CN106541949B

CN106541949B - A kind of means of transportation

Info

Publication number: CN106541949B
Application number: CN201610662346.7A
Authority: CN
Inventors: 叶大可
Original assignee: Ningbo Yinzhou Leke Mechanical And Electrical Techonlogy Co Ltd
Current assignee: Ningbo Yinzhou Leke Mechanical And Electrical Techonlogy Co Ltd
Priority date: 2016-08-09
Filing date: 2016-08-09
Publication date: 2018-10-09
Anticipated expiration: 2036-08-09
Also published as: CN106541949A

Abstract

The present invention program is a kind of means of transportation, including several platforms, several motion paths, several trolleies, several switching devices, several input units, homeposition recognition unit, control system；Under control of the control system, trolley can switch between each motion path, trolley carries out the switching of detective's pattern at least one at switching, control system controls exclusive on preceding path or on exclusive destination path or the exclusive part trolley on preceding path and exclusive destination path executes taxiing procedures, so that the trolley on exclusive destination path will not be cut into blocking to target trolley, the present invention program has the following advantages：It is safe and reliable.

Description

A kind of means of transportation

Technical field

The present invention relates to a kind of construction applications of means of transportation.

Background technology

The means of transportation of modernization are using automobile as carrier, and after long-run development, this system exposes unsurmountable Disadvantage is main as follows：One, inefficiency, sometimes a huge automobile only carries several individuals, and automobile is in platform and crossing Also to stop, two, be easy to block, this point citizen have an intimate knowledge, and no further details are given here, three, environmental pollution it is serious, mainly by Vehicle exhaust causes, in consideration of it, it is necessary to provide a kind of means of transportation, makes it to overcome disadvantages mentioned above.I am in preceding application Application No. is the patents of invention of 201510702108.X to have made useful improvement, discloses a kind of means of transportation, including several stations Platform, several motion paths, several trolleies, several switching devices, several input units, homeposition recognition unit, control system； Being covered on motion path can be along the carrier that its path direction moves, so when trolley is incorporated on motion path, trolley energy edge Path direction movement；Each motion path is spliced into a netted transportation network, and each platform is contacted by transportation network Together, each platform is connected with the head end of at least one motion path, and the motion path that head end is connected with platform is referred to as uplink Path, each platform are connected with the tail end of at least one motion path, and the motion path that tail end is connected with platform is referred to as downlink Path, in total movement path, other motion paths in addition to uplink, downlink path are referred to as operating path, pass through switching Device, the trolley operated on each up path or operating path can cut at least one other motion paths, pass through switching Device, each downlink path or operating path can accept the trolley from least one other motion paths；Input unit with it is small Vehicle corresponds, and user represents the information of destination platform by input unit input, this information is conveyed to by input unit Control system, for homeposition recognition unit to identify trolley from which up path, homeposition identification is single Identification signal is conveyed to control system by member, and up path that control system is set out according to trolley, destination platform arrange out one Item arrives at the preset path of platform, which is spliced by several motion paths；It is carried out between motion path The position of switching is referred to as at switching, and a response position is corresponding at each switching, when trolley needs to switch at switching When, switching device must be responded in response position accordingly, and response position is corresponding with a response location identification unit, responds Location identification unit is which trolley have passed through response and position and this information is conveyed to control system to identify, when small When vehicle is by response position, control system determines whether switching device is responded according to the preset path of trolley.But this skill There is also shortcomings for art：Trolley is possible to meet with the other trolleies operated on motion path in handoff procedure, also It is to say, such means of transportation are not safe and reliable enough.In consideration of it, the Chinese patent application No. is 201510874759.7 is made Useful improvement, discloses a kind of means of transportation, feature is：Trolley carries out cutting for detective's pattern at least one at switching It changes, trolley is referred to as in the motion path of preceding operation in preceding path, and the motion path that trolley will be switched to is referred to as target road Diameter, at switching, in the parallel one section of setpoint distance in preceding path and destination path；It is which that location identification unit, which is responded, to identify Trolley enters at switching；Switching device includes detective's unit, and when trolley travelling is at switching, detective's unit can be detectd Visit whether the other trolleies run on destination path form blocking to the switching action of the trolley, detective's unit ties detective Fruit input control system；When trolley needs to cut destination path, switching device carries out the response such as under type：It is single to open detective Member, when the other trolleies run on detective to destination path, which will not be formed the switching action of the trolley, to be stopped, control system It controls switching device and executes switching action；At switching, the carrier on the movement velocity of carrier and destination path on preceding path There is a preset speed difference between movement velocity.But this technology still has the shortcomings that its is unconquerable：Due to being uploaded in preceding path Have a preset speed difference in the movement velocity and destination path of body between the movement velocity of carrier, the trolley on preceding path with The position relationship of trolley on destination path is in continuous variation, and trolley cuts the opportunity of destination path slightly from preceding path Vertical to die, i.e. the time window of trolley incision is little, this can affect the safety and reliability of trolley travelling, in view of This, it is necessary to a kind of new technical solution is provided, disadvantages mentioned above can be overcome.

Invention content

The technical problem to be solved by the present invention is to the present situations for the prior art, provide a kind of efficient, safe and reliable Means of transportation.

