CN106541949A - A kind of means of transportation - Google Patents
A kind of means of transportation Download PDFInfo
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- CN106541949A CN106541949A CN201610662346.7A CN201610662346A CN106541949A CN 106541949 A CN106541949 A CN 106541949A CN 201610662346 A CN201610662346 A CN 201610662346A CN 106541949 A CN106541949 A CN 106541949A
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- path
- dolly
- motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B1/00—General arrangement of stations, platforms, or sidings; Railway networks; Rail vehicle marshalling systems
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- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention program is a kind of means of transportation, including some platforms, some motion paths, some dollies, some switching devices, some input equipment, homeposition recognition unit, control system；Under control of the control system, dolly can switch between each motion path, dolly carries out the switching of detective's pattern at switching at least, control system control is exclusive on front path or on exclusive destination path or the exclusive part dolly on front path and exclusive destination path performs taxiing procedures, so that the dolly on exclusive destination path will not be cut into stop to target dolly, the present invention program has advantages below：It is safe and reliable.
Description
Technical field
The present invention relates to a kind of construction applications of means of transportation.
Background technology
With automobile as carrier, after long-run development, this system exposes unsurmountable to the means of transportation of modernization
Shortcoming is main as follows：First, inefficiency, sometimes a huge automobile only carry several individuals, and automobile at platform and crossing
To also stop, two, easily block, this point citizen have an intimate knowledge, and does not launch here to repeat, three, environmental pollution it is serious, mainly by
Vehicle exhaust causes, in consideration of it, being necessary to provide a kind of means of transportation, makes it to overcome disadvantages mentioned above.I am in front application
The patent of invention of Application No. 201510702108.X has made useful improvement, discloses a kind of means of transportation, including some stations
Platform, some motion paths, some dollies, some switching devices, some input equipment, homeposition recognition unit, control system；
It is covered with the carrier that can be moved along its path direction on motion path, so when dolly is with reference on motion path, dolly energy edge
Path direction motion；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 up
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 descending
Path, in total movement path, other motion paths in addition to up, downlink path are referred to as operating path, by switching
Device, operates in each up path or the dolly on operating path can cut at least one other motion paths, by switching
Device, each downlink path or operating path can accept the dolly from least one other motion paths；Input equipment with it is little
Car is corresponded, and user represents the information of destination's platform by input equipment input, and this information is conveyed to by input equipment
Control system, to recognize dolly from that up path, homeposition identification is single for homeposition recognition unit
Identification signal is conveyed to control system by unit, and up path that control system is set out according to dolly, destination's platform arrange out one
Bar arrives at the preset path of platform, and the preset path is spliced by some motion paths；Carry out between motion path
The position of switching is referred to as at switching, to there is a response position at each switching, when dolly needs to switch at switching
When, switching device must be responded in corresponding response position, and response position is responded to there is a response position recognition unit
Location identification unit is which dolly have passed through response position and this information is conveyed to control system to recognize, when little
When response position, according to the preset path of dolly, control system determines whether switching device is responded to car.But this skill
In place of art also Shortcomings：Dolly is possible to and operates in other dollies on motion path in handoff procedure and meets, also
It is to say, such means of transportation are not safe and reliable enough.In consideration of it, the Chinese patent of Application No. 201510874759.7 is made
Useful improvement, discloses a kind of means of transportation, and its feature is：Dolly carries out cutting for detective's pattern at switching at least
Change, dolly is referred to as in front path in the motion path of front operation, and the motion path that dolly will be switched to is referred to as target road
Footpath, at switching, in the parallel one section of setpoint distance in front path and destination path；Which response position recognition unit is to recognize
Dolly is entered at switching；Switching device includes detective's unit, and when at the trolley travelling to switching, detective's unit can be detectd
Visit other dollies run on destination path and whether switching action during the dolly is formed and stop, detective's unit is detective's knot
Fruit input control system；When dolly needs to cut destination path, switching device carries out the response of following manner：Open detective single
Unit, when other dollies that detective is run on destination path will not be formed to the switching action of the dolly to be stopped, control system
Control switching device performs switching action；At switching, the movement velocity of carrier and carrier on destination path on front path
There is a default speed difference between movement velocity.But this technology still has its unsurmountable shortcoming：Due to uploading in front path
Have a default speed difference in the movement velocity and destination path of body between the movement velocity of carrier, the dolly on front path with
The position relationship of the dolly on destination path in constantly changing, dolly from the opportunity that destination path is cut in front path slightly
Vertical to die, i.e., less, this can bring impact to the safety and reliability of trolley travelling to the time window of dolly incision, in view of
This, it is necessary to provide a kind of new technical scheme so as to disadvantages mentioned above can be overcome.
The content of the invention
The technical problem to be solved in the present invention is the present situation for prior art, there is provided a kind of efficiency high, safe and reliable
Means of transportation.
