Rail type underground cargo carrying trolley system

Abstract

The invention discloses a rail-mounted underground cargo handling trolley system which comprises a cargo handling trolley, a rail and an automatic turnout rail transfer assembly, the cargo handling trolley comprises an upper vehicle assembly and a lower vehicle assembly, and the upper vehicle assembly comprises a handle pipe, a sliding rail and a speed regulation handlebar; the lower vehicle assembly comprises a vehicle chassis, a front axle assembly and a rear axle assembly. The vehicle chassis comprises a rectangular vehicle frame, a whole vehicle controller, a rechargeable battery, an indicator light set and an image collecting device. A battery box is arranged in the middle of the frame, the battery box comprises a box body and a box cover covering the box body, and a whole vehicle controller and a rechargeable battery are placed in the box body; the automatic turnout rail transfer assembly comprises a movable rail, a first rail connecting rod, a connecting plate, a second rail connecting rod and a power execution assembly. Goods carrying personnel can directly carry the goods through the goods carrying trolley, the goods carrying time is shortened, the working intensity of the goods carrying personnel is reduced, meanwhile, the cost can be saved, and the time efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underground coal mine rail transportation, more particularly to a rail-mounted underground cargo carrying trolley system. BACKGROUND

[0002] With the increasing scarcity of natural resources and the intensification of global energy crisis, vigorously promoting new energy vehicles has become an inevitable trend of sustainable development of the current society. Pure electric vehicles are widely used in passenger cars, off-road vehicles, business vehicles, buses, sightseeing vehicles, freight tricycles, single-person walking vehicles and other fields due to their low energy consumption, no pollution and simple structure, and are developing very quickly. Various small electric vehicles have appeared in various industries around electric drive. At present, mine mechanization and intelligentization has become the development trend of future mines, but due to the limited space for underground operation, it is difficult to accommodate large-scale mechanized and intelligent transportation equipment, and the current cargo carrying is carried out in a manual manner, which greatly increases the labor intensity of the workers. At present, the electric trolley on the market has a single structure, mainly as a walking tool, and no special electric trolley is used for rail-mounted underground cargo carrying. The current search results are generally ordinary ground-based carrying trolleys or rail-mounted manual carrying trolleys, which have the following shortcomings: (1) some carrying trolleys are three-wheeled trolleys, which are only suitable for the ground and prone to tilting when carrying goods on the rail-mounted road; (2) some carrying trolleys do not have a separate power supply function and use a power-on method for transportation, which greatly limits the transportation range of the carrying trolley; therefore, it is a technical problem that needs to be solved in the field.

[0003] Prior art (application number: 2022103367835, application date: 2022.09.02) discloses a coal mine underground battery electric locomotive auxiliary driving system, referring to Figure 1As shown, the scheme includes a vehicle body mechanism, a track mechanism and a cleaning mechanism, the bottom of the vehicle body mechanism is provided with the track mechanism, the vehicle body mechanism includes a motor car 11' and wheels, the track mechanism includes a first track 21', a second track 22', a third track, a fourth track, a first moving track 25', a second moving track 26', an electric support rod 27', a first gap 28' and a second gap 29', the first track 21' and the second track 22' are movably installed on one side of the wheels, the inner sides of the first track 21' and the second track 22' are provided with the third track, the fourth track, the first moving track 25' and the second moving track 26', the bottom of the first moving track 25' and the second moving track 26' is fixedly provided with the electric support rod 27' on one side, the second gap 29' is reserved between the first track 21' and the first moving track 25', and the first gap 28' is reserved between the second track 22' and the second moving track 26', the scheme solves the problem of how to smoothly switch the wheels from the second track 22' to the second moving track 26' when the turnout track is not moved in place, the motor car 11' smoothly turns downwards, and the above technical problems are not solved. SUMMARY

[0004] Therefore, the present application provides a track type underground cargo carrying trolley system, which comprises a cargo carrying trolley, a track and an automatic turnout track changing assembly, the cargo carrying trolley comprises an upper trolley assembly and a lower trolley assembly, wherein,

[0005] The upper boarding assembly comprises a handle tube, a slide rail and a speed-adjustable handle, the handle tube comprises oppositely arranged first and second handle tubes with inverted L shapes, the top corner opening of the first handle tube faces away from the top corner opening of the second handle tube, and the first and second handle tubes are connected through a handle connecting rod; the slide rail comprises first and second slide rails arranged in parallel, the bottom end of the first handle tube is connected with the first slide rail through a first sliding block, the first handle tube slides along the length extension direction of the first slide rail, the bottom end of the second handle tube is connected with the second slide rail through a second sliding block, and the second handle tube slides along the length extension direction of the second slide rail; the speed-adjustable handle comprises front and rear speed-adjustable handles, the first handle tube is sleeved with the front speed-adjustable handle on the side away from the first sliding block, and the second handle tube is sleeved with the rear speed-adjustable handle on the side away from the second sliding block; the lower boarding assembly comprises a chassis, a front axle assembly and a rear axle assembly, the front axle assembly and the rear axle assembly are oppositely arranged along the length direction of the first slide rail, the chassis comprises a rectangular frame, a vehicle controller, a charging battery, an indicator light group and an image acquisition device, and the left and right sides of the frame are fixedly connected with the first and second slide rails in the direction in which the first slide rail points to the second slide rail; the indicator light group comprises front and rear warning light groups, the front and rear sides of the frame are respectively provided with the front and rear warning light groups, the front and rear sides of the frame are respectively provided with the image acquisition device, and the image acquisition device is internally provided with a processor; in the length direction of the first slide rail, the front projection of the front warning light group completely overlaps the front projection of the rear warning light group, and the front projection of the front warning light group does not completely overlap the front projection of the image acquisition device; the middle part of the frame is provided with a battery box, the battery box comprises a hollow rectangular box body and a box cover covering the box body, the vehicle controller and the charging battery are placed in the box body; the front axle assembly comprises a front axle and left and right front wheels connected with the front axle, and the rear axle assembly comprises a rear axle and left and right rear wheels connected with the rear axle, the left and right front wheels and the left and right rear wheels travel on a track, the opposite sides of the frame close to the front axle are fixedly connected with the front axle through front supports in the direction in which the first slide rail points to the second slide rail, and the opposite sides of the frame close to the rear axle are fixedly connected with the rear axle through rear supports; the middle part of the rear axle is sleeved with a speed reducer, the side of the frame close to the rear axle is provided with a driving device, and the speed reducer is connected with the driving device through a first coupling; the automatic turnout rail changing assembly comprises a movable track, first and second track connecting rods, a connecting plate and a power execution assembly, the track comprises a fixed track and a branched track, the fixed track and the branched track each comprise first and second track portions arranged in parallel, the movable track comprises first and second movable portions arranged in parallel, the first track portion close to the second track portion is movably connected with the first movable portion, the second track portion close to the first track portion is movably connected with the second movable portion, the first and second movable portions are connected with the first track connecting rod, and the two ends of the first track connecting rod respectively penetrate the first and second track portions; the middle part of the first track connecting rod is connected with the middle part of the second track connecting rod through the connecting plate.The shape of the first track connecting rod and the second track connecting rod is a cylinder; the cross-sectional shape of the first track part and the second track part is an I-shaped cross-section in the direction perpendicular to the first track part and pointing to the second track part; the cross-sectional shape of the first movable part and the second movable part is an I-shaped cross-section in the direction perpendicular to the first movable part and pointing to the second movable part; the power execution assembly comprises a hydraulic motor, a second coupling, a hydraulic pump and an amplitude cylinder, one end of the second track connecting rod close to the first track part penetrates through the first track part and is connected with the amplitude cylinder, the amplitude cylinder drives the movable track to change the fixed track and the bifurcated track at the bifurcation through the second track connecting rod; the hydraulic motor is connected with the hydraulic pump through the second coupling, and the hydraulic pump is connected with one end of the amplitude cylinder away from the second track connecting rod through an oil pipe; a limit sensor is arranged at the connection position of the first track part in the fixed track and the first track part in the bifurcated track, the limit sensor is used for judging whether the movable track is in place, and a track changing completion signal is sent when the movable track is in place; the driving device, the charging battery, the front speed regulating handlebar, the rear speed regulating handlebar, the front warning lamp group, the rear warning lamp group, the hydraulic motor, the limit sensor, the image acquisition device and the processor are connected with the vehicle controller respectively.

[0006] Compared with the prior art, the track type underground cargo carrying trolley system provided by the present application at least has the following beneficial effects:

[0007] Firstly, the cargo carrying personnel can directly use the cargo carrying trolley to carry the cargo, thereby shortening the cargo carrying time, reducing the working strength of the cargo carrying personnel, saving the cost and improving the timeliness; secondly, the cargo carrying trolley is integrated with the guide rail and the sliding block device, and since the cargo carrying trolley is difficult to turn around, the cargo carrying personnel can move the positions of the first handle pipe and the second handle pipe according to different advancing directions, so that the cargo carrying personnel always faces the advancing direction of the cargo carrying trolley.

[0008] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments thereof, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0009] The accompanying drawings incorporated in and forming a part of the specification illustrate embodiments of the present application and, together with the description, serve to explain the principles of the application.

