 10 is located on the stator track 2, the permanent magnet 12 on the mover trolley 10 is inductively coupled to the Hall sensor 9. The magnetic field generated by the permanent magnet 12 causes the Hall sensor 9 to induce an electrical signal, which is fed back to the controller, and the controller powers on the stator coil 4 to generate an electromagnetic field to drive the mover trolley 10 to move. In this way, multiple mover trolleys 10 can run asynchronously on the track at the same time; a plurality of stators 1 are arranged in a gap-like manner to form a track, and gaps are directly set between the stators 1. In the process of the stator 1 guiding the mover trolley 10 to move, the mover trolley 10 can use inertia to drive from one stator track 2 to another stator track 2, which can greatly reduce costs; the present invention adopts an optical fiber sensor 6 in the stator 1. When the mover trolley 10 moves on the stator track 2, the optical fiber sensor 6 detects a signal and uploads the signal to the controller, so as to record the position and number of the mover trolley 10, thereby preventing collisions during the operation of the mover.

[0042] In a specific embodiment, the permanent magnets 12 in the mover trolley 10 are strip-shaped permanent magnets 12 , and the number of the strip-shaped permanent magnets 12 is ten. The ten permanent magnets 12 are evenly spaced and located on the same horizontal plane in the frame 11 of the mover trolley 10 .

[0043] In a specific embodiment, a lamination is also provided in the mover trolley 10, and the lamination is located above the permanent magnet 12; the function of the lamination is to guide the magnetic field, because the magnetic field generated by the stator coil 4 has a very low magnetic permeability in the air, and the lamination is made of silicon steel, which has a good magnetic permeability and can play a role in gathering and guiding the magnetic field, and the lamination is made into a sheet shape to reduce the eddy current loss.

[0044] In a specific embodiment, Figure 3 As shown, the length of the Hall plate 5 is greater than the length of the stator coil 4, and the stator coil 4 is located between one side of the Hall plate 5, that is, relative to the stator coil 4, both ends of the Hall plate 5 are exposed; when the mover trolley 10 enters the stator 1, the Hall sensor 9 located at the front end of the Hall plate 5 can sense the magnetic field of the permanent magnet 12, thereby generating an electrical signal to be transmitted to the controller, and the controller powers on the stator coil 4, and the stator coil 4 generates an electromagnetic field. When the mover trolley 10 runs above the stator coil 4, the stator coil 4 drives the mover trolley 10 to continue running.

[0045] In a specific embodiment, Figure 2As shown, the Hall sensors 9 are embedded in the Hall plate 5 in pairs, and several pairs of Hall sensors 9 are arranged in sequence at equal intervals along the length direction of the Hall plate 5; the phase angle between the two Hall sensors 9 in each pair of Hall sensors 9 differs by 90 degrees; with this structure, the Hall sensors 9 sense the electromagnets in the mover trolley 10 while also detecting the position and speed of the mover trolley 10. The Hall sensors 9 are embedded in the Hall plate 5 in pairs, and the speed of the mover trolley 10 can be accurately detected.

[0046] The Hall sensor 9 used in the present invention is a linear Hall sensor. The linear Hall sensor is a position sensor that uses the Hall effect to linearly detect and output voltage signals with the magnitude of the magnetic induction intensity within a certain magnetic field range. For a sinusoidally driven moving magnet permanent magnet synchronous motor, the change in the position of the mover will cause the air gap magnetic field inside the motor to change, and the magnetic field change at the same position is sinusoidal, so the linear Hall sensor 9 can be used to obtain the position and speed information of the mover. Since the same voltage value of the sinusoidal voltage signal generated by a single Hall sensor 9 corresponds to two angle values, it is impossible to directly express the unique position and direction of movement of the mover, so an even number of Hall sensors 9 are often used in combination to solve the position. For the convenience of explaining the basic principle, it is assumed that two linear Hall sensors 9 with a phase angle difference of 90° are installed, and the influence of the DC bias of the sensor itself is ignored. In this way, the Hall sensor 9 will output two mutually orthogonal signals. These two mutually orthogonal voltage signals can be used as the sine and cosine function values ​​of the angle of the position of the mover, and then the speed information can be obtained through the formula; the formula is:

[0047] In the formula, H s and H c are the output voltages of the two Hall sensors, representing the sine and cosine values ​​of the current position; θ is the ideal phase angle position of the motor rotor, with a period of 2π. The output voltage of the linear Hall sensor at the maximum air gap magnetic induction intensity is A, and T is used to represent a phase cycle.

