Cableway cabin attitude control system and passenger cableway system

Abstract

This utility model relates to the field of cableways, specifically to a cableway gondola attitude control system and a passenger cableway system, comprising: a weighing unit disposed at the connection between the gondola and the boom; an angle detection unit disposed on the gondola; an anti-sway device disposed on the side and bottom of the gondola, the anti-sway device including an attitude correction unit, two of which are symmetrically disposed on the front and rear sides of the gondola; the attitude correction unit includes a first drive component and an inertia flywheel, the output end of the first drive component being connected to the axle of the inertia flywheel for transmission; and a controller. It can solve the problem of passenger cableways being unable to operate normally in windy weather, and can monitor the tilt attitude of the gondola in real time during operation, and can promptly correct the gondola's attitude when the tilt exceeds a set angle.

Description

Technical Field

[0001] This utility model relates to the field of cableways, and more specifically, to a cableway gondola attitude control system and a passenger cableway system. Background Technology

[0002] Passenger ropeways, as an efficient means of mountain transportation, have been widely used in tourist attractions and urban transportation. A traditional passenger ropeway system mainly consists of a drive unit, a detour device, supports, load-bearing cables, traction cables, gondolas, and an electrical control system. Under normal operating conditions, the gondolas operate stably on a fixed route via the traction cables, providing passengers with safe and comfortable transportation services.

[0003] Modern passenger ropeways generally employ automated control systems, using sensor networks to monitor operating parameters in real time, including indicators such as operating speed, tension, and the center position of the wire rope. Among these, wind speed monitoring is a crucial aspect of ensuring safe operation. Wind speed sensors are typically installed at key locations along the route, and when the wind speed exceeds a set threshold, the system triggers a deceleration or shutdown protection mechanism.

[0004] Regarding the impact of wind, studies have shown that crosswinds pose a significantly greater threat to cableway operation than longitudinal winds. When gondolas are subjected to crosswinds, complex aerodynamic effects occur, causing the gondolas to sway laterally. This swaying not only affects passenger comfort but may also increase the risk of collision between the gondola and the support structure. Especially under conditions of sudden strong winds, the gondolas may experience sudden and significant swaying, posing a serious threat to operational safety.

[0005] Currently, the main measures taken by passenger ropeways both domestically and internationally to cope with strong winds are still based on a passive defense strategy of overall wind speed monitoring. This means that when the wind speed exceeds the safety threshold, a conservative approach is taken, such as reducing operation or suspending the entire line. While this method ensures basic safety, it greatly affects the operational efficiency and service capacity of the ropeway, especially in mountainous environments where wind conditions are frequently changing. Utility Model Content

[0006] The purpose of this utility model is to provide a cable car gondola attitude control system, which can solve the problem of passenger cableways not being able to operate normally in windy weather. It can monitor the tilting attitude of the gondola in real time during operation and correct the attitude of the gondola in time when it tilts.

[0007] Another objective of this utility model is to provide a passenger ropeway system that can solve the problem of passenger ropeways not being able to operate normally in windy weather. It can monitor the tilting posture of the gondola in real time during operation and correct the posture of the gondola in time when the tilt is too large.

[0008] The technical solution of this utility model is implemented as follows: A cableway gondola attitude control system includes a gondola, with left-right, front-back, and up-down directions defined according to the gondola's direction of travel. The gondola has a front panel, rear panel, left panel, right panel, bottom plate, and top plate. A suspension rod is installed on the top of the gondola. The system also includes: A weighing unit is installed at the connection between the gondola and the boom, and is used to weigh the gondola and the passengers it carries; An angle detection unit is installed on the gondola to detect the tilt angle of the gondola; An anti-sway device is provided on the side and bottom of the gondola. The anti-sway device includes an attitude return unit. Two attitude return units are provided and symmetrically arranged on the front and rear sides of the gondola. The attitude return unit includes a first drive component and an inertia flywheel. The output end of the first drive component is connected to the wheel axle of the inertia flywheel for transmission. The controller, the weighing unit, the angle detection unit, and the first drive component are all electrically connected to the controller.

[0009] Furthermore, the anti-sway device also includes an attitude stabilization unit, which is disposed at the bottom of the gondola; The attitude stabilization unit includes a second drive component and a gyroscope flywheel. The second drive component is electrically connected to the controller, and the output end of the second drive component is connected to the axle of the gyroscope flywheel for transmission.