Technical proposal that the invention solves the above-mentioned problems is：A kind of means of transportation, including some platforms, some motion roads
Footpath, some dollies, some switching devices, some input equipment, homeposition recognition unit, control system；Cloth on motion path
The carrier that completely can be moved along its path direction, so when dolly is with reference on motion path, dolly 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 up, downlink path are referred to as operating path, by switching device, operate in every
Dolly on one up path or operating path can cut at least one other motion paths, by switching device, each descending
Path or operating path can accept the dolly from least one other motion paths；Input equipment is corresponded with dolly, is used
Family represents the information of destination's platform by input equipment input, and this information is conveyed to control system, is set out by input equipment
To recognize dolly from which bar up path, homeposition recognition unit will recognize that signal is passed to location identification unit
Control system is reached, up path that control system is set out according to dolly, destination's platform arrange out one to arrive at station
The preset path of platform, the preset path are spliced by some motion paths；The position switched between motion path is referred to as
At switching；Dolly carries out the switching of detective's pattern at switching at least, specially：Motion path of the dolly in front operation
Referred to as in front path, the motion path that dolly will be switched to is referred to as destination path, at switching, in front path and target
One section of setpoint distance of parallel path, one section of setting are referred to as exclusive in front path in front path at switching, set one section
Destination path at switching is referred to as exclusive destination path；In addition to binding pattern, dolly can also with front path, target road
The wherein at least one in footpath using sliding mode connected mode, when dolly be in sliding mode when, dolly not with carrier phase
With reference to dolly is slided on motion path with the inertia of itself；Dolly adopts the fortune of sliding mode on one section of motion path
Row process is referred to as taxiing procedures；It is exclusive that run location recognition unit, operation are provided with front path and exclusive destination path
Location identification unit is to recognize each dolly relative to the exclusive position relationship at front path, exclusive destination path, switching, fortune
Row location identification unit is by recognition result input control system；For into the exclusive dolly in front path, control system according to
The preset path of dolly determines whether the dolly needs to switch at switching, needs the dolly switched at switching to claim
Be target dolly；Control system control is exclusive on front path or on exclusive destination path or exclusive in front path and exclusive mesh
Part dolly on mark path performs taxiing procedures, so that at switching, the dolly on exclusive destination path will not be little to target
Being cut into of car stops that the controllable target dolly of such control system cuts exclusive destination path.In the present invention program, when
Trolley travelling to it is exclusive on front path when, run location recognition unit is identified to which, run location recognition unit by this
One information is conveyed to control system, according to the preset path of the dolly, control system determines whether dolly needs switching, i.e. dolly
Whether need to cut destination path, if desired, control system is defined as target dolly dolly, control system control is exclusive front
Part dolly on path performs taxiing procedures, and when dolly is in sliding mode, the speed of dolly can be substantially slack-off, and such one
Come, the position relationship between dolly on exclusive dolly and exclusive destination path on front path can change, operating position
Put recognition unit to monitor the position of each dolly and by recognition result input control system, at switching, when exclusive target
Dolly on path will not to target dolly being cut into stopping after, control system control targe dolly cuts exclusive target road
Footpath, compared to prior art, in the present invention program, the incision window of dolly substantially becomes big, so that means of transportation are more pacified
Entirely, it is reliable.Certainly, the part dolly that control system is controlled on exclusive destination path performs taxiing procedures and also can reach purpose, specially
Part dolly on category destination path can be also made on the exclusive dolly on front path and exclusive destination path in sliding mode
Dolly between position relationship can change, if the exclusive dolly on front path and exclusive destination path all can perform
Taxiing procedures, then can be such that the change in location between the exclusive dolly on front path and the dolly on exclusive destination path more imitates
Rate, effect are more preferable.Control system control section dolly performs taxiing procedures, and this control has various ways, such as adopts and compares one by one
To mode, target dolly one enter switching at, according to the recognition result of run location recognition unit, control system is recognized specially
Other dollies run on category destination path will not be formed to the switching action of the target dolly and be stopped, control system control targe
Dolly cuts exclusive destination path；If recognizing that other dollies run on exclusive destination path can be cut to the target dolly
The work that moves is formed when stopping, then control system controls the target dolly and performs taxiing procedures, so make the target dolly with it is exclusive
Position relationship between other dollies run on destination path changes, when recognizing its that run on exclusive destination path
Its dolly will not be formed to the switching action of the dolly after stopping, control system control targe dolly cuts exclusive destination path.