[0048] In a specific embodiment, the spacing between each adjacent front and rear pairs of Hall sensors 9 is an integer multiple of the distance corresponding to 180 degrees in electrical angle; the front and rear ends of the mover car 10 can be located on the Hall sensor 9, ensuring the continuity of the electrical angle at this time, and the maximum thrust can be output under the condition of ensuring accuracy. Because the electrical angle of the mover car 10 is complete during operation, the control can be completed according to the vector control of the motor, using the three-phase current six-step commutation method, so that the maximum thrust can be output.

[0049] In a specific embodiment, Figure 2As shown, the movable vehicle 10 further includes a barcode plate 13 disposed in the vehicle frame 11, and the barcode plate 13 is located below the permanent magnet 12; Figure 6 As shown, the lower surface of the barcode plate 13 is provided with a plurality of barcodes 14 at equal intervals; the barcode plate 13 at the bottom of the moving car 10 is provided with a black and white barcode 14, when the optical fiber sensor 6 in the stator 1 is working, when the black stripes are scanned, a high level is displayed, when the white stripes are scanned, a low level is displayed, and when no car passes, a high level is displayed, so that the controller can receive regular high and low level waveforms; since in each stator 1, the front and rear ends are provided with optical fiber sensors 6, each moving car 10 has its own black and white barcode 14, so when the moving car 10 passes through different stators 1, the corresponding optical fiber sensor 6 collects the signal and uploads the signal to the controller, thereby obtaining the position of the moving car 10. The position of the moving car 10 can be recorded by the optical fiber sensor 6, which has a simple structure, low cost, can sense the dynamics of the moving car 10, and prevent the moving car 10 from colliding during operation.

[0050] In a specific embodiment, Figure 5 As shown, the stator 1 also includes a bottom mounting plate 15 located in the track groove 3 and a stator cover plate 16 covering the track groove 3. The stator coil 4, the Hall plate 5 and the optical fiber sensor 6 are located on the upper surface of the bottom mounting plate 15. The stator cover plate 16 is provided with an optical fiber reserved hole 17 for exposing the optical fiber sensor 6. The stator cover plate 16 is provided with a Hall sensor 9 reserved hole for exposing the Hall sensor 9. The bottom mounting plate 15 protects the track groove 3 to prevent the components in the track groove 3 from wearing the track groove 3. The stator cover plate 16 covers the track groove 3 to protect the components in the track groove 3. The optical fiber reserved hole 17 is provided on the stator cover plate 16 for the optical fiber sensor 6 to scan the barcode 14 of the mover trolley 10. The structure is simple, the cost is low, and the dynamics of the mover trolley 10 can be accurately sensed.

[0051] In a specific embodiment, Figure 3 As shown, the optical fiber sensor 6 includes a front optical fiber sensor 18 located at the front end of the bottom mounting plate 15 , a middle optical fiber sensor 19 located in the middle of the bottom mounting plate 15 , and a rear optical fiber sensor 20 located at the rear end of the bottom mounting plate 15 .

[0052] In a specific embodiment, Figure 4As shown, the Hall sensor 9 includes four pairs, namely a first Hall sensor 22, a second Hall sensor 23, a third Hall sensor 24 and a fourth Hall sensor 25; the four pairs of Hall sensors 9 are arranged in sequence along the length direction of the Hall plate 5 at equal intervals; the first Hall sensor 22 is located at the front end of the Hall plate 5, and the second Hall sensor 23 is located at the rear end of the Hall plate 5.