[0010] Figure 1 It is a track turning structure schematic diagram of a coal mine underground battery locomotive auxiliary driving system and working method provided by the Chinese patent document;

[0011] Figure 2 It is a structure schematic diagram of a track type underground cargo carrying trolley system provided by the present application;

[0012] Figure 3is a structural schematic view of a goods carrying trolley provided by the present application;

[0013] Figure 4 is a structural schematic view of an upper trolley assembly provided by the present application;

[0014] Figure 5 is a structural schematic view of a partial upper trolley assembly provided by the present application;

[0015] Figure 6 is a structural schematic view of a lower trolley assembly opening a box cover provided by the present application;

[0016] Figure 7 is a top view of a lower trolley assembly provided by the present application;

[0017] Figure 8 is a side view of a goods carrying trolley provided by the present application;

[0018] Figure 9 is a structural schematic view of a charging port provided by the present application;

[0019] Figure 10 is a front view of a goods carrying trolley provided by the present application;

[0020] Figure 11 is a structural schematic view of a partial trolley frame, a partial first sliding rail, a first sliding block, a first connecting seat and a partial first handle tube provided by the present application;

[0021] Figure 12 is a structural schematic view of a variable-amplitude oil cylinder, a track, a connecting plate and a first track connecting rod provided by the present application;

[0022] Figure 13 is a structural schematic view of a partial fixed track provided by the present application;

[0023] Figure 14 is a structural schematic view of a fixed track and a bifurcated track corresponding to a bifurcated area provided by the present application. DETAILED DESCRIPTION

[0024] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions, and numerical values set forth in these embodiments are illustrative only and do not limit the scope of the present application unless otherwise specifically stated.

[0025] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way limiting to the scope of the application or its applications or uses.

[0026] Techniques, methods, and apparatus known to those of ordinary skill in the relevant art(s) can not be discussed in detail herein. However, where appropriate, the techniques, methods, and apparatus should be considered as part of the description of the application.

[0027] In all of the compositions and methods shown and discussed herein, any specific values should be interpreted as merely exemplary, and not as a limitation. Thus, other examples of the exemplary embodiments can have different values.

[0028] It should be borne in mind, that, as the use of night letters and numerals are merely for facilitating reference, that these designations should in no way be construed to limit the scope of the application.

[0029] Reference is made to Figures 2-13As shown, the embodiment provides a track type underground cargo carrying trolley system, which comprises a cargo carrying trolley 1, a track 2 and an automatic turnout rail changing assembly 3. The cargo carrying trolley 1 comprises a loading assembly 10 and an unloading assembly 11. The loading assembly 10 comprises a handle pipe 101, a slide rail 104 and a speed-adjustable handle 109. The handle pipe 101 comprises oppositely arranged first and second handle pipes 1011 and 1012 in the shape of inverted L. The top corner opening of the first handle pipe 1011 is away from the top corner opening of the second handle pipe 1012. The first and second handle pipes 1011 and 1012 are connected by a handle connecting rod 1013. The slide rail 104 comprises first and second slide rails 1041 and 1042 arranged in parallel. The bottom end of the first handle pipe 1011 is connected with the first slide rail 1041 through a first slide block 105, and the first handle pipe 1011 slides along the length extension direction of the first slide rail 1041. The bottom end of the second handle pipe 1012 is connected with the second slide rail 1042 through a second slide block 106, and the second handle pipe 1012 slides along the length extension direction of the second slide rail 1042. The speed-adjustable handle 109 comprises front and rear speed-adjustable handles 1091 and 1092. The first handle pipe 1011 is sleeved with the front speed-adjustable handle 1091 on the side away from the first slide block 105. The second handle pipe 1012 is sleeved with the rear speed-adjustable handle 1092 on the side away from the second slide block 106. The unloading assembly 11 comprises a trolley chassis 111, a front axle assembly 112 and a rear axle assembly 113. The front and rear axle assemblies 112 and 113 are oppositely arranged along the length direction of the first slide rail 1041. The trolley chassis 111 comprises a rectangular trolley frame 1110, a whole vehicle controller 1111, a charging battery 1112, an indicator lamp set 1113 and an image acquisition device 1114. The left and right sides of the trolley frame 1110 are fixedly connected with the first and second slide rails 1041 and 1042 in the direction pointing from the first slide rail 1041 to the second slide rail 1042. The indicator lamp set 1113 comprises front and rear warning lamp sets 11131 and 11132. The front and rear sides of the trolley frame 1110 are provided with the front and rear warning lamp sets 11131 and 11132, respectively. The front and rear sides of the trolley frame 1110 are provided with the image acquisition device 1114, respectively. In the length direction of the first slide rail 1041, the orthographic projection of the front warning lamp set 11131 completely overlaps the orthographic projection of the rear warning lamp set 11132, and the orthographic projection of the front warning lamp set 11131 does not completely overlap the orthographic projection of the image acquisition device 1114. The middle part of the trolley frame 1110 is provided with a battery box 1115. The battery box 1115 comprises a hollow rectangular box body 1151 and a box cover 1152 covering the box body 1151. The whole vehicle controller 1111 and the charging battery 1112 are placed in the box body 1151.The front axle assembly 112 comprises a front axle 1121 and left and right front wheels 1122 and 1123 connected to the front axle 1121, and the rear axle assembly 113 comprises a rear axle 1131 and left and right rear wheels 1132 and 1133 connected to the rear axle 1131. The left and right front wheels 1122 and 1123 and the left and right rear wheels 1132 and 1133 travel on the track 2 in a direction along the first sliding rail 1041 pointing to the second sliding rail 1042. The opposite sides of the vehicle frame 1110 near one side of the front axle 1121 are fixedly connected to the front axle 1121 through front supports 114, and the opposite sides of the vehicle frame 1110 near one side of the rear axle 1131 are fixedly connected to the rear axle 1131 through rear supports 115. The middle part of the rear axle 1131 is sleeved with a speed reducer 11310, and the side of the vehicle frame 1110 near the rear axle 1131 is provided with a driving device 1116. The speed reducer 11310 is connected to the driving device 1116 through a first shaft coupling. The automatic turnout rail changing assembly 3 comprises a movable track 31, a first track connecting rod 32, a second track connecting rod 37, a connecting plate 33 and a power execution assembly. The track 2 comprises a fixed track 21 and a branch track 22. The fixed track 21 and the branch track 22 each comprise first and second track portions 211 and 212 arranged in parallel. The movable track 31 comprises first and second movable portions 311 and 312 arranged in parallel. The first movable portion 311 is movably connected to the side of the first track portion 211 near the second track portion 212, and the second movable portion 312 is movably connected to the side of the second track portion 212 near the first track portion 211. The first track connecting rod 32 is connected between the first and second movable portions 311 and 312, and the two ends of the first track connecting rod 32 respectively penetrate the first and second track portions 211 and 212. The middle part of the first track connecting rod 32 is connected to the middle part of the second track connecting rod 37 through the connecting plate 33. The power execution assembly comprises a hydraulic motor, a second shaft coupling, a hydraulic pump and an amplitude cylinder 34. One end of the second track connecting rod 37 penetrates the first track portion 211 and is connected to the amplitude cylinder 34. The amplitude cylinder 34 drives the movable track 31 to change the fixed track 21 and the branch track 22 at the branch through the second track connecting rod 37. The hydraulic motor is connected to the hydraulic pump through the second shaft coupling, and the hydraulic pump is connected to the end of the amplitude cylinder away from the first track connecting rod through an oil pipe. A limit sensor 35 is arranged at the connection between the first track portion 211 in the fixed track 21 and the first track portion 211 in the branch track 22. The limit sensor 35 is used to determine whether the movable track 31 is in place and sends a rail changing completion signal when in place. The driving device 1116, the rechargeable battery 1112, the front speed adjustment handlebar 1091, the rear speed adjustment handlebar 1092, the front warning light group 11131, the rear warning light group 11132, the amplitude cylinder 34, the limit sensor 35 and the image acquisition device 1114 are respectively connected to the vehicle controller 1111.

[0030] Specifically, with reference to Figure 2and Figure 3 As shown in the drawings, the upper car assembly 10 and the lower car assembly 11 constitute the goods carrying trolley 1, the upper car assembly 10 is located above the lower car assembly 11, the upper car assembly 10 can slide the first handle tube 1011 and the second handle tube 1012 along the length direction of the first slide rail 1041, the upper car assembly 10 and the lower car assembly 11 can be connected in a threaded manner, the lower car assembly 11 can run on the track 2, the track 2 includes a fixed track 21 and a branch track 22, the branch area of the fixed track 21 and the branch track 22 is provided with an automatic branch track switching assembly 3, the automatic branch track switching assembly 3 is used for automatically switching the direction of the track 2 (such as the fixed track 21 and the branch track 22) to enable the goods carrying trolley 1 to run on different track 2 paths. By automatically switching the running track 2 of the goods carrying trolley 1 through the automatic branch track switching assembly 3, the goods carrying trolley 1 can be flexibly switched between the fixed track 21 and the branch track 22 to realize multi-path goods carrying; it can be understood that the automatic branch track switching assembly 3 can realize the track switching function of the goods carrying trolley 1 in the branch area of the fixed track 21 and the branch track 22, so that the goods carrying trolley 1 can change the running direction as needed to reach different track lines. It should be noted that the above-mentioned branch area refers to the entire area including the turnout, including the turnout itself and the track part connected thereto.

[0031] Referring to Figures 3-5 As shown in the drawings, the upper car assembly 10 includes a handle tube 101, a slide rail 104 and a speed regulating handle 109, the handle tube 101 includes a first handle tube 1011 and a second handle tube 1012 arranged in parallel, the shapes of the first handle tube 1011 and the second handle tube 1012 are respectively inverted L-shaped, since the first handle tube 1011 and the second handle tube 1012 are respectively inverted L-shaped, the first handle tube 1011 and the second handle tube 1012 both have a top corner opening, the top corner openings of the first handle tube 1011 and the second handle tube 1012 are opposite, for example, the top corner opening of the first handle tube 1011 is directed away from the second handle tube 1012, and the top corner opening of the second handle tube 1012 is directed away from the first handle tube 1011, it can be understood that the top corner opening of the first handle tube 1011 is directed to the left side, and the top corner opening of the second handle tube 1012 is directed to the right side, the top corner openings of the first handle tube 1011 and the second handle tube 1012 are opposite, which is beneficial for the staff to hold the first handle tube 1011 and the second handle tube 1012 by hand, and is also convenient for subsequent operation of the front speed regulating handle 1091 and the rear speed regulating handle 1092.