Certainly, control system can also adopt the control mode of overall arrangement, to into exclusive a string of dollies on front path and entrance
Overall arrangement is made in the position of a string of dollies on exclusive destination path, when each dolly is in arranged position, exclusive mesh
On mark path, the dolly that runs will not be formed to the switching action of target dolly and be stopped, control system control section dolly successively or
Taxiing procedures are performed simultaneously, so that each dolly is in arranged position；During overall arrangement, a string of dollies are preferably made
Last position dolly keep binding pattern, so end position dolly will not be impacted to adjacent lower a string of dollies, certainly, at some
In the case of, last position dolly also can perform taxiing procedures, and such as control system knows the position of the first dolly of adjacent lower a string of dollies
Put.In actual applications, this technical scheme can be also reached by way of data acquisition, simulation one is exclusive in front path
With the distribution scene of each dolly on exclusive destination path, the position of target dolly and other dollies is labeled respectively, is recorded
The position data of each target dolly and other dollies forms data one, and rational position system is then made to the dolly of this scene
Arrangement is raised, each target dolly is recorded and the position data after other dollies arrangements is formed data two, data one and data two are made
Control system is stored in for a data set, is so repeated several times, control system is deposited in having the data set of magnanimity, i.e. control system
There are various dollies to be distributed the data set of scene, after the dolly distribution scene of a reality occurs, each of actual distribution scene
The position data of target dolly and other dollies is matched with each data set, if the dolly position data of actual distribution scene with
Data one in data set form matching, then the data two in the data set can be pacified as the pool of the dolly of actual distribution scene
Ranking is put.Control system can also adopt the control mode for repeatedly arranging, such as to into exclusive a string of dollies on front path
Arranged with making into the position of a string of dollies on exclusive destination path for the first time, so that the incision of partial target dolly dolly is special
Category destination path, is made arrangements to the position of these dollies again, so that remaining target dolly dolly cuts exclusive target road
Footpath.In sum, control system control section dolly is in sliding mode, and this control has various ways, no matter which kind of adopts
Mode, at switching, as long as target dolly can cut exclusive destination path, purpose just reaches.In the present invention program, setting
One section is referred to as exclusive in front path, being set as in front path such as at the switching at switching in front path
100 meters, the exclusive length in front path should be not less than 100 meters, such as set the exclusive length in front path as 106 meters, it is exclusive
Front path should in front path, control system be paid close attention to the exclusive dolly on front path comprising at the switching,
To carry out precise control to which；In the same manner, the setting of exclusive destination path is also based on such principle, in actual applications, should
It is exclusive in front path and exclusive destination path depending on concrete condition setting.In the present invention program, run location recognition unit to
Each dolly is recognized relative to the exclusive position relationship at front path, exclusive destination path, switching, run location recognition unit will
Recognition result input control system；Run location recognition unit belongs to prior art, and which is in Application No. 201510702108.X
Chinese patent in have a detailed description, run location recognition unit and homeposition recognition unit and response position recognition unit
Principle is identical, moreover in the prior art, location recognition technology is a kind of general, conventional technique.Due to exclusive front
Path, exclusive destination path, the position relationship between switching are fixed, as long as recognizing dolly exclusive on front path
Position, the position relationship between dolly and exclusive destination path, switching is also decided, in the same manner, as long as recognizing dolly
Position on exclusive destination path, dolly are also decided with the exclusive position relationship between front path, switching, for example
It is exclusive in 106 meters of front path length, 115 meters of exclusive destination path length, the front end of exclusive destination path is beyond exclusive before front path
1 meter of end, the rear end of exclusive destination path switch director 80 meters 8 meters of front path rear end beyond exclusive, exclusive before front path
End exceeds 25 meters of rear end at switching beyond 1 meter of front end at switching, the exclusive rear end in front path, when run location recognition unit is known
Other dolly in exclusive on front path and dolly and the exclusive distance in front path rear end are 25 meters, then control system can be known
Dolly is had just enter at switching, and the distance of dolly and exclusive destination path rear end is 33 meters, when run location recognition unit recognize it is little
Car in exclusive on front path and dolly and the exclusive distance in front path rear end are 23 meters, then control system can be known dolly
Also it is introduced at switching, at a distance of 2 meters at dolly and switching, dolly is 31 meters with the distance of exclusive destination path rear end.The present invention
The switching device of scheme is the switching device of executable detective's pattern, China of this point in Application No. 201510874759.7
Have a detailed description in patent, that patent describes the switching device of various executable detective's patterns, and point out Application No.
As long as the switching device described by 201510702108.X Chinese patents is slightly improved just can obtain cutting for executable detective's pattern
Changing device, such as in track traffic neighborhood, train can be made this change rail structure automatically controlled by becoming rail structural change running track
Mode, then be applicable to the present invention and, and multiple change rail structures, dolly are being set up in parallel between front path and destination path such as
When needing switching, change rail structure nearby may be selected.
Further technology, the movement velocity of the exclusive carrier on front path are fast with the motion of carrier on exclusive destination path
Degree is consistent.After being arranged such, the exclusive dolly on front path is operated in the dolly operated on exclusive destination path not
The change of position relationship can occur because of the difference of carrier movement speed, so that control of the control system to dolly is simpler
It is single.
Preferably, motion path includes first axle, the second axle, the soft rope that a trap is closed, driver element, some bracing frames,
Slide rail；Soft rope is wound in first axle and the second axle, and, to drive soft rope motion, bracing frame is to support the soft of upside for driver element
Rope, slide rail are arranged on above soft rope, and some upper protruding blocks have been positioned apart from soft rope；Dolly is slided on slide rail, dolly bottom
Be slidably connected a slide block, slide block can upward and downward slide, to there is a drive division, drive division is to drive slide block, drive division for slide block
Controlled system control.In the technical program, when needing dolly to be in binding pattern with motion path, control system is to driving
Dynamic subordinate drives slide block slide downward up to instruction, drive division, and slide block is mutually touched with soft rope, under the drive of upper protruding block, dolly
Formed with soft rope and linked；When needing dolly to be in sliding mode with motion path, control system assigns instruction to drive division, drives
Dynamic portion drives slide block upward sliding, and away from soft rope, dolly is only slided on slide rail slide block by self inertia.Obviously, motion path
And dolly can also have more technical schemes with the connected mode of motion path, as in Application No. 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 dolly is by mechanical hand company
It is connected on soft rope, to make dolly in sliding mode, the controllable mechanical hand of control system is held but do not hold with a firm grip soft rope, so little
Car can lean on self inertia to slide on soft rope.
Further technology, also including some acceleration paths, some deceleration paths；The head end of acceleration path and up path
Be connected, acceleration path to accelerate to dolly, so when dolly reach up path head end when, the speed of dolly with it is upper
On walking along the street footpath, the speed of service of carrier is consistent；Deceleration path is connected with the tail end of downlink path, and deceleration path is to little
Car is slowed down.For acceleration path and deceleration path, have in the Chinese patent of Application No. 201610289874.2 in detail
Description, is not repeated here one by one.