Technical proposal that the invention solves the above-mentioned problems is：A kind of means of transportation, including several platforms, several movement roads Diameter, several trolleies, several switching devices, several input units, homeposition recognition unit, control system；Cloth on motion path Completely can be along the carrier that its path direction moves, so when trolley is incorporated on motion path, trolley can be transported along path direction It is dynamic；Each motion path is spliced into a netted transportation network, and each platform is linked together by transportation network, each platform It is connected with the head end of at least one motion path, the motion path that head end is connected with platform is referred to as up path, each platform It is connected with the tail end of at least one motion path, the motion path that tail end is connected with platform is referred to as downlink path, in whole fortune In dynamic path, other motion paths in addition to uplink, downlink path are referred to as operating path, by switching device, operate in every Trolley on one up path or operating path can cut at least one other motion paths, by switching device, each downlink Path or operating path can accept the trolley from least one other motion paths；Input unit is corresponded with trolley, is used Family represents the information of destination platform by input unit input, this information is conveyed to control system, set out by input unit For location identification unit to identify trolley from which up path, homeposition recognition unit passes identification signal Control system is reached, up path that control system is set out according to trolley, destination platform arrange out one to arrive at station The preset path of platform, the preset path are spliced by several motion paths；The position switched between motion path is referred to as At switching；Trolley carries out the switching of detective's pattern at least one at switching, specially：Motion path of the trolley in preceding operation Referred to as in preceding path, the motion path that trolley will be switched to is referred to as destination path, at switching, in preceding path and target One section of setpoint distance of parallel path, one section of setting is exclusive in preceding path by being referred to as in preceding path at switching, sets one section It is referred to as exclusive destination path by the destination path at switching；In addition to binding pattern, trolley can also on preceding path, target road The wherein at least one of diameter use sliding mode connection type, when trolley is in sliding mode, trolley not with carrier phase In conjunction with trolley is slided with the inertia of itself on motion path；Trolley uses the fortune of sliding mode on one section of motion path Row process is referred to as taxiing procedures；It is exclusive that running position recognition unit, operation are provided on preceding path and exclusive destination path Location identification unit is to identify each trolley relative to the exclusive position relationship at preceding path, exclusive destination path, switching, fortune Row location identification unit is by recognition result input control system；For enter the exclusive trolley in preceding path, control system according to The preset path of trolley determines whether the trolley needs to switch at switching, and the trolley switched at switching is needed to claim Be target trolley；Control system control is exclusive on preceding path or on exclusive destination path or exclusive in preceding path and exclusive mesh The part trolley marked on path executes taxiing procedures, so that at switching, the trolley on exclusive destination path will not be small to target Vehicle is cut into blocking, and such control system can control target trolley to cut exclusive destination path.In the present invention program, when For trolley travelling to exclusive when on preceding path, it is identified in running position recognition unit, running position recognition unit by this One information is conveyed to control system, and control system determines whether trolley needs to switch according to the preset path of the trolley, i.e. trolley Whether need to cut destination path, if desired, trolley is defined as target trolley by control system, and control system control is exclusive preceding Part trolley on path executes taxiing procedures, and when trolley is in sliding mode, the speed of trolley can be apparent slack-off, and such one Come, the position relationship between trolley on exclusive trolley and exclusive destination path on preceding path can change, running position Set recognition unit to the position of each trolley carry out monitoring and by recognition result input control system, at switching, when exclusive target Trolley on path will not to target trolley be cut into blocking after, control system control targe trolley cuts exclusive target road Diameter, compared to prior art, in the present invention program, the incision window of trolley obviously becomes larger, to make means of transportation more pacify Entirely, reliably.Certainly, control system controls the part trolley execution taxiing procedures on exclusive destination path and also can reach purpose, specially Part trolley on category destination path, which is in sliding mode also, can make on the exclusive trolley on preceding path and exclusive destination path Trolley between position relationship can change, if the exclusive trolley on preceding path and exclusive destination path is all executable Taxiing procedures can then be such that the exclusive trolley on preceding path and the change in location between the trolley on exclusive destination path more imitates Rate, effect are more preferable.Control system control section trolley executes taxiing procedures, and there are many modes for this control, such as use and compare one by one To mode, target trolley one enter switching at, according to the recognition result of running position recognition unit, control system is recognized specially Blocking, control system control targe will not be formed to the switching action of the target trolley by belonging to the other trolleies run on destination path Trolley cuts exclusive destination path；If recognizing that the other trolleies run on exclusive destination path can cut the target trolley Move work formed blocking when, then control system control the target trolley execute taxiing procedures, so make the target trolley with it is exclusive Position relationship between the other trolleies run on destination path changes, when recognizing its run on exclusive destination path After its trolley will not form blocking to the switching action of the trolley, control system control targe trolley cuts exclusive destination path. Certainly, the control mode of overall arrangement also can be used in control system, to entering exclusive a string of trolleies and entrance on preceding path Overall arrangement is made in the position of a string of trolleies on exclusive destination path, when each trolley is in the position arranged properly, exclusive mesh The trolley that runs will not form the switching action of target trolley and stop on mark path, control system control section trolley successively or Taxiing procedures are performed simultaneously, so that each trolley is in the position arranged properly；During overall arrangement, preferably make a string of trolleies Last position trolley keep binding pattern, so end position trolley will not impact adjacent lower a string of trolleies, certainly, certain In the case of, last position trolley also can perform taxiing procedures, as control system knows the position of the first trolley of adjacent lower a string of trolleies It sets.In practical applications, this technical solution can be also reached by way of data acquisition, simulation one is exclusive in preceding path With the distribution scene of each trolley on exclusive destination path, the position of target trolley and other trolleies is labeled respectively, is recorded The position data of each target trolley and other trolleies forms data one, then makes rational position to the trolley of this scene and unites Arrangement is raised, the position data after each target trolley and the arrangement of other trolleies is recorded and forms data two, data one and data two are made It is stored in control system for a data group, is so repeated several times, control system has the data group of magnanimity, i.e., deposited in control system The data group for having various trolley distribution scenes, after an actual trolley distribution scene occurs, each of actual distribution scene The position data of target trolley and other trolleies is matched with each data group, if the trolley position data of actual distribution scene with Data one in data group form matching, then the data two in the data group can be used as the pool peace of the trolley of actual distribution scene Ranking is set.The control mode repeatedly arranged also can be used in control system, such as to entering exclusive a string of trolleies on preceding path It makes with the position for entering a string of trolleies on exclusive destination path and arranging for the first time, so that the incision of partial target trolley trolley is special Belong to destination path, make arrangements again to the position of these trolleies, so that remaining target trolley trolley cuts exclusive target road Diameter.In conclusion control system control section trolley is in sliding mode, there are many modes for this control, no matter which kind of is used Mode, at switching, as long as target trolley can cut exclusive destination path, purpose reaches.In the present invention program, setting One section exclusive in preceding path by being referred to as in preceding path at switching, as by being set as in preceding path length at switching 100 meters, the exclusive length in preceding path should be not less than 100 meters, such as set the exclusive length in preceding path as 106 meters, it is exclusive Preceding path should include by preceding path, control system pays close attention to the exclusive trolley on preceding path at switching, To be accurately controlled to it；Similarly, the setting of exclusive destination path is also based on such principle, in practical applications, answers It is set depending on concrete condition exclusive in preceding path and exclusive destination path.In the present invention program, running position recognition unit to Each trolley is identified relative to the exclusive position relationship at preceding path, exclusive destination path, switching, running position recognition unit will Recognition result input control system；Running position recognition unit belongs to prior art, application No. is 201510702108.X Chinese patent in have a detailed description, running position recognition unit and homeposition recognition unit and respond location identification unit Principle is identical, moreover in the prior art, and position identification technology is a kind of general, conventional technique.Due to exclusive preceding Position relationship between path, exclusive destination path, switching is fixed, as long as recognizing trolley exclusive on preceding path Position, trolley is also decided with the position relationship between exclusive destination path, switching, similarly, as long as recognizing trolley Position on exclusive destination path, trolley are also decided with exclusive position relationship between preceding path, switching, such as It is exclusive in 106 meters of preceding path length, exclusive destination path grows 115 meters, and the front end of exclusive destination path is beyond exclusive before preceding path The rear end at 1 meter of end, exclusive destination path switches 80 meters of director beyond exclusive 8 meters of preceding path rear end, exclusive before preceding path End is beyond 1 meter of front end at switching, and the exclusive rear end in preceding path is beyond 25 meters of rear end at switching, when running position recognition unit is known Other trolley be in it is exclusive on preceding path and trolley with it is exclusive be 25 meters at a distance from preceding path rear end, then control system can be known Trolley has just enter at switching, and trolley is 33 meters at a distance from exclusive destination path rear end, when recognition unit identification in running position is small Vehicle be in it is exclusive on preceding path and trolley with it is exclusive be 23 meters at a distance from preceding path rear end, then control system can be known trolley It does not enter at switching also, at a distance of 2 meters at trolley and switching, trolley is 31 meters at a distance from exclusive destination path rear end.The present invention The switching device of scheme is the switching device of executable detective's pattern, and this point is application No. is 201510874759.7 China Had a detailed description in patent, that patent describes the switching devices of a variety of executable detective's patterns, and point out application No. is As long as switching device described in 201510702108.X Chinese patents, which is slightly improved, can obtain cutting for executable detective's pattern Changing device, such as in rail traffic neighborhood, train can change running track by becoming rail structure, this change rail structure be made automatically controlled Mode is then applicable to the present invention and, is such as being set up in parallel multiple change rail structures, trolley between preceding path and destination path When needing switching, change rail structure nearby may be selected.