[0032] The first handle pipe 1011 and the second handle pipe 1012 are connected through a handle connecting rod 1013. The handle connecting rod 1013 can be at least one straight pipe, which is beneficial to connect the first handle pipe 1011 and the second handle pipe 1012 into one body. The number of the straight pipes can be one, two or more. When the number of the straight pipes is one, the straight pipe is connected to the middle part of the first handle pipe 1011 and the second handle pipe 1012. When the number of the straight pipes is two, the straight pipes are connected to the middle upper part and the middle lower part of the first handle pipe 1011 and the second handle pipe 1012, so as to ensure the stability between the first handle pipe 1011 and the second handle pipe 1012. The embodiment only takes two straight pipes as an example for illustration. As long as the first handle pipe 1011 and the second handle pipe 1012 can be stably connected together, the embodiment does not make specific limitation.

[0033] The slide rail 104 comprises a first slide rail 1041 and a second slide rail 1042 arranged in parallel. The first slide rail 1041 and the second slide rail 1042 are straight linear guides. The length extension directions of the first slide rail 1041 and the second slide rail 1042 are the same, and the length directions of the first slide rail 1041 and the second slide rail 1042 are the same. The first slide rail 1041 and the second slide rail 1042 have a spacing therebetween. The bottom end of the first handle pipe 1011 can be fixedly connected with the top surface of a first sliding block 105. The first sliding block 105 is slidingly connected with the first slide rail 1041. The first handle pipe 1011 slides along the length direction of the first slide rail 1041 through the first sliding block 105. According to actual requirements, the first handle pipe 1011 reciprocates in the length direction of the first slide rail 1041. The bottom end of the second handle pipe 1012 can be fixedly connected with the top surface of a second sliding block 106. The second sliding block 106 is slidingly connected with the second slide rail 1042. The second handle pipe 1012 slides along the length direction of the second slide rail 1042 through the second sliding block 106. According to actual requirements, the second handle pipe 1012 reciprocates in the length direction of the second slide rail 1042. The first handle pipe 1011 and the second handle pipe 1012 can be adjusted in front and back positions by a goods carrying person according to the walking direction of the goods carrying trolley 1.

[0034] Referring to Figure 11As shown, the first slide rail 1041 and the second slide rail 1042 can be convex structures, the convex part of the convex structure in the first slide rail 1041 protrudes towards the first slider 105 side, the convex part of the convex structure in the second slide rail 1042 protrudes towards the second slider 106 side, and the cross-sectional shape of the first slide rail 1041 and the second slide rail 1042 in the direction of the first slide rail 1041 pointing to the second slide rail 1042 can be convex; the first slider 105 and the second slider 106 are T-shaped structures, the cross-sectional shape of the first slider 105 and the second slider 106 in the direction of the first slide rail 1041 pointing to the second slide rail 1042 can be T-shaped, and the slide rail groove is formed on the side close to the convex structure, the slide rail groove in the T-shaped structure of the first slider 105 matches the convex part of the convex structure in the first slide rail 1041, the slide rail groove in the T-shaped structure of the first slider 105 matches the convex part of the convex structure in the first slide rail 1041, and the slide rail groove in the T-shaped structure of the first slider 105 slides along the length direction of the convex part of the convex structure in the first slide rail 1041; the slide rail groove in the T-shaped structure of the second slider 106 slides along the length direction of the convex part of the convex structure in the second slide rail 1042.

[0035] Continuing to refer to Figures 3-6 As shown, the speed regulating handle 109 includes a front speed regulating handle 1091 and a rear speed regulating handle 1092, the first handle tube 1011 is installed with the front speed regulating handle 1091 away from the first slider 105 side, the front speed regulating handle 1091 is used as the throttle of the forward direction of the first handle tube 1011, and the driving device 1116 (such as a driving motor, which is a three-phase asynchronous motor with a rated voltage of 380V and a full copper winding with a rated power of 7.5kw) of the running of the goods carrying trolley 1 is controlled in speed, at this time the rear speed regulating handle 1092 is in a locked state, that is, when the front speed regulating handle 1091 is used, the rear speed regulating handle 1092 is in a locked state and cannot be operated; the second handle tube 1012 is installed with the rear speed regulating handle 1092 away from the second slider 106 side, the rear speed regulating handle 1092 is used as the throttle of the forward direction when the direction of the second handle tube 1012 changes, and the driving device 1116 of the running of the goods carrying trolley 1 is controlled in speed, at this time the front speed regulating handle 1091 is in a locked state, that is, when the direction of the second handle tube 1012 changes (for example, turns), the rear speed regulating handle 1092 is used to control the throttle of the forward direction, at this time the front speed regulating handle 1091 is in a locked state.

[0036] The front speed regulating handle 1091 and the rear speed regulating handle 1092 are connected to the vehicle controller 1111 installed on the lower vehicle assembly 11, and data transmission is performed between the front speed regulating handle 1091 and the rear speed regulating handle 1092 and the vehicle controller 1111 through CAN communication. The CAN communication has the characteristics of high reliability and strong anti-interference ability. The speed regulating signal can be determined according to the opening degree of the front speed regulating handle 1091. The larger the opening degree of the front speed regulating handle 1091, the higher the strength of the speed regulating signal, and the higher the rotating speed of the driving device 1116 (such as a driving motor). The smaller the opening degree of the front speed regulating handle 1091, the lower the strength of the speed regulating signal, and the lower the rotating speed of the driving device 1116. The driving device 1116 adjusts the rotating speed according to the received speed regulating signal. When the front speed regulating handle 1091 signal is at zero position (i.e., the front speed regulating handle 1091 is at the initial position, and the goods carrying trolley 1 stops), the driving device 1116 enters the self-locking state. The driving device 1116 stops rotating and is locked at the current position, preventing the goods carrying trolley 1 from moving accidentally.

[0037] There is an interlocking mechanism between the front speed regulating handle 1091 and the rear speed regulating handle 1092. When the front speed regulating handle 1091 is enabled, the rear speed regulating handle 1092 is locked; or when the rear speed regulating handle 1092 is enabled, the front speed regulating handle 1091 is locked, preventing confusion or dangerous situations caused by simultaneous operation of the two speed regulating handles 109. This design can improve the safety and reliability of operation.

[0038] The off-car assembly 11 comprises a car chassis 111, a front axle assembly 112 and a rear axle assembly 113, the front axle assembly 112 and the rear axle assembly 113 are arranged in parallel along the length direction of the first slide rail 1041 and are distributed in front and back. The front axle assembly 112 is used to bear the weight of the front end of the goods carrying trolley 1 and provide the main steering function; the rear axle assembly 113 is used to bear the weight of the rear end of the goods carrying trolley 1 and provide the main driving function. The car chassis 111 comprises a rectangular car frame 1110, a whole car controller 1111, a charging battery 1112, an indicator light group 1113 and an image acquisition device 1114. The car frame 1110 can be a rectangular load-bearing plate, which has a front surface, a left long side, a right long side, a front short side, a rear short side and a back surface. The front surface and the back surface are parallel, the left long side and the right long side are parallel, the front short side and the rear short side are parallel, and the front surface, the left long side and the front short side are perpendicular to each other. The left and right sides of the front surface are used to mount the first slide rail 1041 and the second slide rail 1042, the front short side and the rear short side are used to mount the front warning light group 11131, the rear warning light group 11132 and the image acquisition device 1114, the left long side and the right long side are used to mount the left danger indicator light group 11133 and the right danger indicator light group 11134, and the four corners of the bottom surface are used to mount the front support 114 and the rear support 115. The front axle assembly 112 and the rear axle assembly 113 are connected through the front support 114 and the rear support 115 respectively.

[0039] Continuing to refer to Figure 3 As shown, the left and right sides of the front surface of the car frame 1110 are fixedly connected with the first slide rail 1041 and the second slide rail 1042 respectively along the direction of the first slide rail 1041 pointing to the second slide rail 1042. In the direction of the first slide rail 1041 pointing to the second slide rail 1042, the left and right sides of the front surface of the car frame 1110 are threadedly connected with the first slide rail 1041 and the second slide rail 1042 respectively. Specifically, the front and back sides of the first slide rail 1041 along its length direction are threadedly connected with the left side of the front surface of the car frame 1110 through first bolts, the first bolts are screwed from the front surface and tightened into the car frame 1110, and the front and back sides of the second slide rail 1042 along its length direction are threadedly connected with the right side of the front surface of the car frame 1110 through second bolts, the second bolts are screwed from the front surface and tightened into the car frame 1110.

[0040] The indicator light group 1113 includes a front warning light group 11131 and a rear warning light group 11132, which are used to automatically switch the lighting direction according to the direction in which the goods handling trolley 1 advances. The front short side and the rear short side of the vehicle frame 1110 are respectively provided with the front warning light group 11131 and the rear warning light group 11132, and the front short side and the rear short side of the vehicle frame 1110 are respectively provided with an image acquisition device 1114. The image acquisition device 1114 can be embedded in a processor running a deep learning algorithm, which can be an existing deep learning algorithm, which is not limited in the embodiment.