Further technology, at least exist the combination of one group of motion path, i.e. the first motion path, the second motion path,
3rd motion path, the second motion path and only can accept the dolly from the incision of the first motion path, on the second motion path
The dolly of operation can only cut through the 3rd motion path, and dolly is cut the 3rd motion path from the second motion road and takes detective's pattern
Switching.In the technical program, the second motion path plays transitional function, it is clear that such switching mode is safer, closes
Reason.
Certainly, dolly had just coordinated position relationship each other before reaching at switching, can also reach very well
Technique effect.
Technical proposal that the invention solves the above-mentioned problems can also be：A kind of means of transportation, including some platforms, Ruo Ganyun
Dynamic path, some dollies, some switching devices, some input equipment, homeposition recognition unit, control system；Motion path
On be covered with the carrier that can be moved along its path direction, so when dolly is with reference on motion path, dolly can be along path side
To motion；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 up, downlink path are referred to as operating path, by switching device, run
Dolly on each 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 dolly from least one other motion paths；One a pair of input equipment and dolly
Should, user represents the information of destination's platform by input equipment input, and this information is conveyed to control system by input equipment,
To recognize dolly from which bar up path, homeposition recognition unit will recognize letter to homeposition recognition unit
Number control system is conveyed to, up path that control system is set out according to dolly, destination's platform arrange out an arrival purpose
The preset path of ground platform, the preset path are spliced by some motion paths；The position switched between motion path
Referred to as at switching, to there is a response position at each switching, when dolly needs to switch at switching, the switching
Device must be responded in corresponding response position, and response position to there is a response position recognition unit, know by response position
Other unit is which dolly have passed through response position and this information is conveyed to control system to recognize, when dolly is passed through
During response position, according to the preset path of dolly, control system determines whether switching device is responded；Dolly is in front operation
Motion path is referred to as in front path, and the motion path that dolly will be switched to is referred to as destination path, and one section of setting is in cuts
Being referred to as in front path for changing in front of place is special in front path, sets one section of destination path being in front of at switching and is referred to as specially
Use destination path；In addition to binding pattern, dolly can also adopt sliding mode with the wherein at least one in front path, destination path
Connected mode, when dolly be in sliding mode when, dolly is not combined with carrier, dolly with the inertia of itself motion
Slide on path；Dolly is referred to as taxiing procedures using the running of sliding mode on one section of motion path；It is special front
Run location recognition unit is provided with path and application-specific target path, run location recognition unit is to recognize each dolly special
Position on front path, application-specific target path, run location recognition unit is by recognition result input control system；For entering
Enter the special dolly in front path, according to the preset path of dolly, control system determines whether the dolly needs to carry out at switching
Switching, needs the dolly switched at switching to be referred to as target dolly；Control system control is special on front path or special
With on destination path or the special part dolly taxiing procedures on front path and application-specific target path, so that at switching, specially
Stop will not be cut into target dolly with the dolly on destination path.In the present invention program, when trolley travelling is to specially
When on front path, run location recognition unit is identified to which, and this information is conveyed to by run location recognition unit
According to the preset path of the dolly, control system, control system determine whether dolly needs whether switching, i.e. dolly need incision
Destination path, if desired, control system is defined as target dolly dolly, control system can be to the special target on front path
The ruuning situation of the dolly on dolly and application-specific target path carries out anticipation, judges at switching, little on application-specific target path
Whether car can form to the switching action of target dolly and stop, such as dolly one in the special position on front path to determination, it is little
Position of the car two on application-specific target path to determining, control system can anticipation dolly two whether can be dynamic to the switching of dolly one
Make to be formed and stop.The special part dolly on front path of control system control performs taxiing procedures, and dolly is in sliding mode
When, the speed of dolly can be substantially slack-off, so, the dolly on the special dolly on front path and application-specific target path it
Between position relationship can change so that at switching, the dolly on application-specific target path will not be to the incision of target dolly
Formed and stopped, so that means of transportation are more safe and reliable.Certainly, the part on control system control application-specific target path is little
Car performs taxiing procedures and also can reach purpose, and the part dolly on application-specific target path can also make special front in sliding mode
The position relationship between the dolly on dolly and application-specific target path on path can change, if it is special in front path and
Dolly on application-specific target path all can perform taxiing procedures, then can make the special dolly on front path and application-specific target path
On dolly between change in location have more efficiency, effect is more preferable.Control system control section dolly performs taxiing procedures, this
Control has various ways, such as by the way of comparing one by one, to being estimated in the special target dolly on front path, with
Determine that the dolly on application-specific target path can or can not be formed the switching action of target dolly to stop, if on application-specific target path
Dolly is formed to the switching action of target dolly and is stopped, then control targe dolly performs taxiing procedures, to avoid forming which resistance
The dolly of gear.Certainly, control system can also adopt the control mode of overall arrangement, to into special little a string on front path
Car and make overall arrangement into the position of a string of dollies on application-specific target path so that target dolly to smoothly complete switching dynamic
Make.The taxiing procedures of the dolly that the present invention program is related to have a detailed description, do not repeat one by one here, what the present invention program was related to
Switching device, input equipment, homeposition recognition unit, response position recognition unit, run location recognition unit belong to existing
Technology, has a detailed description in the Chinese patent of Application No. 201510702108.X.