[0010] Furthermore, the first drive component includes a first motor and a first reducer; The first drive assembly is mounted on the base plate. The output shaft of the first motor is connected to the input shaft of the first reducer via a coupling. The output shaft of the first reducer is connected to the axle of the inertia flywheel via a coupling, and the axial direction of the inertia flywheel is in the front-back direction.

[0011] Furthermore, the second drive component includes a second motor and a second reducer; The second drive assembly is mounted on the base plate. The output shaft of the second motor is connected to the input shaft of the second reducer via a coupling. The output shaft of the second reducer is connected to the axle of the gyroscope flywheel via a coupling. The axial direction of the gyroscope flywheel is vertical.

[0012] Furthermore, it also includes a battery module and an electrical control box. The electrical control box is installed at the bottom of the cabin. The controller and the electrical control box are both installed inside the electrical control box, and the battery module is electrically connected to the controller.

[0013] Furthermore, the weighing unit employs a force gauge.

[0014] Furthermore, the weighing unit includes multiple force gauges, which are electrically connected to the controller. The controller is able to calculate the average of the values ​​measured by the multiple force gauges, and the average of the values ​​measured by the multiple force gauges is the weighed weight.

[0015] Furthermore, the angle detection unit includes at least one angle meter, which is disposed on the top of the top plate.

[0016] Furthermore, a signal transmitter is installed at the cableway station entrance, and a signal receiver matching the signal transmitter is installed on the top of the gondola.

[0017] A passenger ropeway system, including the aforementioned ropeway gondola attitude control system.

[0018] Compared with the prior art, the beneficial effects of this utility model are: This application provides a cable car gondola attitude control system. The gondola weight is a fixed data point that can be pre-stored in the controller. By placing a weighing unit at the connection point of the gondola's boom, the total weight of the gondola and its passengers can be measured. During gondola operation, when the gondola tilts, the angle detection unit retrieves the tilt direction and angle and sends the signal to the controller, thereby monitoring the gondola's tilt attitude in real time. When the gondola tilts to the left or right, the controller simultaneously drives the first drive components on both sides, which in turn drives the inertia flywheels on both sides to rotate. The reverse torque generated when the inertia flywheels accelerate serves as the theoretical basis for straightening the tilted gondola, thereby adjusting the gondola's attitude by generating reverse torque and achieving gondola attitude correction. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the cableway gondola attitude control system of this utility model; Figure 2 This is a schematic diagram of the cableway gondola attitude control system of this utility model after concealing the gondola and boom; Figure 3 A schematic diagram showing the direction of rotation of the inertia flywheel when the gondola tilts to the left; Figure 4 A schematic diagram showing the direction of rotation of the inertia flywheel when the gondola tilts to the right; Figure 5This is a flowchart of the cableway gondola attitude control system of this utility model; Figure 6 A graph showing the relationship between the load inside the gondola and the peak output power of the first motor.

[0021] In the picture: 1-Hoisting car; 101-Front panel; 102-Left panel; 103-Rear panel; 104-Right panel; 105-Bottom plate; 106-Top plate; 2-Signal receiver; 3-Inertia flywheel; 4-Angle gauge; 5-Electrical control box; 6-Gyroscope flywheel; 7-Force gauge; 8-First reducer; 9-First motor; 10-Second reducer; 11-Second motor; 12-Hanging rod. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0024] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0025] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0026] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0027] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0028] The following detailed description, in conjunction with the accompanying drawings, outlines some embodiments of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0029] Example 1 The main purpose of this solution is to address the key challenges of normal operation of passenger cableways during windy weather. Due to the varying lengths of the cableway lines and the significant differences in wind speed between each span, ensuring the cableway's operation in windy conditions requires addressing not only the impact of continuous strong winds but also the effects of sudden, intense gusts on the swaying of gondola 1. Sudden, intense gusts are the primary cause of safety risks for passengers, compared to continuous strong winds. Therefore, a control system is needed to monitor the tilting posture of gondola 1 in real time during operation and promptly correct any deviations. The control system proposed in this solution can not only monitor and adjust the tilt angle of gondola 1 in real time but also enhance its stability, improve its anti-interference capabilities, and prevent gondola 1 from tilting again due to wind force. Details are as follows: Reference Figures 1-6 This embodiment provides a cableway gondola attitude control system, including a gondola 1. The left-right, front-back, and up-down directions are defined according to the travel direction of the gondola 1 or the length direction of the steel cable itself. The gondola 1 has a front panel 101, a rear panel 103, a left panel 102, a right panel 104, a bottom plate 105, and a top plate 106. Figure 1 As shown, a boom 12 is installed at the top of the gondola 1, and the top of the boom 12 can be connected to a rope via a rigging device. The control system also includes: A weighing unit is installed at the connection between the gondola 1 and the boom 12, and is used to weigh the gondola 1 and the passengers it carries. An angle detection unit is installed on the gondola 1 to detect the tilt angle of the gondola 1; An anti-sway device is installed at the bottom of the gondola 1. The anti-sway device includes two attitude return units, which are symmetrically arranged on the front and rear sides of the gondola 1. The two attitude return units are symmetrically arranged on the front panel 101 and the rear panel 103. The attitude return unit includes a first drive assembly and an inertia flywheel 3. The output end of the first drive assembly is connected to the wheel axle of the inertia flywheel 3 for transmission. The first drive assembly includes a first motor 9 and a first reducer 8. The first drive assembly is installed on the base plate 105. The output shaft of the first motor 9 is connected to the input shaft of the first reducer 8 through a coupling. The output shaft of the first reducer 8 is connected to the wheel axle of the inertia flywheel 3 through a coupling. The axis of the inertia flywheel 3 is in the front-rear direction. The rotation direction and speed of the symmetrically arranged front and rear flywheels (i.e., the two inertia flywheels 3) are controlled by the central controller to keep them consistent at all times. This arrangement can suppress the horizontal torsion of the gondola caused by the individual flywheel arrangement.