[0041] The image acquisition device 1114 can be a depth camera, and the model of the depth camera can be a SICK Ranger3 series split 3D camera. The SICK Ranger3 series split 3D camera uses a standard GenICam interface and a GIGE interface, is easy to integrate, and is convenient to connect with the processor, so as to run the deep learning algorithm on the processor. The SICK Ranger3 series split 3D camera can use an existing deep learning algorithm, such as a common deep learning algorithm using a convolutional neural network (CNN), to process and analyze the collected 3D point cloud data or 2D image. The SICK Ranger3 series split 3D camera has recognition function and can continuously optimize the recognition ability through learning; after processing the input image data, it can output a simple signal for subsequent logical judgment. The output signal of the SICK Ranger3 series split 3D camera can be combined with the vehicle controller 1111 to participate in the track 2 logical judgment.

[0042] The deep learning algorithm is used to collect image data of the road condition in front of the goods handling trolley in real time, and generate a track signal. The vehicle controller is used to receive the track signal sent by the deep learning algorithm, and make a decision according to the preset logic, such as alarm, deceleration or brake.

[0043] The number of image acquisition devices 1114 can be two. Specifically, the front warning light group 11131, the rear warning light group 11132 and the two depth cameras can be fixed on the vehicle frame 1110 by bolts, such as fixing the front warning light group 11131 and one depth camera on the front short side of the vehicle frame 1110 by bolts, and fixing the rear warning light group 11132 and the other depth camera on the rear short side of the vehicle frame 1110 by bolts. This method is firm and reliable. Of course, according to the actual situation, the front warning light group 11131 and one depth camera can be fixed on the front short side of the vehicle frame 1110 by gluing, and the rear warning light group 11132 and the other depth camera can be fixed on the rear short side of the vehicle frame 1110 by gluing.

[0044] According to the positions of the first handle pipe 1011 and the second handle pipe 1012, the front warning light group 11131 and the rear warning light group 11132 are respectively installed on the front and rear sides of the vehicle frame 1110, and the front warning light group 11131 and the rear warning light group 11132 change according to the orientation of the first handle pipe 1011 and the second handle pipe 1012. When the positions of the first handle pipe 1011 and the second handle pipe 1012 are located in front of the vehicle frame 1110, and the goods carrying trolley 1 needs to move forward, only the front warning light group 11131 in front is on, and the rear warning light group 11132 behind is in an off state; when the positions of the first handle pipe 1011 and the second handle pipe 1012 are located at the rear of the vehicle frame 1110, and the goods carrying trolley 1 needs to move backward, only the rear warning light group 11132 behind is on, and the front warning light group 11131 in front is in an off state, to ensure that the indicator light group 1113 can be clearly seen by personnel in the direction of travel of the goods carrying trolley 1.

[0045] The model of the warning light in the above-mentioned front warning light group 11131 and rear warning light group 11132 can be CL50S, which emits a sound intensity ranging from 10 decibels to 95 decibels when working. That is, the warning light in the front warning light group 11131 and the rear warning light group 11132 has both lighting and alarm functions. The subsequent warning lights in the front warning light group 11131 and the rear warning light group 11132 are fixed to the front and rear sides of the vehicle frame 1110 by a lamp support.

[0046] During the driving process of the goods carrying trolley 1, the depth camera detects the road conditions in front of the goods carrying trolley 1 in real time, detects whether there are sundries in front of the goods carrying trolley 1, and issues a signal sound and light alarm on the track 2. The goods carrying trolley 1 stops and notifies the production personnel to clean up the sundries. The above-mentioned depth camera is used to capture three-dimensional information (including distance, shape and size) of the road conditions in front of the goods carrying trolley 1, which can generate a depth map of the measured object or scene. These depth maps contain distance information from each point on the object surface to the camera. Based on the image data of the road conditions in front of the goods carrying trolley obtained from the depth camera, training is carried out to identify and understand the features of the track 2. The depth learning algorithm of the processor in the depth camera processes the captured image data of the road conditions in front of the goods carrying trolley, and identifies or judges the situation of the track 2, to generate a set of track signals, which are state information of the track 2. The vehicle controller 1111 receives the track signals sent from the depth learning algorithm, and makes a decision according to the preset logic.

[0047] Referring to Figure 7As shown, along the length direction of the first slide rail 1041, the orthographic projection of the front warning light group 11131 completely corresponds to the orthographic projection of the rear warning light group 11132, and the orthographic projection of the front warning light group 11131 completely does not correspond to the orthographic projection of the image acquisition device 1114, so as to ensure that the front warning light group 11131, the rear warning light group 11132 and the image acquisition device 1114 do not interfere with each other during installation and working use.

[0048] With reference back to Figure 6 As shown, the middle part of the frame 1110 is provided with a box hole for mounting the battery box 1115, the box hole penetrates the frame 1110 along the thickness direction of the frame 1110, the shape of the box hole is rectangular, the length and width of the box hole match the length and width of the battery box 1115, and the battery box 1115 is mounted at the box hole.

[0049] With reference back to Figure 3 、 Figure 6 and Figure 7 As shown, the battery box 1115 includes a hollow rectangular box body 1151 and a box cover 1152 covering the box body 1151, the box body 1151 is a hollow rectangular body for accommodating the charging battery 1112 and the vehicle controller 1111, and the box cover 1152 covers the box body 1151 to form a closed space, preventing dust, moisture and the like from entering the inside of the box body 1151, and protecting the vehicle controller 1111 and the charging battery 1112 from the influence of the external environment. The vehicle controller 1111 and the charging battery 1112 are installed in the box body 1151, wherein the model of the vehicle controller 1111 can adopt S7-200 series PLC produced by Siemens Company or domestic industrial control board PLC programming controller, and the charging battery 1112 can adopt large-capacity lithium battery or lead-acid storage battery. The lithium battery or lead-acid storage battery serves as the energy supply source of the goods carrying trolley 1, and is equipped with the corresponding vehicle controller 1111, which can not only supply power to the motor of the trolley itself, but also adjust the voltage to supply power to other low-voltage electrical appliances.

[0050] In order to realize the normal operation of the goods carrying trolley 1, the charging battery 1112 can supply power to the driving device 1116, the front speed regulating handle 1091, the rear speed regulating handle 1092, the front warning light group 11131, the rear warning light group 11132, the luffing oil cylinder 34, the limit sensor 35, the image acquisition device 1114 and the whole vehicle controller 1111. For example, the charging battery 1112 supplies power to the driving device 1116 to provide power for the running of the goods carrying trolley 1, so that the goods carrying trolley 1 can run normally. The driving device 1116 converts electrical energy into mechanical energy to drive the left front wheel 1122, the right front wheel 1123, the left rear wheel 1132 and the right rear wheel 1133 to rotate, realizing the functions of forward movement, backward movement and steering of the goods carrying trolley 1. The charging battery 1112 supplies power to the front speed regulating handle 1091 and the rear speed regulating handle 1092 to ensure the normal operation of the speed regulating function, so that the goods carrying personnel can adjust the speed of the goods carrying trolley 1 according to the needs. The charging battery 1112 supplies power to the front warning light group 11131 and the rear warning light group 11132 to provide lighting function. The charging battery 1112 supplies power to the limit sensor 35 to ensure the safe operation of the goods carrying trolley 1. The charging battery 1112 supplies power to the image acquisition device 1114, which can acquire image information around the goods carrying trolley 1 in real time, providing a more comprehensive field of view for the goods carrying personnel, helping the goods carrying personnel to better observe the surrounding environment and avoid collision or misoperation.

[0051] The whole vehicle controller 1111 is the core control unit of the goods carrying trolley 1, which centrally controls and manages the running, speed regulation, lighting, safety and other functions of the goods carrying trolley 1. The charging battery 1112 supplies power to the whole vehicle controller 1111 to ensure its normal operation and realize the intelligent control of the goods carrying trolley 1. The front axle assembly 112 includes the front axle 1121 and the left front wheel 1122 and the right front wheel 1123 connected with the front axle 1121. The front axle 1121 is the main supporting structure of the front part of the goods carrying trolley 1, which is used to bear the weight of the front part of the vehicle and evenly distribute the weight to the left front wheel 1122 and the right front wheel 1123. The left front wheel 1122 and the right front wheel 1123 respectively bear the weight of the front part of the goods carrying trolley 1, and together with the front axle 1121 complete the supporting function of the goods carrying trolley 1. The rear axle assembly 113 includes the rear axle 1131 and the left rear wheel 1132 and the right rear wheel 1133 connected with the rear axle 1131. The rear axle 1131 is the main supporting structure of the rear part of the goods carrying trolley 1, which is used to bear the weight of the rear part of the goods carrying trolley 1 and evenly distribute the weight to the left rear wheel 1132 and the right rear wheel 1133. The left rear wheel 1132 and the right rear wheel 1133 respectively bear the weight of the rear part of the goods carrying trolley 1, and together with the rear axle 1131 complete the supporting function of the goods carrying trolley 1. The left front wheel 1122 and the right front wheel 1123 are supporting wheels driven by the rear axle 1131.

[0052] The connection modes of the left front wheel 1122 and the right front wheel 1123 to the front axle 1121 and the connection modes of the left rear wheel 1132 and the right rear wheel 1133 to the rear axle 1131 can all adopt the prior art, which is known to those skilled in the art and is not an improvement point, and does not need to be described in detail. Those skilled in the art can understand the specific structure from the position and overall structure of the present scheme, and can clearly know how to realize it.

[0053] The left front wheel 1122, the right front wheel 1123, the left rear wheel 1132, and the right rear wheel 1133 travel on the track 2, and contact the track 2 to jointly support the weight of the goods carrying trolley 1 and guide it to travel on the track 2. The trolley advances or retreats by rolling of the left front wheel 1122, the right front wheel 1123, the left rear wheel 1132, and the right rear wheel 1133, ensuring stable travel of the trolley on the track 2 and preventing derailment.