Further technology, the movement speed of the movement velocity of the exclusive carrier on preceding path and carrier on exclusive destination path Degree is consistent.After such setting, operates in the exclusive trolley on preceding path and operate in trolley on exclusive destination path not The variation that position relationship can occur because of the difference of carrier movement speed, to keep control system simpler to the control of trolley It is single.

Preferably, motion path includes first axle, the second axis, the soft rope that a trap is closed, driving unit, several supporting racks, Sliding rail；Soft rope is wound in first axle and the second axis, and driving unit is to drive soft rope to move, and supporting rack is supporting the soft of upside Rope, sliding rail are arranged above soft rope, and several upper protruding blocks have been positioned apart from soft rope；Trolley slides on sliding rail, small car bottom Be slidably connected a sliding block, sliding block can upward and downward sliding, sliding block is corresponding with a driving portion, and driving portion is driving sliding block, driving portion It is controlled by control system.In the technical scheme, when needing trolley to be in binding pattern with motion path, control system is to driving Dynamic subordinate drives sliding block slide downward up to instruction, driving portion, and sliding block is mutually touched with soft rope, under the drive of upper protruding block, trolley It is formed and is linked with soft rope；When needing trolley to be in sliding mode with motion path, control system assigns instruction to driving portion, drives Dynamic portion drives sliding block upward sliding, sliding block only to be slided on sliding rail by self inertia far from soft rope, trolley.Obviously, motion path And the connection type of trolley and motion path can also have more technical solutions, as application No. is 201510702108.X A kind of motion path is disclosed in Chinese patent, specially：Motion path is the soft rope that a trap is closed, and trolley is connected by manipulator It is connected on soft rope, to make trolley be in sliding mode, the controllable manipulator of control system is held but soft rope of not holding with a firm grip, so small Vehicle can lean on self inertia to be slided on soft rope.

Further technology further includes several acceleration paths, several deceleration paths；The head end of acceleration path and up path Be connected, acceleration path to accelerate to trolley, so when trolley reach up path head end when, the speed of trolley with it is upper The speed of service of carrier is consistent on walking along the street diameter；Deceleration path is connected with the tail end of downlink path, and deceleration path is to small Vehicle slows down.For acceleration path and deceleration path, have in the Chinese patent application No. is 201610289874.2 in detail Description, does not repeat one by one here.

Further technology, at least exist one group of motion path combination, i.e. the first motion path, the second motion path, Third motion path, the second motion path can and can only accept the trolley cut from the first motion path, on the second motion path The trolley of operation can only cut through third motion path, and trolley takes detective's pattern from the second movement road incision third motion path Switching.In the technical scheme, the second motion path plays transitional function, it is clear that such switching mode is safer, closes Reason.

Certainly, trolley has just coordinated mutual position relationship, can also reach fine before reaching at switching Technique effect.

Technical proposal that the invention solves the above-mentioned problems can also be：A kind of means of transportation, including several platforms, Ruo Ganyun Dynamic path, several trolleies, several switching devices, several input units, homeposition recognition unit, control system；Motion path On be covered with can be along the carrier that its path direction moves, so when trolley is incorporated on motion path, trolley can be along path side To movement；Each motion path is spliced into a netted transportation network, and each platform is linked together by transportation network, each Platform is connected with the head end of at least one motion path, and the motion path that head end is connected with platform is referred to as up path, each Platform is connected with the tail end of at least one motion path, and the motion path that tail end is connected with platform is referred to as downlink path, complete In portion's motion path, other motion paths in addition to uplink, downlink path are referred to as operating path, pass through switching device, operation Trolley on each up path or operating path can cut at least one other motion paths, each by switching device Downlink path or operating path can accept the trolley from least one other motion paths；Input unit is a pair of with trolley one It answering, user represents the information of destination platform by input unit input, this information is conveyed to control system by input unit, For homeposition recognition unit to identify trolley from which up path, homeposition recognition unit believes identification Number it is conveyed to control system, up path that control system is set out according to trolley, destination platform arrange out an arrival purpose The preset path of ground platform, the preset path are spliced by several motion paths；The position switched between motion path Referred to as at switching, a response position is corresponding at each switching, when trolley needs switch at switching, the switching Device must be responded in response position accordingly, and response position is corresponding with a response location identification unit, and response position is known Other unit is which trolley have passed through response and position and this information is conveyed to control system to identify, when trolley passes through When responding position, control system determines whether switching device is responded according to the preset path of trolley；Trolley is in preceding operation Motion path is referred to as in preceding path, and the motion path that trolley will be switched to is referred to as destination path, and one section of setting, which is in, cuts Being referred to as in preceding path in front of the place of changing is special in preceding path, and the destination path that one section of setting is in front of at switching is referred to as special Use destination path；In addition to binding pattern, trolley can also use sliding mode with the wherein at least one in preceding path, destination path Connection type, when trolley is in sliding mode, trolley is not combined with carrier, and trolley is being moved with the inertia of itself It is slided on path；Trolley is referred to as taxiing procedures on one section of motion path using the operational process of sliding mode；It is special preceding It is provided with running position recognition unit on path and application-specific target path, running position recognition unit is identifying each trolley special With the position on preceding path, application-specific target path, running position recognition unit is by recognition result input control system；For into Enter the special trolley in preceding path, control system determines whether the trolley needs to carry out at switching according to the preset path of trolley Switching, needs the trolley switched at switching to be referred to as target trolley；Control system control is special on preceding path or special With on destination path or the special part trolley taxiing procedures on preceding path and application-specific target path, so that at switching, specially With the trolley on destination path blocking will not be cut into target trolley.In the present invention program, when trolley travelling is to specially When on preceding path, it is identified in running position recognition unit, this information is conveyed to by running position recognition unit Control system, control system determine whether trolley needs to switch according to the preset path of the trolley, i.e., whether trolley needs to cut Destination path, if desired, trolley is defined as target trolley by control system, and control system can be to the special target on preceding path The operating condition of trolley and the trolley on application-specific target path is prejudged, and is judged at switching, small on application-specific target path Vehicle whether can to the switching action of target trolley formed stop, as trolley one the special position on preceding path to determination, it is small To determining, whether control system can prejudge trolley two can be dynamic to the switching of trolley one for position of the vehicle two on application-specific target path Make to form blocking.Control system controls the special part trolley on preceding path and executes taxiing procedures, and trolley is in sliding mode When, the speed of trolley can be apparent slack-off, so, the special trolley on preceding path and the trolley on application-specific target path it Between position relationship can change so that at switching, the trolley on application-specific target path will not be to the incision of target trolley Blocking is formed, to keep means of transportation more safe and reliable.Certainly, the part on control system control application-specific target path is small Vehicle executes taxiing procedures and also can reach purpose, and the part trolley on application-specific target path is in sliding mode also and can make special preceding The position relationship between trolley on trolley on path and application-specific target path can change, if it is special in preceding path and The all executable taxiing procedures of trolley on application-specific target path, then can make the special trolley on preceding path and application-specific target path On trolley between change in location have more efficiency, effect is more preferable.Control system control section trolley executes taxiing procedures, this There are many modes for control, such as by the way of comparing one by one, to being assessed in the special target trolley on preceding path, with It determines that the trolley on application-specific target path can or can not be formed the switching action of target trolley to stop, if on application-specific target path Trolley forms blocking to the switching action of target trolley, then control targe trolley executes taxiing procedures, to avoid forming it resistance The trolley of gear.Certainly, the control mode of overall arrangement also can be used in control system, special a string small on preceding path to entering Overall arrangement is made in the position of vehicle and a string of the trolleies entered on application-specific target path, so that target trolley smoothly completes switching and moves Make.The taxiing procedures for the trolley that the present invention program is related to have had a detailed description, and do not repeat one by one here, what the present invention program was related to Switching device, input unit, homeposition recognition unit respond location identification unit, and running position recognition unit belongs to existing Technology has a detailed description in the Chinese patent application No. is 201510702108.X.

