An underground logistics transportation driving system and a driving method thereof

Abstract

The present application relates to underground logistics transportation driving system and its driving method, the system includes track, the mover trolley that moves along the track upper surface and controller;Track is composed of several linearly arranged stator in turn, gap is equipped between stator;Stator includes stator track, track groove, stator coil, hall plate and several optical fiber sensors;Stator coil is set in the track groove along the length direction of the stator track, hall plate is located at the side of the stator coil and is set in the track groove along the length direction of the stator track, several optical fiber sensors are distributed in the track groove along the length direction of the stator track;Several optical fiber sensors are electrically connected with the controller, several hall sensors are electrically connected with the controller, the stator coil is electrically connected with the controller;The system can reduce cost, transportation length is not limited, and can control multiple transport trolley different step operation simultaneously.

Description

TECHNICAL FIELD

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

[0002] The underground logistics system can effectively utilize idle resources and release road pressure. The underground logistics system can realize underground transportation of goods, thereby playing a role in relieving road traffic. In the transportation process, the transportation equipment uses electricity as a power source, does not produce environmental pollutants, and the equipment does not produce a large amount of noise pollution. Furthermore, the intelligent equipment in the underground logistics system has a high automation level, can realize all-around control through a dispatching system, and can greatly reduce the negative impact caused by traffic congestion and natural disasters, thereby improving the safety factor of goods transportation. Meanwhile, the time of goods in the transportation process is reduced, and the time cost is reduced.

[0003] The underground logistics transportation system has various forms. Some use belt drive transportation, which has the problem of slow transportation speed and light transportation weight. Some use internal combustion engine drive, which has the problem of serious air pollution and high transportation cost. Some use subway transportation, which has the problem of only night operation and cannot guarantee the timeliness. SUMMARY

[0004] The present application solves the technical problem of providing an underground logistics transportation driving system and a driving method thereof, which can reduce cost, have unlimited transportation length, and control multiple transportation trolleys to run at different times.

[0005] In a first aspect, the technical solution adopted by the present application is an underground logistics transportation driving system, comprising a track, a mover trolley 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 arranged in the track groove along the length direction of the stator track. 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 further includes a plurality of Hall sensors embedded in the Hall plate, which are arranged in sequence along the length direction of the Hall plate.

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

[0008] The controller is electrically connected with the plurality of optical fiber sensors, the plurality of Hall sensors and the stator coil.

[0009] The underground logistics transportation driving system has the advantages that the mover is designed as a trolley form on the basis of a linear motor, the coil is cancelled, only the permanent magnet and the laminated sheet are used, the structure is simplified, the cost is reduced, and the transportation length is not limited; the stator coil, the Hall sensor and the 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 inducted with the Hall sensor, the magnetic field generated by the permanent magnet makes the Hall sensor generate an electric signal, the electric signal is fed back to the controller, the stator coil is powered by the controller to generate an electromagnetic field to drive the mover trolley to run, so that a plurality of mover trolleys can run on the track at different times; the plurality of stators are arranged in a gap to form a track, the stators are directly arranged in a gap, in the process of guiding the mover trolley to move by the stator, the mover trolley can move from one stator track to another stator track by inertia, so that the cost is greatly reduced; the optical fiber sensor is used in the stator, when the mover trolley moves on the stator track, the optical fiber sensor detects a signal and uploads the signal to the controller, so as to record the position and the number of the mover trolley, so that the collision of the mover in the running process is prevented.

[0010] Preferably, the length of the Hall plate is greater than the length of the stator coil, the stator coil is located between the sides of the Hall plate; the Hall sensors are embedded in the Hall plate in pairs; a plurality of pairs of Hall sensors are arranged at equal intervals along the length direction of the Hall plate; the phase angles of the two Hall sensors in each pair of Hall sensors are different by 90 degrees; in this structure, the Hall sensors are inducted with the permanent magnet in the mover trolley at the same time, and the speed of the mover trolley is detected, the Hall sensors are embedded in the Hall plate in pairs, and the phase angles of the two Hall sensors in each pair of Hall sensors are different by 90 degrees, the distance between each pair of Hall sensors is an integer multiple of the distance corresponding to the electric angle of 180 degrees, so that the speed of the mover trolley can be accurately detected.

[0011] Preferably, the distance between each adjacent pair of Hall sensors is an integer multiple of the distance corresponding to the electric angle of 180 degrees; in this structure, the front and rear ends of the mover trolley are located on the Hall sensors, the continuity of the electric angle is ensured, and the maximum thrust is output under the condition of ensuring the control accuracy.