[0054] Continuing to refer to Figure 3 As shown in the drawings, two front supports 114 are respectively installed at the two top corners of the back of the frame 1110 near the front short side, and are connected between the back of the frame 1110 and the two top corners of the back of the frame 1110 near the front short side in a threaded manner. The two front supports 114 are respectively welded to the left and right sides of the front axle 1121 away from the back of the frame 1110. Two rear supports 115 are respectively installed at the two top corners of the back of the frame 1110 near the rear short side, and are connected between the back of the frame 1110 and the two top corners of the back of the frame 1110 near the rear short side in a threaded manner. The two rear supports 115 are respectively welded to the left and right sides of the rear axle 1131 away from the back of the frame 1110.

[0055] A reduction device 11310 is sleeved in the middle of the rear axle 1131, which can be a reducer. A driving device 1116, which can be a driving motor, is fixedly connected to the side of the frame 1110 near the rear axle 1131. The input shaft of the reducer and the output shaft of the driving motor are connected through a first coupling. It can be understood that the first coupling is used to connect the output shaft of the driving motor and the output shaft of the reducer, transmit power, and compensate for the positional deviation (axial, radial, and angular deviation) therebetween. When assembling the reducer, the first coupling, and the driving motor, one half of the first coupling is installed on the output shaft of the driving motor, and the other half is installed on the input shaft of the reducer. For a flexible first coupling, a flexible element (such as a rubber pad or a spring) needs to be installed in the middle part of the first coupling.

[0056] In combination with Figure 2 , Figure 7 , Figures 12-14As shown, the automatic turnout rail switching assembly 3 includes a movable rail 31, a first rail connecting rod 32, a second rail connecting rod 37, and a connecting plate 33, the rail 2 includes a fixed rail 21 and a split rail 22, the fixed rail 21 is a preset laid rail 2, which provides a fixed running path for the goods carrying trolley 1, the fixed rail 21 and the split rail 22 are installed on the steel rail in the underground roadway, and the left front wheel 1122, the right front wheel 1123, the left rear wheel 1132 and the right rear wheel 1133 of the goods carrying trolley 1 run on the fixed rail 21 and the split rail 22. In the direction perpendicular to the first rail part 211 in the fixed rail 21 and pointing to the second rail part 212, the orthographic projection of the first rail connecting rod 32 completely overlaps the orthographic projection of the second rail connecting rod 37, and the first rail connecting rod 32 is located above the second rail connecting rod 37.

[0057] The fixed rail 21 and the split rail 22 each include a first rail part 211 and a second rail part 212 arranged in parallel, the first rail part 211 and the second rail part 212 in the fixed rail 21 are straight motion rails in a normal running state, and the first rail part 211 and the second rail part 212 in the split rail 22 are turnout running rails in a post-switching running state. The normal running state refers to the case that the underground goods carrying trolley 1 runs straight along the fixed rail 21 without branching or switching; the post-switching running state refers to the case that the underground goods carrying trolley 1 runs along the split rail 22 after being switched to the turnout rail by the automatic turnout rail switching assembly 3. The shape of the first rail part 211 and the second rail part 212 in the fixed rail 21 is linear. The shape of the first rail part 211 and the second rail part 212 in the split rail 22 is arc-shaped. In the direction perpendicular to the first rail part 211 and pointing to the second rail part 212, the cross-sectional shape of the first rail part 211 and the second rail part 212 is H-shaped.

[0058] The movable rail 31 is a movable rail part located at a turnout or switching position, which enables the goods carrying trolley 1 to switch from one fixed rail 21 to a split rail 22 through a switching operation.

[0059] The movable track 31 comprises a first movable part 311 and a second movable part 312 arranged in parallel; the first movable part 311 is connected to the first track part 211 of the corresponding turnout area through a bolt mode near the side of the second track part 212, the second track part 212 is connected to the second movable part 312 through a bolt mode near the side of the first track part 211, the middle part of the first movable part 311 and the middle part of the second movable part 312 are threadedly connected with the first track connecting rod 32, specifically, the first track connecting rod 32 is threadedly connected to the middle part of the first movable part 311 and the second movable part 312 by four third bolts. In the direction perpendicular to the first movable part 311 and pointing to the second movable part 312, the cross-sectional shape of the first movable part 311 and the second movable part 312 can be an I-shaped section. The connecting plate 33 can be a rectangular plate, and a plurality of sixth bolts are used to threadedly connect the connecting plate 33 to the middle part of the first track connecting rod 32 and the middle part of the second track connecting rod 37. The two ends of the first track connecting rod 32 are respectively arranged in the first track part 211 and the second track part 212, wherein one end of the second track connecting rod 37 passes through the first track part 211 and is connected to the amplitude cylinder 34 by two fourth bolts, and the amplitude cylinder 34 and the second track connecting rod 37 are located in the same horizontal plane. The amplitude cylinder 34 is a hydraulic actuator for realizing the track changing operation. The model of the amplitude cylinder 34 can be a two-way two-section DSTH multi-stage telescopic cylinder, which has the functions of two-way action and two-section or multi-section telescopic function.

[0060] The hydraulic motor is connected with the hydraulic pump through the second shaft coupling, the hydraulic pump is connected with the amplitude cylinder 34 through the oil pipe, the hydraulic motor serves as a power source, and power is provided for the amplitude cylinder 34 through the hydraulic motor. The output shaft of the hydraulic motor is connected to the hydraulic pump, the hydraulic pump delivers the hydraulic oil after being pressurized to the amplitude cylinder 34, the amplitude cylinder 34 receives the high-pressure hydraulic oil from the hydraulic pump, the high-pressure hydraulic oil enters the rod cavity or the rodless cavity of the amplitude cylinder 34, and the extension and retraction movement of the piston is pushed to realize the amplitude action of the second rail connecting rod 37. Since the first rail connecting rod 32 is connected with the second rail connecting rod 37 through the connecting plate 33, the subsequent second rail connecting rod 37 drives the first rail connecting rod to realize the amplitude action. In the rail switching process of the turnout rail in the embodiment, the action of the amplitude cylinder 34 is controlled by the hydraulic motor through the vehicle controller 1111, the hydraulic motor provides power to drive the hydraulic pump to work, the hydraulic pump delivers the hydraulic oil after being pressurized to the amplitude cylinder 34, the amplitude cylinder 34 realizes the amplitude action of the second rail connecting rod 37 through the extension and retraction of the piston, the second rail connecting rod 37 drives the first rail connecting rod to realize the amplitude action, and thus the rail switching operation of the turnout rail 2 is completed. The hydraulic motor can be an MR200 mold hydraulic cycloid motor. The shapes of the first rail connecting rod 32 and the second rail connecting rod 37 are both cylindrical. Bolts can be used between the hydraulic motor and the second shaft coupling to ensure the firmness and reliability of the connection, a threaded connection is used between the hydraulic pump and the second shaft coupling, the hydraulic pump delivers the hydraulic oil to the amplitude cylinder 34 through the oil pipe, a threaded connection or a flange connection is used between the oil pipe and the hydraulic pump to ensure the sealing and flow of the hydraulic oil, and the oil port of the amplitude cylinder 34 is connected with the oil pipe through a threaded connection.

[0061] The amplitude cylinder 34 drives the movable rail 31 to switch the fixed rail 21 and the split rail 22 at the split point through the second rail connecting rod 37, that is, the amplitude cylinder 34 drives the movable rail 31 to switch the path of the rail at the turnout area through the second rail connecting rod 37, so that the switching from the fixed rail 21 to the split rail 22 is realized. The limit sensor 35 is fixedly connected at the connection position of the first rail part 211 in the fixed rail 21 and the first rail part 211 in the split rail 22, the model of the limit sensor 35 can be a miniature diffuse reflection photoelectric switch or an EE-SPY401 limit sensor sensing switch, the limit sensor 35 is used to judge whether the movable rail 31 is in place, and a rail switching completion signal is sent when the movable rail 31 is in place. When the movable rail 31 moves to the specified position, the limit sensor 35 is triggered and sends a signal to inform the vehicle controller 1111 that the rail switching is completed, and the cargo carrying vehicle 1 can continue to travel.

[0062] The driving device 1116, the charging battery 1112, the front speed regulating handle 1091, the rear speed regulating handle 1092, the front warning light group 11131, the rear warning light group 11132 and the image acquisition device 1114 are electrically connected with the vehicle controller 1111 respectively, and the hydraulic motor and the limit sensor 35 are in communication connection with the vehicle controller 1111. Specifically, the vehicle controller 1111 communicates with the control unit of the hydraulic motor and the limit sensor 35 through CAN bus or other communication protocols, and according to the feedback of the active track 31 to position signal of the limit sensor 35, the vehicle controller 1111 adjusts the pressure and flow of the hydraulic motor by sending control signals, so as to control the action of the amplitude cylinder 34 and the hydraulic motor, and realize the track changing operation.

[0063] The specific working principle of the track type underground cargo carrying trolley system in the embodiment is as follows:

[0064] Since the cargo carrying trolley 1 cannot turn around in the underground, the front speed regulating handle 1091 and the rear speed regulating handle 1092 are arranged to reverse. Figure 2 For example, the cargo carrying trolley is in the forward direction, at this time, the cargo carrying personnel of the cargo carrying trolley 1 adjusts the positions of the first handle pipe 1011 and the second handle pipe 1012 according to the judgment of the direction in which the cargo carrying trolley 1 needs to travel. Figure 3 For example, the cargo carrying trolley is in the forward direction, at this time, the cargo carrying personnel of the cargo carrying trolley 1 adjusts the positions of the first handle pipe 1011 and the second handle pipe 1012 according to the judgment of the direction in which the cargo carrying trolley 1 needs to travel. Figure 4 and Figure 5 If the cargo carrying trolley 1 needs to run in the rear direction (as shown in Figs. 11B and 11C), the first handle pipe 1011 and the second handle pipe 1012 need to be adjusted to the front end of the cargo carrying trolley 1, and the first handle pipe 1011 and the second handle pipe 1012 are switched to the rear, and then the rear speed regulating handle 1092 is twisted, at this time, the cargo carrying trolley 1 runs in the rear direction; at this time, the rear warning light group 11132 at the rear end begins to light up to warn the personnel in the direction of the cargo carrying trolley 1 to pay attention to the passing of the trolley.