Further technology, the movement speed of the movement velocity of the special carrier on preceding path and carrier on application-specific target path Degree is consistent.

Further technology further includes several acceleration paths, several deceleration paths；The head end of acceleration path and up path Be connected, acceleration path to accelerate to trolley, so when trolley reach up path head end when, the speed of trolley with it is upper The speed of service of carrier is consistent on walking along the street diameter；Deceleration path is connected with the tail end of downlink path, and deceleration path is to small Vehicle slows down.

Compared with prior art, the present invention program is a kind of means of transportation, including several platforms, several motion paths, if Dry trolley, several switching devices, several input units, homeposition recognition unit, control system；In the control of control system Under, trolley can switch between each motion path, and trolley carries out the switching of detective's pattern, control system control at least one at switching It makes exclusive on preceding path or on exclusive destination path or the exclusive part trolley on preceding path and exclusive destination path executes Taxiing procedures, so that the trolley on exclusive destination path will not be cut into blocking to target trolley, the present invention program has Following advantages：It is safe and reliable.

Description of the drawings

Fig. 1 is the embodiment of the present invention 1, the overall structure diagram of embodiment 2, embodiment 3；

Fig. 2 is the structural schematic diagram that trolley is combined with motion path in the embodiment of the present invention 1, embodiment 2, embodiment 3；

Fig. 3 is the structural schematic diagram for the switching device that can perform detective's pattern switching in the embodiment of the present invention 1, embodiment 3；

Fig. 4 is the structural schematic diagram for the switching device that can perform detective's pattern switching in the embodiment of the present invention 2；

Fig. 5 is the overall structure diagram of the embodiment of the present invention 4.

Specific implementation mode

The present invention program is described in further detail with reference to embodiments：

Embodiment 1

A kind of means of transportation, including several platform Z, several motion paths 1, several trolleies 2, several switching devices 3 are several Input unit 5, homeposition recognition unit 6, control system 7；Being covered on motion path 1 can be along the load that its path direction moves Body, so when trolley 2 is incorporated on motion path 1, trolley 2 can be moved along path direction；Each motion path 1 is spliced into one A netted transportation network W, each platform are linked together by transportation network W, each platform and at least one motion path 1 Head end be connected, the motion path 1 that head end is connected with platform referred to as up path, each platform and at least one motion path 1 tail end is connected, the motion path 1 that tail end is connected with platform referred to as downlink path, in total movement path 1, remove uplink, Other motion paths outside downlink path are referred to as operating path, by switching device 3, operate in each up path or operation Trolley 2 on path can cut at least one other motion paths 1, by switching device 3, each downlink path or operating path The trolley 2 from least one other motion paths 1 can be accepted；Input unit 5 is corresponded with trolley 2, and user passes through input Device 5 inputs the information for representing destination platform, this information is conveyed to control system 7, homeposition identification by input unit 5 To identify trolley 2 from which up path, identification signal is conveyed to unit 6 by homeposition recognition unit 6 Control system 7, up path that control system 7 is set out according to trolley 2, destination platform arrange out one to arrive at platform Preset path, which is spliced by several motion paths 1；The position switched between motion path 1 is referred to as For Q at switching；Q carries out the switching of detective's pattern to trolley 2 at switching at least one, specially：Movement of the trolley 2 in preceding operation Path 1 is referred to as in preceding path, and the motion path 1 that trolley 2 will be switched to is referred to as destination path, the Q at switching, in Qian Lu Diameter and the parallel one section of setpoint distance of destination path, set one section by switching Q be referred to as in preceding path it is exclusive in preceding path 11, it sets one section of destination path by Q at switching and is referred to as exclusive destination path 12；In addition to binding pattern, trolley 2 can also be with The connection type of sliding mode is used in preceding path, when trolley 2 is in sliding mode, trolley 2 is not combined with carrier, small Vehicle 2 is slided with the inertia of itself on motion path；Trolley 2 uses the operational process of sliding mode on one section of motion path Referred to as taxiing procedures；Exclusive that running position recognition unit D is provided on preceding path and exclusive destination path, running position is known Other cells D is identifying position relationship of each trolley relative to the exclusive Q at preceding path, exclusive destination path, switching, running position Recognition unit D is set by recognition result input control system 7；For entering the exclusive trolley in preceding path, control system 7 is according to small The preset path of vehicle 2 determines whether the trolley 2 needs the Q at switching to switch over, and needs the trolley that Q is switched at switching 2 are referred to as target trolley；Control system 7 controls the exclusive part trolley on preceding path and executes taxiing procedures, so that switching Locate Q, the trolley on exclusive destination path will not can control target to the blocking that is cut into of target trolley, such control system 7 Trolley cuts exclusive destination path.