Further technology, the movement velocity of the special carrier on front path are fast with the motion of carrier on application-specific target path
Degree is consistent.
Further technology, also including some acceleration paths, some deceleration paths；The head end of acceleration path and up path
Be connected, acceleration path to accelerate to dolly, so when dolly reach up path head end when, the speed of dolly with it is upper
On walking along the street footpath, the speed of service of carrier is consistent；Deceleration path is connected with the tail end of downlink path, and deceleration path is to little
Car is slowed down.
Compared with prior art, the present invention program is a kind of means of transportation, including some platforms, some motion paths, if
Dry dolly, some switching devices, some input equipment, homeposition recognition unit, control system；In the control of control system
Under, dolly can switch between each motion path, and dolly carries out the switching of detective's pattern, control system control at switching at least
System is exclusive on front path or on exclusive destination path or the exclusive part dolly on front path and exclusive destination path is performed
Taxiing procedures, so that the dolly on exclusive destination path will not be cut into stop to target dolly, the present invention program has
Advantages below：It is safe and reliable.
Description of the drawings
Fig. 1 is the embodiment of the present invention 1, embodiment 2, the overall structure diagram of embodiment 3；
The structural representation that Fig. 2 is the embodiment of the present invention 1, embodiment 2, dolly is combined with motion path in embodiment 3；
Fig. 3 is the embodiment of the present invention 1, can perform in embodiment 3 detective's pattern switching switching device structural representation；
Fig. 4 is the structural representation of the switching device of executable detective's pattern switching in the embodiment of the present invention 2；
Overall structure diagrams of the Fig. 5 for the embodiment of the present invention 4.
Specific embodiment
With reference to embodiments the present invention program is described in further detail：
Embodiment 1
A kind of means of transportation, including some platform Z, some motion paths 1, some dollies 2, some switching devices 3 are some
Input equipment 5, homeposition recognition unit 6, control system 7；It is covered with the load that can be moved along its path direction on motion path 1
Body, so when dolly 2 is combined on motion path 1, dolly 2 can be moved along path direction；Each motion path 1 is spliced into one
Individual 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, except it is up,
Other motion paths outside downlink path are referred to as operating path, by switching device 3, operate in each up path or operation
Dolly 2 on path can cut at least one other motion paths 1, by switching device 3, each downlink path or operating path
The dolly 2 from least one other motion paths 1 can be accepted；Input equipment 5 is corresponded with dolly 2, and user is by input
The input of device 5 represents the information of destination's platform, and this information is conveyed to control system 7, homeposition identification by input equipment 5
To recognize dolly 2 from that up path, homeposition recognition unit 6 will recognize that signal is conveyed to unit 6
Control system 7, up path that control system 7 is set out according to dolly 2, destination's platform arrange out one to arrive at platform
Preset path, the preset path is spliced by some motion paths 1；The position switched between motion path 1 is referred to as
For Q at switching；The Q at the switching at least of dolly 2 carries out the switching of detective's pattern, specially：Motion of the dolly 2 in front operation
Path 1 is referred to as in front path, and the motion path 1 that dolly 2 will be switched to is referred to as destination path, the Q at the switching, in Qian Lu
Footpath and the parallel one section of setpoint distance of destination path, set the referred to as exclusive in front path in front path of one section of Q at switching
11, the destination path for setting one section of Q at switching is referred to as exclusive destination path 12；In addition to binding pattern, dolly 2 can also be with
The connected mode of sliding mode is adopted in front path, when dolly 2 is in sliding mode, dolly 2 is not combined with carrier, little
Car 2 is slided on motion path with the inertia of itself；Dolly 2 adopts the running of sliding mode on one section of motion path
Referred to as taxiing procedures；Exclusive that run location recognition unit D is provided with front path and exclusive destination path, run location is known
Other cells D is to recognize position relationship of each dolly relative to the exclusive Q at front path, exclusive destination path, switching, operating position
Recognition unit D is put by recognition result input control system 7；For into the exclusive dolly in front path, control system 7 is according to little
The preset path of car 2 determines whether the dolly 2 needs the Q at switching to switch over, and needs the dolly that Q is switched at switching
2 are referred to as target dolly；Control system 7 controls the exclusive part dolly on front path and performs taxiing procedures, so that in switching
Place Q, the dolly on exclusive destination path will not be cut into stop to target dolly, and such control system 7 can control target
Dolly cuts exclusive destination path.
Wherein, the movement velocity of the exclusive carrier on front path is consistent with the movement velocity of carrier on exclusive destination path.
Wherein, motion path includes first axle A1, the second axle A2, soft rope A3, driver element A5 that a trap is closed, if the Heavenly Stems and Earthly Branches
Support A10, slide rail A6；Soft rope A3 is wound in first axle A1 and the second axle A2, and driver element A5 is propped up to drive soft rope A3 motions
To support the soft rope A3 of upside, slide rail A6 is arranged on above soft rope A3, has been positioned apart from some on soft rope A3 support A10
Projection A31；Dolly 2 is slided on slide rail A6,2 basal sliding of dolly connect a slide block 21, slide block 21 can upward and downward slide, it is described
Slide block 21 pairs should have a drive division 22, and drive division 22 is controlled by the control system 7 to drive slide block 21, drive division 22.