[0065] The above depth camera can detect the track 2, linearly fit the track 2 based on the deep learning algorithm, and if the track 2 needs to be switched, the whole vehicle controller 1111 sends a signal to drive the amplitude cylinder 34 to act, and after the switching is completed, the limit sensor 35 sends a switching completion signal, and the whole vehicle controller 1111 sends a driving signal to the goods carrying trolley 1 to proceed, thereby realizing the switching. Specifically, when the goods carrying trolley 1 starts to travel along the first track part 211 and the second track part 212 of the fixed track 21, the image acquisition device 1114 (such as a depth camera) in front of the vehicle frame 1110 identifies the first track part 211 and the second track part 212 of the fixed track 21 in real time, and when the bifurcation is identified, the direction of the first active part 311 and the second active part 312 in the active track 31 is determined, if the first active part 311 and the second active part 312 in the active track 31 do not need to be switched, continue to proceed; if the first active part 311 and the second active part 312 in the active track 31 need to be switched, the amplitude cylinder 34 starts to work and pushes it to the opposite direction of the current position, when the active track 31 pushes to the position of the limit sensor 35, it means that the active track 31 has been pushed to the right position, at this time, after the whole vehicle controller 1111 receives that the first active part 311 and the second active part 312 in the active track 31 have been switched, the goods carrying trolley 1 continues to proceed along the first track part 211 and the second track part 212 of the bifurcated track 22 in the switching direction, at this time, if the destination is not in place, the above judgment process is repeated; if the destination is reached, the goods carrying trolley 1 stops.

[0066] Compared with the prior art, the track type underground goods carrying trolley system provided by the embodiment at least has the following beneficial effects:

[0067] First, the goods carrying personnel can directly use the goods carrying trolley 1 to carry goods, shorten the goods carrying time, reduce the work intensity of the goods carrying personnel, save the cost, and improve the timeliness; second, the goods carrying trolley 1 is integrated with a guide rail and a sliding block device, because the goods carrying trolley 1 is difficult to turn around, the goods carrying personnel can move the positions of the first handle pipe 1011 and the second handle pipe 1012 according to different forward directions, so that the goods carrying personnel always face the forward direction of the goods carrying trolley 1; third, through the mutual cooperation between the driving device 1116, the rechargeable battery 1112, the front speed regulating handlebar 1091, the rear speed regulating handlebar 1092, the front warning light group 11131, the rear warning light group 11132, the amplitude cylinder 34, the limit sensor 35, the image acquisition device 1114, and the whole vehicle controller 1111, the following technical effects can be achieved: 1) the driving device 1116 is powered, and the voltage can also be adjusted to power other low-voltage electrical appliances; 2) the goods carrying trolley 1 adopts a combination of an image acquisition device 1114 and an automatic track changing mode to detect the track 2 road conditions, automatically identify track 2 obstacles, and avoid the risk of the goods carrying trolley 1 leaving the track 2 during driving, while identifying the turnout area of the track 2, the deep learning algorithm fits the turnout area route of the track 2, and based on the deep learning algorithm, it identifies whether the destination needs to change the track, and can automatically realize the turnout track changing; 3) the front and rear sides have lighting lights of the front warning light group 11131 and the rear warning light group 11132 which can be changed according to the front speed regulating handlebar 1091 sleeved on the first handle pipe 1011 and the rear speed regulating handlebar 1092 sleeved on the second handle pipe 1012, which can realize lighting in poor lighting areas.

[0068] In an optional embodiment, the bottom end of the first handle pipe 1011 is fixedly connected with the first sliding block 105 through a first connecting seat, and the bottom end of the second handle pipe 1012 is fixedly connected with the second sliding block 106 through a second connecting seat.

[0069] Specifically, continuing to refer to Figure 3 , Figure 5 and Figure 11 , the first sliding block 105 and the second sliding block 106 include a horizontal section 1051 and a vertical section 1052 connected with the horizontal section 1051, and a T-shaped structure is formed between the horizontal section 1051 and the vertical section 1052. The horizontal section 1051 of the first sliding block 105 is located on the side of the vertical section 1052 of the first sliding block 105 close to the first connecting seat 107, and the horizontal section of the second sliding block 106 is located on the side of the vertical section of the second sliding block 106 close to the second connecting seat 108.

[0070] The first connecting seat 107 and the second connecting seat 108 are in the shape of a rectangular body, such as a cuboid. The base of the first handle pipe 1011 is directly welded in the middle of the first connecting seat 107, and the base of the second handle pipe 1012 is directly welded in the middle of the second connecting seat 108. Circular first connecting holes are formed at the four corners of the first connecting seat 107 and the second connecting seat 108. The first connecting holes in the first connecting seat 107 penetrate the first connecting seat 107 along the thickness direction of the first connecting seat 107, and the first connecting holes in the second connecting seat 108 penetrate the second connecting seat 108 along the thickness direction of the second connecting seat 108. Circular second slider holes are formed in the horizontal sections of the first slider 105 and the second slider 106 corresponding to the first connecting holes. Four fifth bolts pass through the first connecting holes of the first connecting seat 107 and the second slider holes of the horizontal section of the first slider 105, and the first connecting holes of the second connecting seat 108 and the second slider holes of the horizontal section of the second slider 106, and the first connecting seat 107 and the horizontal section of the first slider 105, and the second connecting seat 108 and the horizontal section of the second slider 106 are connected together by bolts.

[0071] With the above scheme, the first handle pipe 1011 is fixedly connected with the first slider 105 through the first connecting seat 107, and the first handle pipe 1011 is fixedly connected with the second slider 106 through the second connecting seat 108. Compared with directly connecting the first handle pipe 1011 with the first slider 105 and the second handle pipe 1012 with the second slider 106, the first connecting seat 107 and the second connecting seat 108 can play a transitional and reinforcing role. It can disperse the force received by the bottom ends of the first handle pipe 1011 and the second handle pipe 1012, avoid the first handle pipe 1011 and the second handle pipe 1012 concentrating stress directly at the connection points with the first slider 105 and the second slider 106 when stressed, thereby reducing the risk of fracture or deformation of the connection parts of the first handle pipe 1011 and the first slider 105 and the second handle pipe 1012 and the second slider 106 due to stress concentration; in addition, when the first handle pipe 1011 is connected with the first slider 105 through the first connecting seat 107 and the second handle pipe 1012 is connected with the second slider 106 through the second connecting seat 108, the first connecting seat 107 and the second connecting seat 108 can play a certain buffering role. It can form a relatively independent movement space between the first handle pipe 1011 and the first slider 105 and the second handle pipe 1012 and the second slider 106, reducing the friction generated when the first handle pipe 1011 and the first slider 105 and the second handle pipe 1012 and the second slider 106 directly contact.

[0072] In an alternative embodiment, the first slider 105 and the second slider 106 are respectively provided with a first slider hole 1053, the first slider hole 1053 penetrates the first slider 105 and the second slider 106 in a direction along which the first sliding rail 1041 points to the second sliding rail 1042;

[0073] The first sliding rail 1041 and the second sliding rail 1042 are provided with at least two sliding rail holes 10410, each of which matches the first slider hole 1053, and each of which penetrates the first sliding rail 1041 and the second sliding rail 1042 in a direction along which the first sliding rail 1041 points to the second sliding rail 1042, the at least two sliding rail holes 10410 are arranged along the length direction of the first sliding rail 1041, and the sliding rail hole 10410 and the first slider hole 1053 are connected by a limiting bolt.

[0074] Specifically, in combination with the illustrations shown in Figure 3 , Figure 5 and Figure 11 , it is illustrated that the first slider 105 and the second slider 106 comprise a horizontal section 1051 and a vertical section 1052 connected to the horizontal section 1051, a T-shaped structure is formed between the horizontal section 1051 and the vertical section 1052, the length extension direction of the horizontal section 1051 and the vertical section 1052 in the first slider 105 is the same as the length extension direction of the first sliding rail 1041, the length extension direction of the horizontal section 1051 and the vertical section 1052 in the second slider 106 is the same as the length extension direction of the second sliding rail 1042, the first slider hole 1053 in the vertical section 1052 of the first slider 105 and the first slider hole 1053 in the vertical section 1052 of the second slider 106 are circular, the first slider hole 1053 in the vertical section 1052 of the first slider 105 penetrates the vertical section 1052 of the first slider 105 in a direction along which the first sliding rail 1041 points to the second sliding rail 1042, and the first slider hole 1053 in the vertical section 1052 of the second slider 106 penetrates the vertical section 1052 of the second slider 106 in a direction along which the first sliding rail 1041 points to the second sliding rail 1042.

[0075] The first sliding rail 1041 and the second sliding rail 1042 are provided with a plurality of circular sliding rail holes 10410, each of which matches the first slider hole 1053, the sliding rail holes 10410 in the first sliding rail 1041 and the second sliding rail 1042 respectively penetrate the first sliding rail 1041 and the second sliding rail 1042 in a direction along which the first sliding rail 1041 points to the second sliding rail 1042, the plurality of sliding rail holes 10410 in the first sliding rail 1041 are arranged in an arithmetic progression along the length direction of the first sliding rail 1041, and the plurality of sliding rail holes 10410 in the second sliding rail 1042 are arranged in an arithmetic progression along the length direction of the first sliding rail 1041.