[0030] The controller (PLC), weighing unit, angle detection unit, and first drive component are electrically connected to the controller. The PLC's central processing unit (CPU) is responsible for executing user programs, monitoring system status, receiving input signals, and generating control instructions; it is the core of the entire system's computation and control.

[0031] Angle gauge 4 is a geometric measuring instrument used to measure the tilt angle of an object, belonging to industrial precision measuring equipment.

[0032] Specifically, the anti-sway device also includes an attitude stabilization unit, which is located at the bottom of the gondola 1; The attitude stabilization unit includes a second drive component and a gyroscope flywheel 6. The second drive component is electrically connected to the controller, and the output end of the second drive component is connected to the axle of the gyroscope flywheel 6 for transmission.

[0033] The second drive assembly includes a second motor 11 and a second reducer 10. The second motor 11 and the second reducer 10 are mounted on the base plate 105, and the gyroscope flywheel 6 is mounted below the base plate 105. The output shaft of the second motor 11 is connected to the input shaft of the second reducer 10 via a coupling, and the output shaft of the second reducer 10 is connected to the axle of the gyroscope flywheel 6, with the axial direction of the gyroscope flywheel 6 being vertical. The second motor 11 and the second reducer 10 are positioned between two attitude recovery units. The output shaft of the second motor 11 is horizontal, and the output shaft of the second reducer 10 vertically passes through the base plate 105, changing the output axis so that the axial direction of the gyroscope flywheel 6 is vertical.

[0034] The control system also includes a battery module and an electrical control box. The electrical control box is located at the bottom of the gondola 1, and the controller and the electrical control box are both housed within the electrical control box. The battery module is electrically connected to the controller. The battery module is used to power the entire control system, and the battery module can be a storage battery or a battery module.

[0035] The weighing unit uses a force gauge 7, and the weighing unit includes at least one force gauge 7.

[0036] This embodiment provides a preferred implementation: the weighing unit includes three force gauges 7, which are electrically connected to a controller. The controller can calculate the average of the values ​​measured by the multiple force gauges 7, and the average of the values ​​measured by the multiple force gauges 7 is the weighed weight. By installing three force gauges 7 at the connection between the boom 12 and the cabin body to measure the total weight (load weight) of the passengers inside the cabin 1, the three force gauges 7 provide redundancy and transmit the measurement data to the controller inside the cabin 1 by averaging, making the measurement of the total weight of the passengers inside the cabin 1 more accurate. The three force gauges 7 implement a redundant design; if one or two fail, the other will continue to work normally to meet the system's weighing requirements.

[0037] The angle detection unit includes at least one angle meter 4, which is disposed on the top of the top plate 106.

[0038] Preferably, the angle detection unit includes two angle gauges 4, symmetrically arranged on the front and rear sides of the top of the top plate 106 and centered thereon, such as... Figure 1 As shown, the two angle gauges 4 are designed for redundancy; if one fails, the other continues to function normally to meet the system's angle detection requirements.