[0012] As preferred, the mover trolley further comprises a bar code plate arranged in the trolley frame, the bar code plate being located below the permanent magnet; the lower surface of the bar code plate is provided with a plurality of bar codes at equal intervals; the optical fiber sensor is used to obtain the position information of the mover trolley by scanning the bar codes. With this structure, the position of the mover trolley can be recorded by the optical fiber sensor, the structure is simple, the cost is low, the dynamic state of the mover trolley can be sensed, and collision of the mover during operation can be prevented.

[0013] As preferred, the stator further comprises a bottom mounting plate located in the track groove and a stator cover plate covering the top of the track groove, the stator coil, the Hall plate and the optical fiber sensor being located on the upper surface of the bottom mounting plate, and the stator cover plate is provided with an optical fiber reserved hole for the optical fiber sensor to expose; with this structure, the bottom mounting plate plays a protective role for the stator groove, preventing the devices in the stator groove from wearing the track groove; the stator cover plate covers the top of the track groove, protecting the components located in the track groove, and the optical fiber reserved hole is arranged on the stator cover plate for the optical fiber sensor to scan the bar code of the mover trolley, the structure is simple, the cost is low, and the dynamic state of the mover trolley can be accurately sensed.

[0014] As preferred, the optical fiber sensor comprises a front-end optical fiber sensor located at the front end of the bottom mounting plate, a middle optical fiber sensor located at 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 position, the middle position and the 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 that the system cannot find the mover trolley.

[0015] As preferred, the Hall sensor comprises four pairs, which are 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 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, the four pairs of Hall sensors are arranged at equal intervals on the Hall plate, which can better guide the operation of the mover trolley and effectively obtain the running speed of the mover trolley.

[0016] In a second aspect, the present application provides a driving method for underground logistics transportation, which comprises the following steps:

[0017] S1, the mover trolley enters the stator on the track at a certain speed, first contacts the first Hall sensor of the stator, the permanent magnet of the mover trolley generates a magnetic field to make the first Hall sensor generate an electric signal, the generated electric signal is fed back to the controller, the stator coil is powered by the controller, the stator coil generates an electromagnetic field to drive the mover trolley to move straight; at the same time, the front optical fiber sensor sends a signal to the controller after scanning the bar code on the bar code plate of the mover trolley, and the position of the mover trolley is obtained;

[0018] S2, the mover trolley runs under the driving of the electromagnetic force, 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 the electrical angle of 180 degrees, 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 driving of the electromagnetic force, at this time the mover trolley contacts the middle optical fiber sensor, the middle optical fiber sensor sends a signal to the controller after scanning the bar code on the bar code plate of the mover trolley, and the position of the mover trolley is obtained;

[0020] S4, the mover trolley continues to run under the driving of the electromagnetic force, passes through the third Hall sensor;

[0021] S5, when the mover trolley runs to the position of the fourth Hall sensor, at this time a part of the mover trolley has left the area where the stator coil is located, the rear optical fiber sensor sends the position signal of the mover trolley at this time to the controller, and the current will change;

[0022] S6, the mover trolley runs under the driving of the electromagnetic force and completely leaves the stator, the tail end of the mover trolley is about to separate from the fourth Hall sensor and the rear optical fiber sensor, when the mover trolley leaves, the fourth Hall sensor cannot detect the signal of the mover trolley, at this time the controller stops power supply, and the optical fiber sensor monitors the signal and uploads it to the controller;

[0023] S7, the mover trolley relies on the speed at this time, under the action of inertia, will enter the next stator, and runs according to steps S1-S6. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a structure diagram of the mover trolley running on the stator track in the underground logistics transportation driving system of the application;

[0025] Figure 2 It is an exploded view of the stator in the application;

[0026] Figure 3 It is a distribution diagram of the optical fiber sensor in the application;

[0027] Figure 4 A sectional view of a stator in the present application;

[0028] Figure 5 A structural schematic diagram of a stator in the present application;

[0029] Figure 6 A structural schematic diagram of a bar code on a bar code plate in the present application;

[0030] Figure 7 A process diagram of a driving method of an underground logistics transport in the present application;

[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, car frame; 12, permanent magnet; 13, bar code plate; 14, bar code; 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 application will be further described with reference to the drawings and specific embodiments, so that those skilled in the art can implement it according to the description in the specification, and the scope of protection of the application is not limited to this specific embodiment.

[0033] Those skilled in the art should understand that in the disclosure of the present application, the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the above terms cannot be understood as limiting the present application.