[0076] The first sliding hole 10410 in the first sliding rail 1041 and the first sliding hole 1053 in the first sliding block 105, and the first sliding hole 10410 in the second sliding rail 1042 and the first sliding hole 1053 in the second sliding block 106 are respectively connected in a detachable manner through a limiting bolt, which is used to fix the positions of the first handle tube 1011 and the second handle tube 1012.

[0077] Since the goods carrying trolley 1 is difficult to turn around, the goods carrying personnel can move the positions of the first handle tube 1011 and the second handle tube 1012 according to different advancing directions, so that the goods carrying personnel always faces the advancing direction of the goods carrying trolley 1, and then the positions of the first handle tube 1011 and the second handle tube 1012 are fixed through the limiting bolt.

[0078] In an alternative embodiment, the first sliding rail 1041 and the second sliding rail 1042 are respectively provided with a limiting baffle 10411 near one end of the rear axle 1131.

[0079] Specifically, the limiting baffle 10411 is a rectangular block, and the first sliding rail 1041 is welded with a rectangular block near one end of the rear axle 1131, and the second sliding rail 1042 is welded with a rectangular block near one end of the rear axle 1131. The bottom end of the rectangular block corresponding to the first sliding rail 1041 is welded on the front side of the frame 1110 near the left long side, and the bottom end of the rectangular block corresponding to the second sliding rail 1042 is welded on the front side of the frame 1110 near the right long side. Of course, according to the actual situation, the first sliding rail 1041 near one end of the rear axle 1131 and the rectangular block can also be connected in a threaded manner, and the second sliding rail 1042 near one end of the rear axle 1131 and the rectangular block can also be connected in a threaded manner, as long as the first sliding rail 1041 and the second sliding rail 1042 are connected with the rectangular block near one end of the rear axle 1131, and this embodiment does not make specific limitation. By using the above scheme, the first handle tube 1011 and the first sliding block 105 can be prevented from being separated from the first sliding rail 1041 during sliding, and the second handle tube 1012 and the second sliding block 106 can be prevented from being separated from the second sliding rail 1042 during sliding.

[0080] In an alternative embodiment, in combination with Figure 7 and Figure 9As shown, the housing 1151 is provided with a charging port 11121 electrically connected to the rechargeable battery 1112, and the charging port 11121 is electrically connected to the vehicle controller 1111. Specifically, the charging port 11121 is an interface for charging the rechargeable battery 1112, and can be connected to an external charging device. The charging port 11121 is electrically connected to the rechargeable battery 1112 via a cable to ensure that the charging current can flow from the charging port 11121 to the rechargeable battery 1112. The charging port 11121 can be connected to the vehicle controller 1111 via a signal line to transmit charging status information. The vehicle controller 1111 can monitor the charging process in real time through the connection with the charging port 11121 to ensure charging safety. Once an abnormality (such as overcurrent, overvoltage, short circuit, etc.) is detected, the charging circuit can be immediately cut off to prevent battery damage or safety accidents. The above solution not only improves the safety and efficiency of charging, but also enhances the user experience and system reliability. Optionally, the rechargeable battery 1112 includes multiple sub-batteries, which are connected in series or in parallel. In this embodiment, only five sub-batteries are taken as an example, and the five sub-batteries are connected in series.

[0081] In an optional embodiment, the frame 1110 is a rectangular support plate, and a rectangular hole is opened in the middle of the support plate to place the box 1151. The rectangular hole matches the box 1151 and passes through the support plate along the thickness direction of the support plate. The outer periphery of the box 1151 at the corresponding rectangular hole is fixedly connected to the support plate. Specifically, refer to Figure 3 and Figure 6 As shown, along the length direction of the first slide rail 1041 or the second slide rail 1042, the length of the rectangular hole is the same as the length of the box 1151, along the direction from the first slide rail 1041 to the second slide rail 1042, the width of the rectangular hole is the same as the width of the box 1151, and along the thickness direction of the supporting plate, the height of the box 1151 is greater than the height of the rectangular hole. The rectangular hole is a through hole, and the outer peripheral edge of the box 1151 at the corresponding rectangular hole is directly fixed to the supporting plate, which can significantly enhance the connection strength between the box 1151 and the supporting plate. This connection method can effectively prevent the box 1151 from being displaced or deformed due to external forces during use. Since the connection between the box 1151 and the supporting plate is fixed, the box 1151 can be quickly positioned and fixed during installation, reducing installation time and cost. At the same time, when the box 1151 needs to be maintained or replaced, this fixed connection method also facilitates quick disassembly and reinstallation. Optionally, weight-reducing holes are also provided on the supporting plate, and the number of weight-reducing holes can be two or more. The two or more weight-reducing holes are located on the front and rear sides of the box hole. The weight-reducing holes penetrate the supporting plate along the thickness direction of the supporting plate, and the weight of the supporting plate is reduced through the weight-reducing holes.

[0082] In an optional embodiment, the side of the box cover 1152 close to the front bridge 1121 is connected to the side of the load-bearing plate close to the front bridge 1121 via a folding hinge 1153. Specifically, there are two folding hinges 1153, and the two folding hinges 1153 are symmetrically mounted on the box cover 1152 along the direction from the first slide rail 1041 to the second slide rail 1042. The folding hinge 1153 includes two hinge bodies and a hinge shaft connected to the two hinge bodies. One hinge body is fixedly connected to the box cover 1152, such as one hinge body being threadedly connected to the box cover 1152, and the other hinge body is fixedly connected to the load-bearing plate, such as the other hinge body being threadedly connected to the load-bearing plate. The box cover 1152 is opened and closed by the hinge shaft, thereby controlling the opening and closing of the box body 1151. It should be noted that the surface of the box cover 1152 on the side away from the box body 1151 can be flush with the upper surface of the load-bearing plate, avoiding the visual abruptness caused by the protruding box cover 1152, improving its aesthetics, and also avoiding the frame 1110 from affecting the load of goods on the cargo handling trolley 1. The use of the above-mentioned folding hinge 1153 can ensure the stability of the entire box cover 1152 and the receiving plate; the use of threaded connection facilitates installation and disassembly. This connection method allows cargo handlers to easily replace or repair the folding hinge 1153 when necessary without the need for complicated tools or welding operations. The folding hinge 1153 enables the box cover 1152 to fit tightly against the box body 1151 when closed, thereby saving space.

[0083] In an optional embodiment, the ends between the first movable portion 311 and the second movable portion 312 are respectively connected with a reinforcing rod 313. Figure 2 and Figure 12 As shown, the above-mentioned reinforcement rod 313 can be a strip-shaped reinforcement rod, and the two ends of the strip-shaped reinforcement rod are respectively welded to the end of the first movable part 311 and the end of the second movable part 312, which can not only effectively connect the movable rails 31 at both ends with the fixed rails 21 and the branch rails 22, and improve the stiffness of the connection parts between the fixed rails 21, the branch rails 22 and the movable rails 31, but also reduce the local damage of the connection parts between the fixed rails 21, the branch rails 22 and the movable rails 31 caused by uneven force or external force impact, thereby extending the service life of the fixed rails 21, the branch rails 22 and the movable rails 31.

[0084] In an optional embodiment, a lid handle 11521 is provided on the side of the lid 1152 away from the box body 1151. Figure 3As shown, the box cover handle 11521 can be a semicircular protrusion which can be directly welded on the side of the box cover 1152 away from the box body 1151, the semicircular protrusion protrudes away from the box cover 1152, the number of semicircular protrusions is one, two or more than two, and in the embodiment, the number of semicircular protrusions is two, and the two semicircular protrusions are arranged in the direction of the first sliding rail 1041 pointing to the second sliding rail 1042. No matter which side of the vehicle frame 1110 the goods carrier stands on, the box cover 1152 can be opened through the semicircular protrusion.

[0085] In an alternative embodiment, continuing to refer to Figure 3 and Figure 7As shown, the front warning light group 11131 and the rear warning light group 11132 each include at least two warning lights arranged in a direction along the first slide rail 1041 pointing to the second slide rail 1042, and the image acquisition device 1114 is located between the adjacent two warning lights in the direction along the first slide rail 1041 pointing to the second slide rail 1042. Specifically, the above-mentioned front warning light group 11131 and the rear warning light group 11132 each include two or more warning lights, and in the embodiment, only two warning lights are taken as an example. Also taking the bearing plate having a front side, a left long side, a right long side, a front short side, a rear short side and a back side as an example, the two warning lights in the front warning light group 11131 are installed on the front short side of the bearing plate, and the two warning lights in the front warning light group 11131 are arranged in a direction along the first slide rail 1041 pointing to the second slide rail 1042, which can be designed on the left and right sides of the front short side of the bearing plate; the two warning lights in the rear warning light group 11132 are installed on the rear short side of the bearing plate, and the two warning lights in the rear warning light group 11132 are arranged in a direction along the first slide rail 1041 pointing to the second slide rail 1042, which can be designed on the left and right sides of the rear short side of the bearing plate; along the length direction of the first slide rail 1041, the two warning lights in the front warning light group 11131 correspond to the two warning lights in the rear warning light group 11132, forming a kind of symmetrical visual effect, and the design makes the vehicle chassis 111 in the disembarking assembly 11 more visually clean and beautiful, giving people a sense of coordination. Of course, according to the actual situation, along the length direction of the first slide rail 1041, the two warning lights in the front warning light group 11131 and the two warning lights in the rear warning light group 11132 can also not one-to-one correspond, as long as they can illuminate the front road, and the embodiment does not make specific limitation on this. The number of the above-mentioned image acquisition device 1114 is two, and the two image acquisition devices 1114 include a front image acquisition device and a rear image acquisition device, and the front image acquisition device is also installed on the front short side of the bearing plate, and the front image acquisition device is located between the two warning lights in the front warning light group 11131, and the rear image acquisition device is located between the two warning lights in the rear warning light group 11132. Since the front image acquisition device is located between the two warning lights in the front warning light group 11131, and the rear image acquisition device is located between the two warning lights in the rear warning light group 11132, the front image acquisition device and the rear image acquisition device can not only provide uniform illumination. Installing the front image acquisition device and the rear image acquisition device between the two warning lights can ensure that the shooting area of the image acquisition device is fully illuminated, thereby improving the image quality. This layout can reduce shadows and reflections, allowing the front image acquisition device and the rear image acquisition device to capture the track 2 more clearly; in addition, installing the front image acquisition device and the rear image acquisition device between the two warning lights can achieve a compact layout while meeting functional requirements.