Wherein, the movement velocity of the exclusive carrier on preceding path is consistent with the movement velocity of carrier on exclusive destination path.

Wherein, motion path includes first axle A1, the second axis A2, the soft rope A3 that a trap is closed, driving unit A5, several Support A10, sliding rail A6；Soft rope A3 is wound on first axle A1 and the second axis A2, and driving unit A5 is to drive soft rope A3 to move, branch Support A10 is supporting the soft rope A3 of upside, sliding rail A6 to be arranged above soft rope A3, be positioned apart from several on soft rope A3 Convex block A31；Trolley 2 slides on sliding rail A6,2 basal sliding of trolley connect a sliding block 21, sliding block 21 can upward and downward sliding, it is described Sliding block 21 is corresponding with a driving portion 22, and driving portion 22 is to drive sliding block 21, and driving portion 22 is by the control of the control system 7.

Wherein, further include several acceleration path K1, several deceleration path K2；The head end phase of acceleration path K1 and up path Connection, acceleration path K1 is to accelerate trolley 2, so when trolley 2 reaches up path head end, the speed of trolley 2 It is consistent with the speed of service of carrier on up path；Deceleration path K2 is connected with the tail end of downlink path, deceleration path K2 To slow down to trolley 2.

Wherein, at least there is the combination of one group of motion path, i.e. the first motion path, the second motion path, third movement Path, the second motion path can and can only accept the trolley cut from the first motion path, be run on the second motion path small Vehicle can only cut through third motion path, and trolley takes the switching of detective's pattern from the second movement road incision third motion path.

Wherein, the switching device of executable detective's pattern switching includes：Baffle G1, telescopic arm G2；It is exclusive in preceding path Slide plate G6, the exclusive sliding rail A6 in preceding path and exclusive target road are equipped between sliding rail A6 and the sliding rail A6 of exclusive destination path Gap G8 is both provided on the sliding rail A6 of diameter, the direction of gap G8 is consistent with the direction of sliding rail A6, and gap G8 is mutual with sliding block 21 Matching, so makes sliding block 21 pluggable in the G8 of gap, baffle G1 be arranged it is exclusive preceding path, exclusive destination path it is outer Side, telescopic arm G2 are arranged on trolley, and whens telescopic arm G2 stretching, extensions can push baffle G1；Telescopic arm G2 receives the control of control system 7 System.

What the present invention program was realized in：In the present invention program, when trolley 2 run to it is exclusive on preceding path 11 When, it is identified in running position recognition unit D, this information is conveyed to control system 7 by running position recognition unit D, Control system 7 determines whether trolley needs to switch according to the preset path of the trolley 2, i.e., whether trolley 2 needs to cut target road Diameter, if desired, trolley is defined as target trolley by control system 7, and it is small that control system controls the exclusive part on preceding path 11 Vehicle 2 executes taxiing procedures, and when trolley 2 is in sliding mode, the speed of trolley 2 can be apparent slack-off, so, exclusive in Qian Lu The position relationship between trolley 2 on diameter on 11 trolley 2 and exclusive destination path 12 can change, and running position identification is single Member carries out monitoring to the position of each trolley and by recognition result input control system, the Q at switching, when on exclusive destination path Trolley 2 will not to target trolley be cut into blocking after, 7 control targe trolley of control system cuts exclusive destination path, phase Than in prior art, in the present invention program, the incision window of trolley obviously becomes larger, to make means of transportation it is safer, can It leans on.It should be pointed out that when trolley 2 is in sliding mode, control system controls driving portion 22 and operates, and sliding block 21 is made to transport upwards Dynamic, sliding block 21 is mutually disengaged with upper protruding block A31, but sliding block 21 is still plugged in the G8 of gap, but is moved when trolley 2 will execute switching When making, control system controls driving portion 22 and operates, and sliding block 21 is made to completely disengage gap G8, then control system control telescopic arm G2 Push the exclusive baffle G1 in 11 outside of preceding path, and trolley 2 slides into exclusive destination path 12, control system control by slide plate G6 Driving portion 22 operates, and sliding block 21 is made to be plugged in the gap G8 of exclusive destination path 12, meanwhile, control system controls telescopic arm G2 It shrinks.

Embodiment 2

A kind of means of transportation, including several platform Z, several motion paths 1, several trolleies 2, several switching devices 3 are several Input unit 5, homeposition recognition unit 6, control system 7；Being covered on motion path 1 can be along the load that its path direction moves Body, so when trolley 2 is incorporated on motion path 1, trolley 2 can be moved along path direction；Each motion path 1 is spliced into one A netted transportation network W, each platform are linked together by transportation network W, each platform and at least one motion path 1 Head end be connected, the motion path 1 that head end is connected with platform referred to as up path, each platform and at least one motion path 1 tail end is connected, the motion path 1 that tail end is connected with platform referred to as downlink path, in total movement path 1, remove uplink, Other motion paths outside downlink path are referred to as operating path, by switching device 3, operate in each up path or operation Trolley 2 on path can cut at least one other motion paths 1, by switching device 3, each downlink path or operating path The trolley 2 from least one other motion paths 1 can be accepted；Input unit 5 is corresponded with trolley 2, and user passes through input Device 5 inputs the information for representing destination platform, this information is conveyed to control system 7, homeposition identification by input unit 5 To identify trolley 2 from which up path, identification signal is conveyed to unit 6 by homeposition recognition unit 6 Control system 7, up path that control system 7 is set out according to trolley 2, destination platform arrange out one to arrive at platform Preset path, which is spliced by several motion paths 1；The position switched between motion path 1 is referred to as For Q at switching；Q carries out the switching of detective's pattern to trolley 2 at switching at least one, specially：Movement of the trolley 2 in preceding operation Path 1 is referred to as in preceding path, and the motion path 1 that trolley 2 will be switched to is referred to as destination path, the Q at switching, in Qian Lu Diameter and the parallel one section of setpoint distance of destination path, set one section by switching Q be referred to as in preceding path it is exclusive in preceding path 11, it sets one section of destination path by Q at switching and is referred to as exclusive destination path 12；In addition to binding pattern, trolley 2 can also be with Destination path uses the connection type of sliding mode, and when trolley 2 is in sliding mode, trolley 2 is not combined with carrier, small Vehicle 2 is slided with the inertia of itself on motion path；Trolley 2 uses the operational process of sliding mode on one section of motion path Referred to as taxiing procedures；Exclusive that running position recognition unit D is provided on preceding path and exclusive destination path, running position is known Other cells D is identifying position relationship of each trolley relative to the exclusive Q at preceding path, exclusive destination path, switching, running position Recognition unit D is set by recognition result input control system 7；For entering the exclusive trolley in preceding path, control system 7 is according to small The preset path of vehicle 2 determines whether the trolley 2 needs the Q at switching to switch over, and needs the trolley that Q is switched at switching 2 are referred to as target trolley；Control system 7 controls the part trolley on exclusive destination path and executes taxiing procedures, so that switching Locate Q, the trolley on exclusive destination path will not can control target to the blocking that is cut into of target trolley, such control system 7 Trolley cuts exclusive destination path.