[0034] In addition, the terms "first", "second", "third" and the like are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0035] In the description of the embodiments of the present application, it should also be noted that unless specifically defined and limited, the terms "set", "install", "connect", "connect" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0036] The present application relates to a kind of underground logistics transport driving system, including track, mover trolley 10 moving along the upper surface of the track and controller;

[0037] The track is composed of a plurality of stators 1 arranged linearly in sequence, i.e. the first and last of each adjacent two stators 1 are connected, and gaps are provided between the stators 1. Figure 1 Only the structure diagram of the mover trolley 10 running on a stator 1 is given in the middle.

[0038] As shown in the figure, Figure 2 The stator 1 includes stator track 2, track groove 3, stator coil 4, 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 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 in the figure,

[0039] The stator coil 4 includes stator core 7 and a plurality of coils 8 embedded in the stator core 7; the stator 1 further includes 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. Figure 2 As shown in the figure,

[0040] The 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] The underground logistics transportation driving system is based on a linear motor, the mover is designed as a trolley form, the coil 8 is cancelled, only permanent magnets 12 are used, the structure is simplified, the cost is reduced, and the transportation length is not limited; the stator coil 4, the 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 induces the Hall sensor 9, the magnetic field generated by the permanent magnet 12 makes the Hall sensor 9 generate an electric signal, the electric signal is fed back to the controller, the stator coil 4 is powered by the controller, the electromagnetic field is generated to drive the mover trolley 10 to run, so that a plurality of mover trolleys 10 can run on the track at different times; a plurality of stators 1 are arranged in gaps to form a track, the stators 1 are directly arranged in gaps, in the process that the stator 1 guides the movement of the mover trolley 10, the mover trolley 10 can run from one stator track 2 to another stator track 2 by inertia, so that the cost can be greatly reduced; the optical fiber sensor 6 is used 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 quantity of the mover trolley 10, so that collision of the mover in the running process can be prevented.

[0042] In specific embodiments, the permanent magnets 12 in the mover trolley 10 adopt strip-shaped permanent magnets 12, and the number of the permanent magnets 12 is ten, and the ten permanent magnets 12 are located on the same horizontal plane in the frame 11 of the mover trolley 10 at equal intervals.

[0043] In specific embodiments, the mover trolley 10 is further provided with a laminated sheet, and the laminated sheet is located above the permanent magnets 12; the laminated sheet is used to guide the magnetic field, because the magnetic field generated by the stator coil 4 has low permeability in the air, the laminated sheet is made of silicon steel and has good permeability, can play a role in gathering and guiding the magnetic field, and the laminated sheet in the form of a sheet can reduce the eddy current loss.

[0044] In specific embodiments, as shown in Figure 3 the length of the Hall plate 5 is greater than the length of the stator coil 4, the stator coil 4 is located between one side of the Hall plate 5, that is, the two ends of the Hall plate 5 are exposed relative to the stator coil 4; 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 electric signal and transmitting the electric signal to the controller, the stator coil 4 is powered by the controller, 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 to run.

[0045] In specific embodiments, as shown in Figure 2As shown, the Hall sensor 9 is embedded in the Hall plate 5 in pairs, and a plurality of pairs of Hall sensors 9 are arranged at equal intervals along the length direction of the Hall plate 5; the phase angles of the two Hall sensors 9 in each pair of Hall sensors 9 are different by 90 degrees; by using this structure, the Hall sensor 9 is inducted by the electromagnet in the mover trolley 10 and also detects the position and speed of the mover trolley 10, the Hall sensor 9 is 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 application is a linear Hall sensor, which is a position sensor that can linearly detect the output voltage signal of the magnetic induction strength within a certain magnetic field range by using the Hall effect. For a moving-magnet type permanent magnet synchronous motor driven by a sine wave, the change of the mover position will change the air gap magnetic field in the motor, 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 cannot directly express the unique mover position and movement direction, so an even number of Hall sensors 9 are often used in combination to solve the position. In order to facilitate the explanation of the basic principle, it is assumed that two linear Hall sensors 9 with a phase angle difference of 90 degrees are installed, and the influence of the direct current bias of the sensor itself is ignored, so that the Hall sensor 9 will output two mutually orthogonal signals, and the two mutually orthogonal voltage signals can be used as the sine and cosine function values of the position angle 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 mover, the period is 2π, and the output voltage of the linear Hall sensor is A when the maximum air gap magnetic induction strength is reached. T is used to represent a phase period.