[0086] Optionally, a left hazard indicator light group 11133 and a right hazard indicator light group are respectively installed on the left and right sides of the frame 1110, and the left hazard indicator light group 11133 and the right hazard indicator light group 11134 are respectively electrically connected to the vehicle controller 1111. The left hazard indicator light group 11133 and the right hazard indicator light group 11134 each include two or more hazard indicator lights. In this embodiment, only two hazard indicator lights are used as an example. The left hazard indicator light group 11133 and the right hazard indicator light group 11134 are used to alert the cargo handling cart 1 to pass by. Taking the example of a load plate having a front side, a left long side, a right long side, a front short side, a rear short side and a back side, two hazard indicator lights are respectively installed on the left long side and the right long side. The two hazard indicator lights in the left hazard indicator light group 11133 and the two hazard indicator lights in the right hazard indicator light group 11134 are respectively arranged along the length direction of the first slide rail 1041 and the second slide rail 1042. On the basis of the two warning lights in the front warning light group 11131 and the two warning lights in the rear warning light group 11132, the two hazard indicator lights in the left hazard indicator light group 11133 and the two hazard indicator lights in the right hazard indicator light group 11134 are respectively installed on the left and right sides of the frame 1110 to remind the cargo handling cart 1 to pass by. The two hazard indicator lights in the left hazard indicator light group 11133 and the two hazard indicator lights in the right hazard indicator light group 11134 can also be used as width indicators, allowing pedestrians to see the outline and position of the vehicle more clearly, and can also reduce the misjudgment of the vehicle outline by other vehicles at night or in low light conditions, thereby reducing traffic accidents caused by visual blind spots. The model of the hazard indicator lights in the above-mentioned left hazard indicator light group 11133 and right hazard indicator light group 11134 can be an OHR-E810 series eight-way flashing alarm.

[0087] Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It should be understood by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A rail-type underground cargo handling trolley system, characterized in that: It includes a cargo transport trolley, a track and an automatic switch track changing assembly. The cargo transport trolley includes an onboard assembly and an offboard assembly, wherein: The upper vehicle assembly includes a handlebar tube, a slide rail and a speed control handlebar, the handlebar tube includes a first handlebar tube and a second handlebar tube arranged in an inverted L-shape relative to each other, the top angle opening of the first handlebar tube is away from the top angle opening of the second handlebar tube, and the first handlebar tube and the second handlebar tube are connected by a handle connecting rod; the slide rail includes a first slide rail and a second slide rail arranged in parallel, the bottom end of the first handlebar tube is connected to the first slide rail through a first slider, the first handlebar tube slides along the length extension direction of the first slide rail, the bottom end of the second handlebar tube is connected to the second slide rail through a second slider, and the second handlebar tube slides along the length extension direction of the second slide rail, the speed control handlebar includes a front speed control handlebar and a rear speed control handlebar, the front speed control handlebar is sleeved on the side of the first handlebar away from the first slider, and the rear speed control handlebar is sleeved on the side of the second handlebar away from the second slider; The lower vehicle assembly includes a vehicle chassis, a front axle assembly, and a rear axle assembly, the front axle assembly and the rear axle assembly being arranged opposite to each other along the length direction of the first slide rail, the vehicle chassis including a rectangular frame, a vehicle controller, a rechargeable battery, an indicator light group, and an image acquisition device, and the left and right sides of the frame are fixedly connected to the first slide rail and the second slide rail respectively along the direction from the first slide rail to the second slide rail; the indicator light group includes a front warning light group and a rear warning light group, the front warning light group and the rear warning light group are respectively provided on the front and rear sides of the frame, and the image acquisition device is respectively provided on the front and rear sides of the frame, and the image acquisition device has a built-in processor; along the length direction of the first slide rail, the orthographic projection of the front warning light group completely overlaps with the orthographic projection of the rear warning light group, and the orthographic projection of the front warning light group does not overlap with the orthographic projection of the image acquisition device at all; A battery box is provided in the middle of the frame, and the battery box includes a hollow rectangular box body and a box cover covering the box body, and the vehicle controller and rechargeable batteries are placed in the box body; The front axle assembly includes a front axle and a left front wheel and a right front wheel connected to the front axle, the rear axle assembly includes a rear axle and a left rear wheel and a right rear wheel connected to the rear axle, the left front wheel, the right front wheel, the left rear wheel and the right rear wheel travel on tracks, along the first slide rail pointing to the direction of the second slide rail, the opposite two sides of the frame close to the front axle are fixedly connected to the front axle through a front bracket, and the opposite two sides of the frame close to the rear axle are fixedly connected to the rear axle through a rear bracket; a reduction device is sleeved on the middle part of the rear axle, a drive device is provided on the side of the frame close to the rear axle, and the reduction device is connected to the drive device through a first coupling; The automatic switch track change assembly includes a movable track, a first track connecting rod, a connecting plate, a second track connecting rod and a power execution assembly, the track includes a fixed track and a branch track, the fixed track and the branch track both include a first track portion and a second track portion arranged in parallel, the movable track includes a first movable portion and a second movable portion arranged in parallel, the first track portion corresponding to the branch area is movably connected to the first movable portion on one side close to the second track portion, and the second track portion is movably connected to the second movable portion on one side close to the first track portion, the first movable portion and the second movable portion are connected between the first track connecting rod, the two ends of the first track connecting rod respectively pass through the first track portion and the second track portion; the middle part of the first track connecting rod is connected to the middle part of the second track connecting rod through the connecting plate; the first track connecting rod and the second track connecting rod are in the shape of a cylinder; along the direction perpendicular to the first track portion pointing to the second track portion, the cross-sectional shape of the first track portion and the second track portion is I-shaped; along the direction perpendicular to the first movable portion pointing to the second movable portion, the cross-sectional shape of the first movable portion and the second movable portion is I-shaped; The power execution assembly includes a hydraulic motor, a second coupling, a hydraulic pump and a luffing cylinder. The end of the second track connecting rod close to the first track portion passes through the first track portion and is connected to the luffing cylinder. The luffing cylinder drives the movable track to change between the fixed track and the bifurcated track at the bifurcation through the second track connecting rod; the hydraulic motor is connected to the hydraulic pump through the second coupling, and the hydraulic pump is connected to the end of the luffing cylinder away from the second track connecting rod through an oil pipe; a limit sensor is provided at the connection between the first track portion in the fixed track and the first track portion in the bifurcated track, and the limit sensor is used to determine whether the movable track is in place and to send a track change completion signal when it is in place; The driving device, the rechargeable battery, the front speed control handlebar, the rear speed control handlebar, the front warning light group, the rear warning light group, the hydraulic motor, the limit sensor, the image acquisition device and the processor are respectively connected to the vehicle controller.

2. The rail-type underground cargo handling trolley system according to claim 1, characterized in that: The bottom end of the first handle tube is fixedly connected to the first slider via a first connecting seat, and the bottom end of the second handle tube is fixedly connected to the second slider via a second connecting seat.

3. The rail-type underground cargo handling trolley system according to claim 1, characterized in that: The first slider and the second slider are respectively provided with a first slider hole, and the first slider hole penetrates the first slider and the second slider along the direction from the first slide rail to the second slide rail; At least two slide rail holes are provided on the first slide rail and the second slide rail, each of the slide rail holes matches the first slider hole, and each of the slide rail holes passes through the first slide rail and the second slide rail respectively along the direction from the first slide rail to the second slide rail. At least two of the slide rail holes are arranged along the length direction of the first slide rail, and the slide rail holes and the first slider holes are detachably connected by limiting bolts.

4. The rail-type underground cargo handling trolley system according to claim 1, characterized in that: The first slide rail and the second slide rail are respectively provided with a limit baffle near one end of the rear axle.

5. The rail-type underground cargo handling trolley system according to claim 1, characterized in that: The box body is provided with a charging port electrically connected to the rechargeable battery, and the charging port is electrically connected to the vehicle controller.

6. The rail-type underground cargo handling trolley system according to claim 1, characterized in that: The frame is a rectangular supporting plate with a rectangular hole for placing the box. The rectangular hole matches the box and passes through the supporting plate along the thickness direction of the supporting plate. The outer periphery of the box is fixedly connected to the supporting plate at the corresponding rectangular hole.

7. The rail-type underground cargo handling trolley system according to claim 6, characterized in that: The side of the box cover close to the front axle is connected to the side of the carrying plate close to the front axle through a folding hinge.

8. The rail-type underground cargo handling trolley system according to claim 1, characterized in that: Ends between the first movable portion and the second movable portion are respectively connected with reinforcing rods.

9. The rail-type underground cargo handling trolley system according to claim 1, characterized in that: A box cover handle is provided on a side of the box cover away from the box body.

10. The rail-type underground cargo handling trolley system according to claim 1, characterized in that: The front warning light group and the rear warning light group each include at least two warning lights, and the at least two warning lights are arranged in the direction from the first slide rail to the second slide rail. The image acquisition device is located between two adjacent indicator lights along the direction from the first slide rail to the second slide rail.

Images