Wherein, the switching device of executable detective's pattern switching includes：Several guided way D1 are corresponded with guided way D1 Guide groove P1, sleeve P2, loop bar P3, electromagnetic unit P5, connecting rod P6；Guided way D1 is spaced apart and arranged in Q at switching, guided way The lower-lefts D1 end is connected to exclusive on the sliding rail A6 in preceding path, and guided way D1 upper right sides are connected to the sliding rail A6 of exclusive destination path On, sliding rail A6, guided way D1 are groove-like so that the lower end of trolley 2 can be embedded；Guide groove P1 is arranged exclusive preceding The left side in path, from the head end of guide groove P1 to tail end, the groove body of guide groove P1 moves closer to exclusive in preceding path, and loop bar P3 hangs down To setting, loop bar P3 is socketed in sleeve P2, and loop bar spring P8 is provided between loop bar P3 and sleeve P2, and loop bar spring P8 drives Loop bar P3 is retracted in sleeve P2, and sleeve P2 is connected with the left end of connecting rod P6, and the right end of connecting rod P6 is connected with the left side of trolley 2 Connect, connecting rod P6 high resiliences can deformation, in the operational process of trolley 2, when loop bar P3 is extend out to outside sleeve P2, loop bar P3 is slided Enter guide groove P1 head ends, when loop bar P3 is retracted in sleeve P2, loop bar P3 is not touched with guide groove P1, electromagnetic unit P5 work When driving loop bar P3 extend out to outside sleeve P2, electromagnetic unit P5 receives the control of control system 7.

What the present invention program was realized in：The realization method of the present embodiment is substantially similar with embodiment 1.Its difference It is in the present embodiment, control system 7 controls the part trolley 2 on exclusive destination path 12 and executes taxiing procedures, so that specially The position relationship belonged between the trolley on trolley and exclusive destination path 12 on preceding path 11 can change.In this implementation In example, when trolley needs to execute switching action, control system controls electromagnetic unit P5 work, and electromagnetic unit P5 drives when working Loop bar P3 is extend out to outside sleeve P2, and loop bar P3 slides into a guide groove P1 nearby, and under the guiding of guide groove, trolley incision is exclusive The sliding rail of destination path, then, control system control electromagnetic unit exit working condition, under the action of loop bar spring, loop bar It is retracted in sleeve.

Embodiment 3

A kind of means of transportation, including several platform Z, several motion paths 1, several trolleies 2, several switching devices 3 are several Input unit 5, homeposition recognition unit 6, control system 7；Being covered on motion path 1 can be along the load that its path direction moves Body, so when trolley 2 is incorporated on motion path 1, trolley 2 can be moved along path direction；Each motion path 1 is spliced into one A netted transportation network W, each platform are linked together by transportation network W, each platform and at least one motion path 1 Head end be connected, the motion path 1 that head end is connected with platform referred to as up path, each platform and at least one motion path 1 tail end is connected, the motion path 1 that tail end is connected with platform referred to as downlink path, in total movement path 1, remove uplink, Other motion paths outside downlink path are referred to as operating path, by switching device 3, operate in each up path or operation Trolley 2 on path can cut at least one other motion paths 1, by switching device 3, each downlink path or operating path The trolley 2 from least one other motion paths 1 can be accepted；Input unit 5 is corresponded with trolley 2, and user passes through input Device 5 inputs the information for representing destination platform, this information is conveyed to control system 7, homeposition identification by input unit 5 To identify trolley 2 from which up path, identification signal is conveyed to unit 6 by homeposition recognition unit 6 Control system 7, up path that control system 7 is set out according to trolley 2, destination platform arrange out one to arrive at platform Preset path, which is spliced by several motion paths 1；The position switched between motion path 1 is referred to as For Q at switching；Q carries out the switching of detective's pattern to trolley 2 at switching at least one, specially：Movement of the trolley 2 in preceding operation Path 1 is referred to as in preceding path, and the motion path 1 that trolley 2 will be switched to is referred to as destination path, the Q at switching, in Qian Lu Diameter and the parallel one section of setpoint distance of destination path, set one section by switching Q be referred to as in preceding path it is exclusive in preceding path 11, it sets one section of destination path by Q at switching and is referred to as exclusive destination path 12；In addition to binding pattern, trolley 2 can also be with Preceding path, destination path use sliding mode connection type, when trolley 2 is in sliding mode, trolley 2 not with carrier It is combined, trolley 2 is slided with the inertia of itself on motion path；Trolley 2 uses sliding mode on one section of motion path Operational process be referred to as taxiing procedures；It is exclusive that running position recognition unit D is provided on preceding path and exclusive destination path, Running position recognition unit D is identifying position of each trolley relative to the exclusive Q at preceding path, exclusive destination path, switching Relationship, running position recognition unit D is by recognition result input control system 7；For entering the exclusive trolley in preceding path, control System 7 determines whether the trolley 2 needs the Q at switching to switch over according to the preset path of trolley 2, need at switching Q into The trolley 2 of row switching is referred to as target trolley；It is small that control system 7 controls the exclusive part on preceding path and exclusive destination path Vehicle executes taxiing procedures, so that the Q at switching, the trolley on exclusive destination path will not be cut into resistance to target trolley Gear, such control system 7 can control target trolley to cut exclusive destination path.

What the present invention program was realized in：The realization method of the present embodiment is substantially similar with embodiment 1.Its difference It is in the present embodiment, control system 7 controls the exclusive part trolley on preceding path 11 and exclusive destination path 12 and executes Taxiing procedures, so that the position relationship between trolley on exclusive trolley and exclusive destination path on preceding path can become Change.