[0053] The present invention relates to an underground logistics transportation driving method. Figure 7 As shown, the method comprises the following steps:

[0054] S1, the mover trolley 10 enters the stator 1 on the track at a certain speed, and first contacts the first Hall sensor 22 of the stator 1. The permanent magnet 12 of the mover trolley 10 generates a magnetic field so that the first Hall sensor 22 induces an electrical signal, and the generated electrical signal is fed back to the controller, and the controller powers on the stator coil 4, and the stator coil 4 generates an electromagnetic field to drive the mover trolley 10 to move straight; at the same time, the front-end optical fiber sensor 18 scans the barcode 14 on the barcode plate 13 of the mover trolley 10 and then sends a signal to the controller to obtain the position of the mover trolley 10 to prevent collisions with other movers during operation;

[0055] S2, the mover trolley 10 runs under the drive of electromagnetic force, passes through the second Hall sensor 23, and the distance between the first Hall sensor 22 and the second Hall sensor 23 is an integer multiple of the distance corresponding to the electrical angle of 180 degrees. At this time, the front end of the mover trolley 10 is located above the second Hall sensor 23, and the rear end of the mover trolley 10 is located above the first Hall sensor 22, which ensures the continuity of the electrical angle at this time and outputs the maximum thrust under the condition of ensuring control accuracy;

[0056] S3, the mover 10 continues to run under the drive of electromagnetic force, at which time the mover 10 contacts the middle optical fiber sensor 19, and the middle optical fiber sensor 19 scans the barcode 14 on the barcode plate 13 of the mover 10 and transmits a signal to the controller to obtain the position of the mover 10, so as to prevent collisions with other movers during operation;

[0057] S4, the moving carriage 10 continues to run under the driving force of the electromagnetic force and passes through the third Hall sensor 24;

[0058] S5, when the mover trolley 10 moves to the position of the fourth Hall sensor 25, a part of the mover trolley 10 has left the area where the stator coil 4 is located, and the rear optical fiber sensor 20 sends the position signal of the mover trolley 10 to the controller, and the current will change;

[0059] S6, the mover 10 runs under the drive of electromagnetic force and completely leaves the stator 1, and the tail end of the mover 10 is about to separate from the fourth Hall sensor 25 and the rear optical fiber sensor 20. When the mover 10 leaves, the fourth Hall sensor 25 cannot detect the signal of the mover 10. At this time, the controller stops powering on, and the optical fiber sensor 6 detects the signal and uploads it to the controller;

[0060] S7. Depending on the speed at this time, the movable carriage 10 will enter the next stator 1 under the action of inertia, and operate according to steps S1 to S6, and finally achieve long-distance continuous operation.

Claims

1. An underground logistics transportation drive system, characterized in that: It comprises a track, a moving carriage (10) moving along the upper surface of the track, and a controller; The track is composed of a plurality of stators (1) arranged linearly in sequence, and gaps are provided between the stators (1); the stator (1) comprises a stator track (2), a track groove (3), a stator coil (4), a Hall plate (5), and a plurality of optical fiber sensors (6); the stator coil (4) is arranged in the track groove (3) along the length direction of the stator track (2); the Hall plate (5) is located on one side of the stator coil (4) and is arranged in the track groove (3) along the length direction of the stator track (2); the plurality of optical fiber sensors (6) are distributed in the track groove (3) along the length direction of the stator track (2); the stator coil (4) comprises a stator core (7) and a plurality of coils (8) embedded in the stator core (7); the stator (1) also comprises a plurality of Hall sensors (9) embedded in the Hall plate (5), and the plurality of Hall sensors (9) are arranged in sequence along the length direction of the Hall plate (5); The mover trolley (10) comprises a frame (11) that moves along the upper surface of the stator track (2) and a permanent magnet (12) disposed in the frame (11); Controller; the plurality of optical fiber sensors (6) are electrically connected to the controller, the plurality of Hall sensors (9) are electrically connected to the controller, and the stator coil (4) is electrically connected to the controller.

2. The underground logistics transportation driving system according to claim 1, characterized in that: The length of the Hall plate (5) is greater than the length of the stator coil (4), and the stator coil (4) is located between one side of the Hall plate (5); the Hall sensors (9) are embedded in the Hall plate (5) in pairs; a plurality of pairs of Hall sensors (9) are arranged in sequence at equal intervals along the length direction of the Hall plate (5); and the phase angle between the two Hall sensors (9) in each pair of Hall sensors (9) differs by 90 degrees.