[0048] In specific embodiments, the distance between each adjacent pair of front and rear Hall sensors 9 is an integer multiple of the distance corresponding to an electrical angle of 180 degrees; this can make the front and rear ends of the mover trolley 10 be located on the Hall sensor 9, ensuring the continuity of the electrical angle at this time, and outputting the maximum thrust under the condition of ensuring the accuracy. Because the electrical angle of the mover trolley 10 is complete during operation, the motor vector control can be used to complete the control by using the three-phase current six-step commutation method, so as to output the maximum thrust.

[0049] In specific embodiments, as shown in Figure 2As shown, the mover trolley 10 further comprises a bar code plate 13 arranged in the trolley frame 11, and the bar code plate 13 is located below the permanent magnet 12. Figure 6 As shown, the lower surface of the bar code plate 13 is provided with a plurality of bar codes 14 at equal intervals; the bar code plate 13 at the bottom of the mover trolley 10 is provided with black and white alternating bar codes 14, when the optical fiber sensor 6 in the stator 1 works, the black stripes show high level and the white stripes show low level when scanning, and the high level is obtained when no trolley passes, so that the controller receives regular high and low level waveforms; since the optical fiber sensor 6 is arranged at the front end and the rear end of each stator 1, and each mover trolley 10 has its own black and white alternating bar code 14, when the mover trolley 10 passes through different stators 1, the corresponding optical fiber sensor 6 collects signals and uploads the signals to the controller, so as to obtain the position of the mover trolley 10. The position of the mover trolley 10 can be recorded by the optical fiber sensor 6, which has simple structure, low cost and can sense the dynamic state of the mover trolley 10, so as to prevent collision of the mover trolley 10 during operation.

[0050] In specific embodiments, as shown in Figure 5 As shown, the stator 1 further comprises a bottom mounting plate 15 located in the track groove 3 and a stator cover plate 16 covering the top of 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, and 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 plays a protective role for the track groove 3 to prevent the devices in the track groove 3 from wearing the track groove 3; the stator cover plate 16 covers the top of the track groove 3 to protect the components in the track groove 3, and the optical fiber reserved hole 17 is arranged on the stator cover plate 16 for the optical fiber sensor 6 to scan the bar code 14 of the mover trolley 10, which has simple structure, low cost and can accurately sense the dynamic state of the mover trolley 10.

[0051] In specific embodiments, as shown in Figure 3 As shown, the optical fiber sensor 6 comprises a front-end 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-end optical fiber sensor 20 located at the rear end of the bottom mounting plate 15.

[0052] In specific embodiments, as shown in Figure 4As shown, the Hall sensor 9 includes four pairs, which are the first Hall sensor 22, the second Hall sensor 23, the third Hall sensor 24 and the fourth Hall sensor 25; the four pairs of Hall sensors 9 are sequentially arranged 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 application relates to a kind of underground logistics transportation driving method, such as Figure 7 As shown, the method comprises the following steps:

[0054] S1, the mover trolley 10 enters the stator 1 on track at a certain speed, first contact the first Hall sensor 22 of stator 1, and the permanent magnet 12 of the mover trolley 10 generates magnetic field to make the first Hall sensor 22 inductive produce electric signal, and the generated electric signal is fed back to the controller, and the stator coil 4 is powered by the controller, and the stator coil 4 generates electromagnetic field to drive the mover trolley 10 to straighten;Meanwhile, the front optical fiber sensor 18 sends signal transmission to the controller after scanning the bar code 14 on the bar code plate 13 of the mover trolley 10, obtains the position of the mover trolley 10, prevents collision during the operation of other movers;

[0055] S2, the mover trolley 10 runs under the drive of electromagnetic force, passes through the second Hall sensor 23, and the interval between the first Hall sensor 22 and the second Hall sensor 23 is the integer times of the corresponding distance of electric angle 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 electric angle at this time, and the maximum thrust is output under the condition of ensuring control accuracy;

[0056] S3, the mover trolley 10 continues to run under the drive of electromagnetic force, and the mover trolley 10 contacts the intermediate optical fiber sensor 19 at this time, and the intermediate optical fiber sensor 19 sends signal transmission to the controller after scanning the bar code 14 on the bar code plate 13 of the mover trolley 10, obtains the position of the mover trolley 10, prevents collision during the operation of other movers;

[0057] S4, the mover trolley 10 continues to run under the drive of electromagnetic force, passes through the third Hall sensor 24;

[0058] S5, when the mover trolley 10 runs to the position of the fourth Hall sensor 25, at this time, 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 at this time to the controller, and the current will change;

[0059] S6, the mover trolley 10 runs under the driving of electromagnetic force and completely leaves the stator 1, 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, at this time the controller stops power supply, the optical fiber sensor 6 monitors the signal and uploads to the controller;

[0060] S7, the mover trolley 10 enters the next stator 1 under the action of inertia according to the speed at this time, runs according to steps S1-S6, and finally realizes long-distance continuous operation.