Wherein, also including some acceleration path K1, some deceleration path K2；The head end phase of acceleration path K1 and up path
Connection, acceleration path K1 to accelerate to dolly 2, so when dolly 2 reach up path head end when, the speed of dolly 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 dolly 2.
Wherein, at least there is the combination of one group of motion path, i.e. the first motion path, the second motion path, the 3rd motion
The dolly from the incision of the first motion path and only can be accepted in path, the second motion path, and that what is run on the second motion path is little
Car can only cut through the 3rd motion path, and dolly cuts the switching that the 3rd motion path takes detective's pattern from the second motion road.
Wherein, the switching device that can perform detective's pattern switching includes：Baffle plate G1, telescopic arm G2；It is exclusive in front path
Slide plate G6, exclusive slide rail A6 and exclusive target road in front path are equipped between the slide rail A6 of slide rail A6 and exclusive destination path
Space G8 is both provided with the slide rail A6 in footpath, the direction of space G8 is consistent with the direction of slide rail A6, and space G8 is mutual with slide block 21
Matching, so makes slide block 21 pluggable in the G8 of space, baffle plate G1 be arranged on it is exclusive front path, exclusive destination path it is outer
Side, telescopic arm G2 are arranged on dolly, and can push during telescopic arm G2 stretching, extensions baffle plate 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 dolly 2 run to it is exclusive on front path 11
When, run location recognition unit D is identified to which, and this information is conveyed to control system 7 by run location recognition unit D,
According to the preset path of the dolly 2, control system 7 determines whether dolly needs whether switching, i.e. dolly 2 need to cut target road
Footpath, if desired, control system 7 is defined as target dolly dolly, and it is little that control system controls the exclusive part on front path 11
Car 2 performs taxiing procedures, and when dolly 2 is in sliding mode, the speed of dolly 2 can be substantially slack-off, so, exclusive in Qian Lu
The position relationship between dolly 2 on footpath on 11 dolly 2 and exclusive destination path 12 can change, and run location identification is single
Unit monitored to the position of each dolly and by recognition result input control system, the Q at the switching, when on exclusive destination path
Dolly 2 will not to target dolly being cut into stopping after, 7 control targe dolly of control system cuts exclusive destination path, phase
Than in prior art, in the present invention program, the incision window of dolly substantially becomes big so that means of transportation it is safer, can
Lean on.It is pointed out that when dolly 2 is in sliding mode, control system control drive division 22 is operated, and slide block 21 is transported upwards
Dynamic, slide block 21 is mutually disengaged with upper protruding block A31, but slide block 21 is still plugged in the G8 of space, but is moved when dolly 2 will perform switching
When making, control system control drive division 22 is operated, and makes slide block 21 completely disengage from space G8, then control system control telescopic arm G2
Push the exclusive baffle plate G1 on the outside of front path 11, and dolly 2 slips into exclusive destination path 12, control system control by slide plate G6
Drive division 22 is operated, and slide block 21 is plugged in the space G8 of exclusive destination path 12, meanwhile, control system control telescopic arm G2
Shrink.
Embodiment 2
A kind of means of transportation, including some platform Z, some motion paths 1, some dollies 2, some switching devices 3 are some
Input equipment 5, homeposition recognition unit 6, control system 7；It is covered with the load that can be moved along its path direction on motion path 1
Body, so when dolly 2 is combined on motion path 1, dolly 2 can be moved along path direction；Each motion path 1 is spliced into one
Individual 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, except it is up,
Other motion paths outside downlink path are referred to as operating path, by switching device 3, operate in each up path or operation
Dolly 2 on path can cut at least one other motion paths 1, by switching device 3, each downlink path or operating path
The dolly 2 from least one other motion paths 1 can be accepted；Input equipment 5 is corresponded with dolly 2, and user is by input
The input of device 5 represents the information of destination's platform, and this information is conveyed to control system 7, homeposition identification by input equipment 5
To recognize dolly 2 from that up path, homeposition recognition unit 6 will recognize that signal is conveyed to unit 6
Control system 7, up path that control system 7 is set out according to dolly 2, destination's platform arrange out one to arrive at platform
Preset path, the preset path is spliced by some motion paths 1；The position switched between motion path 1 is referred to as
For Q at switching；The Q at the switching at least of dolly 2 carries out the switching of detective's pattern, specially：Motion of the dolly 2 in front operation
Path 1 is referred to as in front path, and the motion path 1 that dolly 2 will be switched to is referred to as destination path, the Q at the switching, in Qian Lu
Footpath and the parallel one section of setpoint distance of destination path, set the referred to as exclusive in front path in front path of one section of Q at switching
11, the destination path for setting one section of Q at switching is referred to as exclusive destination path 12；In addition to binding pattern, dolly 2 can also be with
Connected mode of the destination path using sliding mode, when dolly 2 is in sliding mode, dolly 2 is not combined with carrier, little
Car 2 is slided on motion path with the inertia of itself；Dolly 2 adopts the running of sliding mode on one section of motion path
Referred to as taxiing procedures；Exclusive that run location recognition unit D is provided with front path and exclusive destination path, run location is known
Other cells D is to recognize position relationship of each dolly relative to the exclusive Q at front path, exclusive destination path, switching, operating position
Recognition unit D is put by recognition result input control system 7；For into the exclusive dolly in front path, control system 7 is according to little
The preset path of car 2 determines whether the dolly 2 needs the Q at switching to switch over, and needs the dolly that Q is switched at switching
2 are referred to as target dolly；The part dolly that control system 7 is controlled on exclusive destination path performs taxiing procedures, so that in switching
Place Q, the dolly on exclusive destination path will not be cut into stop to target dolly, and such control system 7 can control target
Dolly cuts exclusive destination path.