3. The underground logistics transportation driving system according to claim 3 is characterized by: The spacing between each adjacent front and rear pairs of Hall sensors (9) is an integer multiple of the distance corresponding to an electrical angle of 180 degrees.

4. An underground logistics transportation drive system according to claim 1 or 3, characterized in that: The movable carriage (10) further comprises a barcode plate (13) arranged in the carriage frame (11), wherein the barcode plate (13) is located below the permanent magnet (12); a plurality of barcodes (14) are arranged at equal intervals on the lower surface of the barcode plate (13); and the optical fiber sensor (6) is used to obtain the position information of the movable carriage (10) by scanning the barcode (14).

5. The underground logistics transportation driving system according to claim 4 is characterized in that: The stator (1) further comprises a bottom mounting plate (15) located in the track groove (3) and a stator cover plate (16) covering the track groove (3); the stator coil (4), the Hall plate (5) and the optical fiber sensor (6) are located on the upper surface of the bottom mounting plate (15); and the stator cover plate (16) is provided with an optical fiber reserved hole (17) for exposing the optical fiber sensor (6).

6. The underground logistics transportation driving system according to claim 5, characterized in that: The optical fiber sensor (6) comprises a front optical fiber sensor (18) located at the front end of the bottom mounting plate (15), a middle optical fiber sensor (19) located in the middle of the bottom mounting plate (15), and a rear optical fiber sensor (20) located at the rear end of the bottom mounting plate (15).

7. An underground logistics transportation driving system according to claim 6, characterized in that: The Hall sensors (9) include four pairs, namely a first Hall sensor (22), a second Hall sensor (23), a third Hall sensor (24) and a fourth Hall sensor (25); the four pairs of Hall sensors (9) are arranged in sequence at equal intervals along the length direction of the Hall plate (5).

8. An underground logistics transportation driving method, implemented by an underground logistics transportation driving system according to claim 7, characterized in that: The method comprises the following steps: S1, the moving carriage (10) enters the stator (1) on the track at a certain speed, and first contacts the first Hall sensor (22) of the stator (1). The permanent magnet (12) of the moving carriage (10) generates a magnetic field so that the first Hall sensor (22) induces an electrical signal, and the generated electrical signal is fed back to the controller, and the controller powers on the stator coil (4), and the stator coil (4) generates an electromagnetic field to drive the moving carriage (10) to move straight; at the same time, the front-end optical fiber sensor (18) scans the bar code (14) on the bar code plate (13) of the moving carriage (10) and then sends a signal to the controller to obtain the position of the moving carriage (10); S2, the mover trolley (10) moves under the drive of electromagnetic force, passes through the second Hall sensor (23), the distance between the first Hall sensor (22) and the second Hall sensor (23) is an integer multiple of the distance corresponding to 180 degrees in electrical angle, at which time the front end of the mover trolley (10) is located above the second Hall sensor (23), and the rear end of the mover trolley (10) is located above the first Hall sensor (22); S3, the mover trolley (10) continues to run under the drive of the electromagnetic force, and at this time the mover trolley (10) contacts the intermediate optical fiber sensor (19), and the intermediate optical fiber sensor (19) scans the bar code (14) on the bar code plate (13) of the mover trolley (10) and transmits a signal to the controller to obtain the position of the mover trolley (10); S4, the moving carriage (10) continues to run under the drive of electromagnetic force and passes through the third Hall sensor (24); S5, when the mover trolley (10) moves to the position of the fourth Hall sensor (25) (9), a part of the mover trolley (10) has left the area where the stator coil (4) is located, and the rear optical fiber sensor (20) sends the position signal of the mover trolley (10) to the controller, and the current will change; S6, the mover trolley (10) moves under the drive of electromagnetic force and completely leaves the stator (1), and the tail end of the mover trolley (10) is about to separate from the fourth Hall sensor (25) and the rear optical fiber sensor (20). When the mover trolley (10) leaves, the fourth Hall sensor (25) cannot detect the signal of the mover trolley (10), and the controller stops supplying power at this time. The optical fiber sensor (6) detects the signal and uploads it to the controller; S7. Depending on the speed at this time, the mover trolley (10) will enter the next stator (1) under the action of inertia and operate according to steps S1 to S6.

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