[0039] In this embodiment, a signal transmitter is installed at the cableway station entrance, and a corresponding signal receiver 2 is installed on the top of the gondola 1. When the gondola 1 leaves the station, the signal transmitter at the station entrance emits a signal, the signal receiver 2 on the top of the gondola 1 receives the signal, and then the force gauge 7 stops measuring and feeds back the weighing data to the controller inside the gondola 1. When the gondola 1 enters the station (enters the station entrance), the signal receiver 2 on the top of the gondola 1 receives the signal.

[0040] The specific working principle of this control system is as follows: When gondola 1 tilts to the left or right, the controller simultaneously drives the first drive components on both sides, which in turn drives the inertia flywheels 3 on both sides to rotate. The reverse torque generated by the acceleration of the inertia flywheels 3 serves as the theoretical basis for returning gondola 1 to its upright position. This reverse torque adjusts the attitude of gondola 1, reducing its tilt and thus correcting its posture. Simultaneously, the controller drives the second drive component to rotate the gyro flywheel 6 at the bottom, enhancing the stability of gondola 1. Specifically, when gondola 1 tilts to the left, both first motors 9 operate simultaneously at the same speed, causing the two inertia flywheels 3 to accelerate and rotate in the same direction, while simultaneously rotating to the right to adjust the gondola 1's posture back to upright. Figure 3As shown; conversely, when the gondola 1 tilts to the right, the two first motors 9 operate simultaneously at the same speed, driving the two inertia flywheels 3 to accelerate in the same direction, and the two inertia flywheels 3 rotate to the left simultaneously to adjust the gondola 1 back to its upright position, as shown. Figure 4 As shown. The rotational speed of the gyroscope flywheel 6 is fixed, and it can rotate in both forward and reverse directions.

[0041] In order to control the posture of gondola 1 more reasonably and accurately based on the total weight of the passengers in gondola 1, the control logic of the control system is described in detail below: Currently, aerospace vehicle attitude control utilizes the reverse torque generated during acceleration of the inertia flywheel 3 to adjust attitude, while building wind resistance and ship stability utilize the "gyroscopic effect." Therefore, this control system uses the reverse torque generated during acceleration of the inertia wheel as the theoretical basis for returning the tilting gondola 1 to its upright position. The reverse torque generated by the acceleration of the inertia flywheel 3 provides thrust to the tilting gondola 1. It also utilizes the "gyroscopic effect" generated during the high-speed rotation of the flywheel as the theoretical basis for the gondola 1's resistance to tilting. The "gyroscopic torque" generated by the high-speed rotation of the gyro flywheel 6 enhances the stability of the gondola 1. In the cableway field, there has been no previous research on the direction of attitude control for the gondola 1, making this control system unique in the cableway industry.

[0042] For example, a typical single-line continuous loop cableway gondola 1 used for tourism has a maximum capacity of 8 people, each weighing approximately 740N. A fully loaded gondola 1 is 604kg heavier than an empty one. The force controlling the attitude of gondola 1 varies depending on the number of passengers; that is, there is a correlation between the total passenger weight data (average value of force gauge 7) and the percentage of peak power output of the first motor 9. Specifically, the torque T, angular acceleration α, and inertia I of the motor (first motor 9) are linearly related, with the formula: T = Iα. This formula indicates a linear relationship between motor torque and angular acceleration. To generate a larger swing in gondola 1, simply increasing the angular acceleration at motor startup provides sufficient reverse torque. The number of passengers in gondola 1 affects the swing angle during operation; fewer passengers result in a larger swing angle for gondola 1 at the same wind speed, requiring greater reverse torque and angular acceleration. The angular acceleration of the inertia wheel is linearly related to the peak power output of the motor; changing the peak power output of the motor changes the torque. To ensure smoother adjustment of the hoisting carriage 1, the percentage of the internal load of the hoisting carriage 1 to the peak power output of the first motor 9 is divided into four levels, as shown in the table below or as shown in the table below. Figure 6 As shown:

[0043] To more accurately control the attitude, a signal receiver 2 is installed on the top of gondola 1, and a signal transmitter is installed at the station entrance. When gondola 1 departs from the station, the signal transmitter emits a signal, which is received by the signal receiver 2 on the top of gondola 1, and the controller then begins to execute the control program. The specific control program is as follows: Figure 5 As shown. At this point, the force gauge 7 stops measuring and feeds back the weight data to the central processing unit of the controller inside the gondola 1. The central processing unit selects the peak torque output level based on the passenger weight data. When the gondola 1 enters the station, the receiver on top of the gondola 1 receives a signal, and the entire system stops running.