Embodiment 4

A kind of means of transportation, including several platform Z, several motion paths 1, several trolleies 2, several switching devices 3 are several Input unit 5, homeposition recognition unit 6, control system 7；Being covered on motion path 1 can be along the load that its path direction moves Body, so when trolley 2 is incorporated on motion path 1, trolley 2 can be moved along path direction；Each motion path 1 is spliced into one A netted transportation network W, each platform are linked together by transportation network W, each platform and at least one motion path 1 Head end be connected, the motion path 1 that head end is connected with platform referred to as up path, each platform and at least one motion path 1 tail end is connected, the motion path 1 that tail end is connected with platform referred to as downlink path, in total movement path 1, remove uplink, Other motion paths outside downlink path are referred to as operating path, by switching device 3, operate in each up path or operation Trolley 2 on path can cut at least one other motion paths 1, by switching device 3, each downlink path or operating path The trolley (2) from least one other motion paths 1 can be accepted；Input unit 5 is corresponded with trolley 2, and user passes through defeated Enter device 5 and input the information for representing destination platform, this information is conveyed to control system 7 by input unit 5, and homeposition is known For other unit 6 to identify trolley 2 from which up path, homeposition recognition unit 6 conveys identification signal To control system 7, up path that control system 7 is set out according to trolley 2, destination platform arrange out one to arrive at station The preset path of platform, the preset path are spliced by several motion paths 1；The position switched between motion path 1 claims For Q at switching, Q is corresponding with a response position X at each switching, when trolley 2 needs that Q is switched at switching, switching Device 3 must be responded in response position X accordingly, and response position X is corresponding with a response location identification unit X1, response bit Recognition unit X1 is set to identify being which trolley 2 have passed through response and position X and this information is conveyed to control system 7, When trolley 2 is by response position X, control system 7 determines whether switching device 3 is responded according to the preset path of trolley 2； Trolley 2 is referred to as in the motion path 1 of preceding operation in preceding path, and the motion path 1 that trolley 2 will be switched to is referred to as target road Diameter, one section of setting are referred to as special in preceding path 15 at the switching in front of Q in preceding path, and one section of setting is in Q at switching The destination path in front is referred to as application-specific target path 16；In addition to binding pattern, trolley 2 can also in preceding path, destination path Wherein at least one use sliding mode connection type, when trolley 2 is in sliding mode, trolley 2 not with carrier phase In conjunction with trolley 2 is slided with the inertia of itself on motion path；Trolley 2 is on one section of motion path using sliding mode Operational process is referred to as taxiing procedures；It is special that running position recognition unit D, fortune are provided on preceding path and application-specific target path To identify each trolley in the special position on preceding path, application-specific target path, running position identifies row location identification unit D Cells D is by recognition result input control system 7；For entering the special trolley in preceding path, control system 7 is according to trolley 2 Preset path determines whether the trolley 2 needs the Q at switching to switch over, and the trolley 2 that Q is switched at switching is needed to be referred to as For target trolley；Control system 7 controls special on preceding path or on application-specific target path or special in preceding path and described special Taxiing procedures are executed with the part trolley on destination path, so that the Q at switching, the trolley on application-specific target path will not be to mesh Mark trolley is cut into blocking.

Wherein, trolley 2 and the connection type that sliding mode is used in preceding path, control system 7 can control special in Qian Lu Part trolley on diameter executes taxiing procedures.

Wherein, the movement velocity of the special carrier on preceding path is consistent with the movement velocity of carrier on application-specific target path.

Wherein, further include several acceleration path K1, several deceleration path K2；The head end phase of acceleration path K1 and up path Connection, acceleration path K1 is to accelerate trolley 2, so when trolley 2 reaches up path head end, the speed of trolley 2 It is consistent with the speed of service of carrier on up path；Deceleration path K2 is connected with the tail end of downlink path, the deceleration road Diameter K2 is slowing down to trolley 2.

What the present invention program was realized in：In the present invention program, when trolley 2 run to it is special on preceding path 15 When, it is identified in running position recognition unit D, this information is conveyed to control system 7 by running position recognition unit D, Control system 7 determines whether trolley needs to switch according to the preset path of the trolley, i.e., whether trolley needs to cut destination path, If desired, trolley is defined as target trolley by control system, and control system 7 controls the special part trolley on preceding path 15 and holds Row taxiing procedures, when trolley is in sliding mode, the speed of trolley can be apparent slack-off, so, special on preceding path The position relationship between trolley on trolley and application-specific target path can change, so that at switching, application-specific target path Trolley on 16 will not be cut into blocking to target trolley, to keep means of transportation more safe and reliable.

Although the present invention program is described by reference to preferred embodiment, this profession ordinary skill people Member can make various change in form and details it is to be appreciated that in the range of claims.

Claims

1. a kind of means of transportation, including several platforms (Z), several motion paths (1), several trolleies (2), several switching devices (3), several input units (5), homeposition recognition unit (6), control system (7)；Being covered on the motion path (1) can edge The carrier of its path direction movement, so when the trolley (2) is incorporated on the motion path (1), trolley (2) energy It is moved along path direction；Each motion path (1) is spliced into a netted transportation network (W), and each platform passes through institute It states transportation network (W) to link together, each platform is connected with the head end of at least one motion path (1), head end and station The connected motion path (1) of platform is referred to as up path, the tail end phase of each platform and at least one motion path (1) Even, the motion path (1) that tail end is connected with platform is referred to as downlink path, in total movement path (1), except uplink, downlink Other motion paths outside path are referred to as operating path, by the switching device (3), operate in each up path or fortune The trolley (2) on walking along the street diameter can cut at least one other motion paths (1), by the switching device (3), per once Walking along the street diameter or operating path can accept the trolley (2) from least one other motion paths (1)；The input unit (5) with The trolley (2) corresponds, and user represents the information of destination platform, the input by the input unit (5) input This information is conveyed to the control system (7) by device (5), and the homeposition recognition unit (6) is identifying trolley (2) From which up path, identification signal is conveyed to the control system by the homeposition recognition unit (6) (7), up path, the destination platform that the control system (7) is set out according to trolley (2) arrange out one to arrive at station The preset path of platform, the preset path are spliced by several motion paths (1)；It is switched between the motion path (1) Position be referred to as at switching (Q)；It is characterized in that：(Q) carries out detective's pattern to the trolley (2) at switching at least one Switching, specially：The trolley (2) is referred to as in the motion path (1) of preceding operation in preceding path, and the trolley (2) will cut The motion path (1) changed to is referred to as destination path, described in preceding path and the destination path parallel one at switching (Q) Section setpoint distance sets one section and is referred to as in preceding path exclusive in preceding path (11) by (Q) at switching, sets one section of process The destination path of (Q) is referred to as exclusive destination path (12) at switching；In addition to binding pattern, the trolley (2) can also with it is described The connection type of sliding mode is used in the wherein at least one of preceding path, the destination path, is slided when the trolley (2) is in When row pattern, the trolley (2) is not combined with the carrier, and the trolley (2) is as the inertia of itself is in the movement It is slided on path；The trolley (2) is referred to as taxiing procedures on one section of motion path using the operational process of sliding mode；Institute State it is exclusive be provided with running position recognition unit (D) on preceding path and the exclusive destination path, the running position identification Unit (D) is identifying each trolley relative to exclusive at preceding path, the exclusive destination path, the switching (Q) Recognition result is inputted the control system (7) by position relationship, the running position recognition unit (D)；For enter it is exclusive The trolley in preceding path, the control system (7) determine whether the trolley (2) needs switching according to the preset path of trolley (2) Place (Q) switches over, and the trolley (2) that (Q) is switched over is needed at switching to be referred to as target trolley；The control system (7) It controls described exclusive on preceding path or on the exclusive destination path or described exclusive in preceding path and the exclusive target road Part trolley on diameter executes taxiing procedures, so that at switching (Q), the trolley on the exclusive destination path will not be to target Trolley is cut into blocking, and the controllable target trolley of as described control system (7) cuts the exclusive destination path.