Claims

1. An underground mass flow transport drive system characterized by: The track, the mover trolley (10) moving along the upper surface of the track and the controller; The track is composed of a plurality of stators (1) arranged linearly in sequence, 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 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); the stator coil (4) comprises a stator core (7) and a plurality of coils (8) embedded in the stator core (7); the stator (1) further comprises 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); The mover trolley (10) comprises a vehicle frame (11) moving along the upper surface of the stator track (2) and a permanent magnet (12) arranged in the vehicle frame (11); The controller; the plurality of optical fiber sensors (6) are electrically connected with the controller, the plurality of Hall sensors (9) are electrically connected with the controller, and the stator coil (4) is electrically connected with the controller; 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 the form of pairs; a plurality of pairs of Hall sensors (9) are sequentially and equidistantly arranged along the length direction of the Hall plate (5); the phase angles between the two Hall sensors (9) in each pair of Hall sensors (9) are different by 90 degrees; the distance between every adjacent front and rear pair of Hall sensors (9) is an integer multiple of the distance corresponding to an electrical angle of 180 degrees; The mover trolley (10) further comprises a bar code plate (13) arranged in the vehicle frame (11), and the bar code plate (13) is located below the permanent magnet (12); a lower surface of the bar code plate (13) is provided with a plurality of bar codes (14) at equal intervals; and the optical fiber sensor (6) is used to obtain the position information of the mover trolley (10) by scanning the bar code (14).

2. An underground logistics transportation drive system according to claim 1, 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 above 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 optical fiber reserved holes (17) for exposing the optical fiber sensor (6).

3. An underground logistics transportation drive system according to claim 2, characterized in that: The optical fiber sensor (6) comprises a front-end optical fiber sensor (18) located at the front end of the bottom mounting plate (15), a middle optical fiber sensor (19) located at the middle of the bottom mounting plate (15), and a rear-end optical fiber sensor (20) located at the rear end of the bottom mounting plate (15).

4. An underground logistics transportation drive system according to claim 3, characterized in that: The Hall sensor (9) comprises four pairs of first, second, third and fourth Hall sensors (22, 23, 24 and 25).

5. A method for driving an underground logistics transport system, implemented by the underground logistics transport system of claim 4, characterized in that: The method comprises the following steps: S1, the mover trolley (10) enters the stator (1) on the track at a certain speed, first contacts the first Hall sensor (22) of the stator (1), the permanent magnet (12) of the mover trolley (10) generates a magnetic field to make the first Hall sensor (22) generate an electric signal, the generated electric signal is fed back to the controller, the stator coil (4) is powered by the controller, 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) sends a signal to the controller after scanning the bar code (14) on the bar code plate (13) of the mover trolley (10), and the position of the mover trolley (10) is obtained; S2, the mover trolley (10) runs under the driving of the 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 corresponding distance of 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); S3, the mover trolley (10) continues to run under the driving of the electromagnetic force, at this time the mover trolley (10) contacts the middle optical fiber sensor (19), the middle optical fiber sensor (19) sends a signal to the controller after scanning the bar code (14) on the bar code plate (13) of the mover trolley (10), and the position of the mover trolley (10) is obtained; S4, the mover trolley (10) continues to run under the driving of the electromagnetic force, passes through the third Hall sensor (24); S5, when the mover trolley (10) runs to the position of the fourth Hall sensor (25), at this time a part of the mover trolley (10) has left the area where the stator coil (4) is located, the rear-end optical fiber sensor (20) sends the position signal of the mover trolley (10) at this time to the controller, and the current will change; S6, the mover trolley (10) runs under the driving of the electromagnetic force and completely leaves the stator (1), the tail end of the mover trolley (10) is about to separate from the fourth Hall sensor (25) and the rear-end optical fiber sensor (20), when the mover trolley (10) leaves, the fourth Hall sensor (25) cannot detect the signal of the mover trolley (10), at this time the controller stops power supply, and the optical fiber sensor (6) monitors the signal and uploads it to the controller. S7, the mover trolley (10) will enter the next stator (1) under the action of inertia according to steps S1-S6 according to the speed at this time.

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