[0044] This control system feeds back the measured data to the PLC in real time, controlling the operating status of the first motor 9. The program uses a PID closed-loop control method to calculate the input data in real time and control the output power of each motor, thus controlling the attitude of the gondola 1. The flowchart of the passenger cableway gondola 1's operating attitude control system is shown below. Figure 5 As shown.

[0045] Figure 5 The flowchart illustrates the workflow and operational logic of the control system. When gondola 1 leaves the station, the receiver receives the signal, and the program begins execution. Force gauge 7 stops measuring data and transmits the three data sets to the PLC for averaging, obtaining the current load capacity inside gondola 1. The appropriate motor output gear for returning to center is selected from the table above. The inertia flywheel 3 only provides reverse torque to gondola 1 during acceleration, controlling its attitude return. Due to the speed limit of the drive motor, not all skew angles can be corrected during operation. When this occurs, the two inertia wheels on the side of the gondola maintain their current speed, while the lower gyro flywheel 6 accelerates to its rated speed to enhance the attitude stability of gondola 1.

[0046] When gondola 1 sways by more than 35%, the passenger experience deteriorates, and the safety risk increases sharply. When this value is exceeded, the inertia wheel motor controlling the attitude of gondola 1 accelerates the inertia wheel, and gondola 1 begins to adjust its attitude. When the tilt angle is ≤15%, the gyro flywheel 6 below gondola 1 starts to rotate, enhancing the stability of gondola 1. If the inertia wheel motor speed continues to increase to its maximum and gondola 1 still cannot return to the ≤15% state, the inertia wheel speed is maintained, and the gyro flywheel 6 below gondola 1 is activated to enhance system stability and prevent the sway angle from further increasing due to wind. The flowchart also shows that after gondola 1 initially tilts to within 15%, the angle meter 4 continues to measure the tilt angle to determine if gondola 1 tilts by more than 35% before entering the station. If gondola 1 tilts again, the above cycle repeats until gondola 1 receives a signal from the station entrance, at which point all motors stop operating, and the control program ends. When gondola 1 exits the station and receives an exit signal, the program runs again, achieving the function of adjusting the attitude of gondola 1 according to the sway angle. In simple terms, the method by which this control system controls the attitude of gondola 1 is as follows: 1. When gondola 1 leaves the station, gondola 1 receives a signal and the control system starts working.

[0047] 2. The force gauge 7 measures the current load weight of the hoist 1 and sends a signal to the controller.

[0048] 3. Angle gauge 4 checks whether the hoisting car 1 is tilted: If the tilt angle of gondola 1 does not exceed 15%, the controller drives the second motor 11 to start the gyroscope flywheel 6 to start rotating at high speed, thereby enhancing the stability of gondola 1.

[0049] If the tilt angle of the gondola 1 exceeds 35%, the inertia flywheel 3 begins to accelerate its rotation, generating a reverse torque to correct the gondola 1.

[0050] 4. If the inertia flywheel 3 has accelerated to its limit and the gondola 1 has not yet been uprighted, continue to keep the inertia flywheel 3 running at high speed and further enhance the stability of the gyroscope flywheel 6.

[0051] 5. Upon entering the station, signal receiver 2 receives a signal, all motors stop running, and the program ends.

[0052] Example 2 A passenger ropeway system includes a steel cable (wire rope), a cable gripper, and a ropeway gondola attitude control system. The top of the boom 12 is mounted on the steel cable via the cable gripper.

[0053] This control system relies primarily on two physical principles: 1. The inertia wheel accelerates and generates a reverse torque: When the inertia flywheel 3 accelerates rapidly, it generates a "torsional force" in the opposite direction. This force can be used to pull the tilted gondola 1 back to a horizontal state.

[0054] 2. Gyroscopic effect enhances stability: The high-speed rotating gyroscope flywheel 6 generates a "gyroscopic effect," making the gondola 1 less prone to swaying in the wind.