Wherein, the movement velocity of the exclusive carrier on front path is consistent with the movement velocity of carrier on exclusive destination path.
Wherein, motion path includes first axle A1, the second axle A2, soft rope A3, driver element A5 that a trap is closed, if the Heavenly Stems and Earthly Branches
Support A10, slide rail A6；Soft rope A3 is wound in first axle A1 and the second axle A2, and driver element A5 is propped up to drive soft rope A3 motions
To support the soft rope A3 of upside, slide rail A6 is arranged on above soft rope A3, has been positioned apart from some on soft rope A3 support A10
Projection A31；Dolly 2 is slided on slide rail A6,2 basal sliding of dolly connect a slide block 21, slide block 21 can upward and downward slide, it is described
Slide block 21 pairs should have a drive division 22, and drive division 22 is controlled by the control system 7 to drive slide block 21, drive division 22.
Wherein, also including some acceleration path K1, some deceleration path K2；The head end phase of acceleration path K1 and up path
Connection, acceleration path K1 to accelerate to dolly 2, so when dolly 2 reach up path head end when, the speed of dolly 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 dolly 2.
Wherein, at least there is the combination of one group of motion path, i.e. the first motion path, the second motion path, the 3rd motion
The dolly from the incision of the first motion path and only can be accepted in path, the second motion path, and that what is run on the second motion path is little
Car can only cut through the 3rd motion path, and dolly cuts the switching that the 3rd motion path takes detective's pattern from the second motion road.
Wherein, the switching device that can perform detective's pattern switching includes：Some guided way D1, are corresponded with guided way D1
Gathering sill 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
D1 lower-lefts end is connected to exclusive on the slide rail A6 in front path, and guided way D1 upper right sides are connected to the slide rail A6 of exclusive destination path
On, slide rail A6, guided way D1 are groove-like so that the bottom of dolly 2 can be embedded；Gathering sill P1 is arranged on exclusive front
The left side in path, from the head end of gathering sill P1 to tail end, the cell body of gathering sill P1 moves closer to exclusive in front 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 is ordered about
Loop bar P3 is retracted in sleeve P2, and set letter P2 is connected with the left end of connecting rod P6, and the right-hand member of connecting rod P6 is connected with the left side of dolly 2
Connect, connecting rod P6 high resiliences can deformation, in the running of dolly 2, when loop bar P3 is extend out to outside sleeve P2, loop bar P3 slide
Enter gathering sill P1 head ends, when loop bar P3 is retracted in sleeve P2, loop bar P3 is not touched with gathering sill P1, electromagnetic unit P5 work
When drive 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 implementation of the present embodiment is substantially similar with embodiment 1.Its difference
It is that in the present embodiment, the part dolly 2 that control system 7 is controlled on exclusive destination path 12 performs taxiing procedures, so that specially
The position relationship between dolly on dolly and exclusive destination path 12 of the category on front path 11 can change.In this enforcement
In example, when dolly needs to perform switching action, control system control electromagnetic unit P5 work is driven when electromagnetic unit P5 works
Loop bar P3 is extend out to outside sleeve P2, and loop bar P3 slips into a gathering sill P1 nearby, and under the guiding of gathering sill, dolly incision is exclusive
The slide rail of destination path, then, control system control electromagnetic unit is deactivated state, in the presence of loop bar spring, loop bar
It is retracted in sleeve.
Embodiment 3
A kind of means of transportation, including some platform Z, some motion paths 1, some dollies 2, some switching devices 3 are some
Input equipment 5, homeposition recognition unit 6, control system 7；It is covered with the load that can be moved along its path direction on motion path 1
Body, so when dolly 2 is combined on motion path 1, dolly 2 can be moved along path direction；Each motion path 1 is spliced into one
Individual 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, except it is up,
Other motion paths outside downlink path are referred to as operating path, by switching device 3, operate in each up path or operation
Dolly 2 on path can cut at least one other motion paths 1, by switching device 3, each downlink path or operating path
The dolly 2 from least one other motion paths 1 can be accepted；Input equipment 5 is corresponded with dolly 2, and user is by input
The input of device 5 represents the information of destination's platform, and this information is conveyed to control system 7, homeposition identification by input equipment 5
To recognize dolly 2 from that up path, homeposition recognition unit 6 will recognize that signal is conveyed to unit 6
Control system 7, up path that control system 7 is set out according to dolly 2, destination's platform arrange out one to arrive at platform
Preset path, the preset path is spliced by some motion paths 1；The position switched between motion path 1 is referred to as
For Q at switching；The Q at the switching at least of dolly 2 carries out the switching of detective's pattern, specially：Motion of the dolly 2 in front operation
Path 1 is referred to as in front path, and the motion path 1 that dolly 2 will be switched to is referred to as destination path, the Q at the switching, in Qian Lu
Footpath and the parallel one section of setpoint distance of destination path, set the referred to as exclusive in front path in front path of one section of Q at switching
11, the destination path for setting one section of Q at switching is referred to as exclusive destination path 12；In addition to binding pattern, dolly 2 can also be with
Front path, destination path using sliding mode connected mode, when dolly 2 be in sliding mode when, dolly 2 not with carrier
Combine, dolly 2 is slided on motion path with the inertia of itself；Dolly 2 adopts sliding mode on one section of motion path
Running be referred to as taxiing procedures；It is exclusive that run location recognition unit D is provided with front path and exclusive destination path,
Run location recognition unit D is to recognize position of each dolly relative to the exclusive Q at front path, exclusive destination path, switching
Relation, run location recognition unit D is by recognition result input control system 7；For into the exclusive dolly in front path, control
According to the preset path of dolly 2, system 7 determines whether the dolly 2 needs the Q at switching to switch over, need the Q at switching to enter
The dolly 2 of row switching is referred to as target dolly；It is little that control system 7 controls the exclusive part on front path and exclusive destination path
Car performs taxiing procedures, so that the Q at the switching, the dolly on exclusive destination path will not be cut into resistance to target dolly
Gear, such control system 7 can control target dolly and cut exclusive destination path.