2. a kind of means of transportation according to claim 1, it is characterised in that：The movement of the exclusive carrier on preceding path Speed is consistent with the movement velocity of carrier on the exclusive destination path.

3. a kind of means of transportation according to claim 1, it is characterised in that：The motion path includes first axle (A1), Second axis (A2), the soft rope (A3) that a trap is closed, driving unit (A5), several supporting racks (A10), sliding rail (A6)；The soft rope (A3) it is wound in the first axle (A1) and second axis (A2), the driving unit (A5) is driving the soft rope (A3) Movement, support frame as described above (A10) is to support the soft rope (A3) of upside, and sliding rail (A6) setting is on the soft rope (A3) It is square, it has been positioned apart from several upper protruding blocks (A31) on the soft rope (A3)；The trolley (2) is slided on the sliding rail (A6), Trolley (2) basal sliding connects a sliding block (21), the sliding block (21) can upward and downward sliding, the sliding block (21) is corresponding with One driving portion (22), the driving portion (22) is to drive the sliding block (21), and the driving portion (22) is by the control system (7) it controls.

4. a kind of means of transportation according to claim 1 or 2, it is characterised in that：Further include several acceleration paths (K1), if Dry deceleration path (K2)；The acceleration path (K1) is connected with the head end of the up path, and the acceleration path (K1) is used To accelerate to the trolley (2), so when the trolley (2) reaches the up path head end, the trolley (2) Speed is consistent with the speed of service of carrier on the up path；The tail end of deceleration path (K2) and the downlink path It is connected, the deceleration path (K2) is slowing down to the trolley (2).

5. a kind of means of transportation according to claims 1 to 3 any claim, it is characterised in that：At least there is one group The combination of motion path, i.e. the first motion path, the second motion path, third motion path, the second motion path can and only may be used The trolley cut from the first motion path is accepted, the trolley run on the second motion path can only cut through third motion path, small Vehicle takes the switching of detective's pattern from the second movement road incision third motion path.

6. a kind of means of transportation, including several platforms (Z), several motion paths (1), several trolleies (2), several switching devices (3), several input units (5), homeposition recognition unit (6), control system (7)；Being covered on the motion path (1) can edge The carrier of its path direction movement, so when the trolley (2) is incorporated on the motion path (1), trolley (2) energy It is moved along path direction；Each motion path (1) is spliced into a netted transportation network (W), and each platform passes through institute It states transportation network (W) to link together, each platform is connected with the head end of at least one motion path (1), head end and station The connected motion path (1) of platform is referred to as up path, the tail end phase of each platform and at least one motion path (1) Even, the motion path (1) that tail end is connected with platform is referred to as downlink path, in total movement path (1), except uplink, downlink Other motion paths outside path are referred to as operating path, by the switching device (3), operate in each up path or fortune The trolley (2) on walking along the street diameter can cut at least one other motion paths (1), by the switching device (3), per once Walking along the street diameter or operating path can accept the trolley (2) from least one other motion paths (1)；The input unit (5) with The trolley (2) corresponds, and user represents the information of destination platform, the input by the input unit (5) input This information is conveyed to the control system (7) by device (5), and the homeposition recognition unit (6) is identifying trolley (2) From which up path, identification signal is conveyed to the control system by the homeposition recognition unit (6) (7), up path, the destination platform that the control system (7) is set out according to trolley (2) arrange out one to arrive at station The preset path of platform, the preset path are spliced by several motion paths (1)；It is switched between the motion path (1) Position be referred to as at switching (Q), (Q) is corresponding with a response position (X) at each switching, when trolley (2) need at switching (Q) when switching over, the switching device (3) must be responded in response position (X) accordingly, and response position (X) is corresponding It is which trolley (2) passes through to identify to have a response location identification unit (X1), the response location identification unit (X1) This information is simultaneously conveyed to the control system (7) by response position (X), when trolley (2) is by response position (X), institute It states control system (7) and determines whether the switching device (3) is responded according to the preset path of trolley (2)；It is characterized in that： The trolley (2) is referred to as the movement road that will be switched in preceding path, the trolley (2) in the motion path (1) of preceding operation Diameter (1) is referred to as destination path, and one section of setting being referred to as in preceding path in front of (Q) at switching is special in preceding path (15), it sets one section of destination path in front of (Q) at switching and is referred to as application-specific target path (16)；In addition to binding pattern, The trolley (2) can also use the connection side of sliding mode with the wherein at least one in preceding path, the destination path Formula, when the trolley (2) is in sliding mode, the trolley (2) is not combined with the carrier, the trolley (2) with The inertia of itself to slide on the motion path；The trolley (2) uses the fortune of sliding mode on one section of motion path Row process is referred to as taxiing procedures；The special running position that is provided on preceding path and the application-specific target path identifies list First (D), the running position recognition unit (D) is identifying each trolley described special on preceding path, the application-specific target road Recognition result is inputted the control system (7) by the position on diameter, the running position recognition unit (D)；It is special for entering Trolley in preceding path, the control system (7) determine whether the trolley (2) needs cutting according to the preset path of trolley (2) (Q) is switched at the place of changing, and the trolley (2) that (Q) is switched over is needed at switching to be referred to as target trolley；The control system (7) it controls described special on preceding path or on the application-specific target path or described special in preceding path and the application-specific target Part trolley on path executes taxiing procedures, so that at switching (Q), the trolley on the application-specific target path will not be to mesh Mark trolley is cut into blocking.

7. a kind of means of transportation according to claim 6, it is characterised in that：The movement of the special carrier on preceding path Speed is consistent with the movement velocity of carrier on the application-specific target path.

8. a kind of means of transportation described according to claim 6 or 7, it is characterised in that：Further include several acceleration paths (K1), if Dry deceleration path (K2)；The acceleration path (K1) is connected with the head end of the up path, and the acceleration path (K1) is used To accelerate to the trolley (2), so when the trolley (2) reaches the up path head end, the trolley (2) Speed is consistent with the speed of service of carrier on the up path；The tail end of deceleration path (K2) and the downlink path It is connected, the deceleration path (K2) is slowing down to the trolley (2).