[0055] The beneficial effects of the technical solution of this utility model are: This control system promotes the development of the cableway industry and fills the gap in attitude control during the operation of passenger cableway gondola 1. The attitude correction units on the front and rear sides of gondola 1 are symmetrically arranged, balancing any tilting that the control system structure might cause, allowing gondola 1 to remain level even when stationary and windless. The parallel inertia flywheels 3 on the front and rear sides of gondola 1 accelerate and decelerate simultaneously, providing the gondola 1 with the same thrust, preventing torsion during adjustments and ensuring smoother and safer attitude control.

[0056] Both the angle gauge 4 and the force gauge 7 adopt a redundant design. The angle gauge 4 can monitor the attitude of the hoist 1 in real time during the operation of the hoist 1 and transmit the tilt data to the central processor of the controller for processing. The force gauge 7 measures the load weight inside the hoist 1 before the hoist 1 leaves the station and selects the appropriate motor to output peak torque according to the load weight, so that the attitude adjustment of the hoist 1 is more stable.

[0057] The reverse torque generated when the inertia flywheel 3 accelerates is used to provide thrust for the tilting gondola 1; the "gyroscopic torque" generated when the gyro flywheel 6 rotates at high speed is used to enhance the stability of the gondola 1.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

[0059] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A cable car gondola attitude control system, comprising a gondola (1), wherein left-right, front-back, and up-down directions are defined according to the travel direction of the gondola (1), and the gondola (1) has a front panel (101), a rear panel (103), a left panel (102), a right panel (104), a bottom plate (105), and a top plate (106), wherein a suspension rod (12) is provided on the top of the gondola (1), characterized in that, Also includes: A weighing unit is installed at the connection between the gondola (1) and the boom (12) for weighing the gondola (1) and the passengers it carries; An angle detection unit is installed on the gondola (1) and is used to detect the tilt angle of the gondola (1); An anti-sway device is provided on the side and bottom of the gondola (1). The anti-sway device includes an attitude return unit. Two attitude return units are provided and symmetrically arranged on the front and rear sides of the gondola (1). The attitude return unit includes a first drive component and an inertia flywheel (3). The output end of the first drive component is connected to the wheel axle of the inertia flywheel (3) for transmission. The controller, the weighing unit, the angle detection unit, and the first drive component are all electrically connected to the controller.

2. The cableway gondola attitude control system according to claim 1, characterized in that, The anti-sway device also includes an attitude stabilization unit, which is located at the bottom of the gondola (1); The attitude stabilization unit includes a second drive component and a gyroscope flywheel (6). The second drive component is electrically connected to the controller, and the output end of the second drive component is connected to the axle of the gyroscope flywheel (6) for transmission.

3. The cableway gondola attitude control system according to claim 1, characterized in that, The first drive assembly includes a first motor (9) and a first reducer (8); The first drive assembly is mounted on the base plate (105). The output shaft of the first motor (9) is connected to the input shaft of the first reducer (8) via a coupling. The output shaft of the first reducer (8) is connected to the axle of the inertia flywheel (3) via a coupling. The axial direction of the inertia flywheel (3) is the front-back direction.

4. The cableway gondola attitude control system according to claim 2, characterized in that, The second drive assembly includes a second motor (11) and a second reducer (10). The second drive assembly is mounted on the base plate (105). The output shaft of the second motor (11) is connected to the input shaft of the second reducer (10) via a coupling. The output shaft of the second reducer (10) is connected to the axle of the gyro flywheel (6) via a coupling. The axial direction of the gyro flywheel (6) is up and down.

5. The cableway gondola attitude control system according to claim 1, characterized in that, It also includes a battery module and an electrical control box. The electrical control box is installed at the bottom of the cabin (1). The controller and the electrical control box are installed together in the electrical control box, and the battery module is electrically connected to the controller.

6. The cableway gondola attitude control system according to claim 1, characterized in that, The weighing unit uses a force gauge (7).

7. The cableway gondola attitude control system according to claim 6, characterized in that, The weighing unit includes multiple force gauges (7), which are electrically connected to the controller. The controller can calculate the average of the values ​​measured by the multiple force gauges (7), and the average of the values ​​measured by the multiple force gauges (7) is the weighed weight.

8. The cableway gondola attitude control system according to claim 1, characterized in that, The angle detection unit includes at least one angle meter (4), which is disposed on the top of the top plate (106).

9. The cableway gondola attitude control system according to claim 1, characterized in that, A signal transmitter is installed at the cableway station entrance, and a signal receiver (2) matching the signal transmitter is installed on the top of the gondola (1).

10. A passenger ropeway system, characterized in that, Including the cableway gondola attitude control system according to any one of claims 1-9.

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