Wherein, the movement velocity of the exclusive carrier on front path is consistent with the movement velocity of carrier on exclusive destination path.
Wherein, motion path includes first axle A1, the second axle A2, soft rope A3, driver element A5 that a trap is closed, if the Heavenly Stems and Earthly Branches
Support A10, slide rail A6；Soft rope A3 is wound in first axle A1 and the second axle A2, and driver element A5 is propped up to drive soft rope A3 motions
To support the soft rope A3 of upside, slide rail A6 is arranged on above soft rope A3, has been positioned apart from some on soft rope A3 support A10
Projection A31；Dolly 2 is slided on slide rail A6,2 basal sliding of dolly connect a slide block 21, slide block 21 can upward and downward slide, it is described
Slide block 21 pairs should have a drive division 22, and drive division 22 is controlled by the control system 7 to drive slide block 21, drive division 22.
Wherein, also including some acceleration path K1, some deceleration path K2；The head end phase of acceleration path K1 and up path
Connection, acceleration path K1 to accelerate to dolly 2, so when dolly 2 reach up path head end when, the speed of dolly 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 dolly 2.
Wherein, at least there is the combination of one group of motion path, i.e. the first motion path, the second motion path, the 3rd motion
The dolly from the incision of the first motion path and only can be accepted in path, the second motion path, and that what is run on the second motion path is little
Car can only cut through the 3rd motion path, and dolly cuts the switching that the 3rd motion path takes detective's pattern from the second motion road.
Wherein, the switching device that can perform detective's pattern switching includes：Baffle plate G1, telescopic arm G2；It is exclusive in front path
Slide plate G6, exclusive slide rail A6 and exclusive target road in front path are equipped between the slide rail A6 of slide rail A6 and exclusive destination path
Space G8 is both provided with the slide rail A6 in footpath, the direction of space G8 is consistent with the direction of slide rail A6, and space G8 is mutual with slide block 21
Matching, so makes slide block 21 pluggable in the G8 of space, baffle plate G1 be arranged on it is exclusive front path, exclusive destination path it is outer
Side, telescopic arm G2 are arranged on dolly, and can push during telescopic arm G2 stretching, extensions baffle plate G1；Telescopic arm G2 receives the control of control system 7
System.
What the present invention program was realized in：The implementation of the present embodiment is substantially similar with embodiment 1.Its difference
It is that in the present embodiment, control system 7 controls the exclusive part dolly on front path 11 and exclusive destination path 12 and performs
Taxiing procedures, so that the position relationship between the dolly on exclusive dolly and exclusive destination path on front path can occur to become
Change.
Embodiment 4
A kind of means of transportation, including some platform Z, some motion paths 1, some dollies 2, some switching devices 3 are some
Input equipment 5, homeposition recognition unit 6, control system 7；It is covered with the load that can be moved along its path direction on motion path 1
Body, so when dolly 2 is combined on motion path 1, dolly 2 can be moved along path direction；Each motion path 1 is spliced into one
Individual 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, except it is up,
Other motion paths outside downlink path are referred to as operating path, by switching device 3, operate in each up path or operation
Dolly 2 on path can cut at least one other motion paths 1, by switching device 3, each downlink path or operating path
The dolly (2) from least one other motion paths 1 can be accepted；Input equipment 5 is corresponded with dolly 2, and user is by defeated
Enter the information that the input of device 5 represents destination's platform, this information is conveyed to control system 7 by input equipment 5, and homeposition is known
Other unit 6 to recognize dolly 2 from which bar up path, passed on by homeposition recognition unit 6 by identification signal
To control system 7, up path that control system 7 is set out according to dolly 2, destination's platform arrange out one to arrive at station
The preset path of platform, the preset path are spliced by some motion paths 1；The position switched between motion path 1 claims
For Q at switching, at each switching Q to there is a response position X, when dolly 2 needs that Q is switched at switching, switching
Device 3 must be responded in corresponding response position X, and response position X is to having a response position recognition unit X1, response bit
It is which dolly 2 have passed through response position X and this information is conveyed to control system 7 that recognition unit X1 is put to recognize,
When dolly 2 is through response position X, according to the preset path of dolly 2, control system 7 determines whether switching device 3 is responded；
Dolly 2 is referred to as in front path in the motion path 1 of front operation, and the motion path 1 that dolly 2 will be switched to is referred to as target road
Footpath, one section of setting are referred to as special in front path 15 in front path in front of Q at switching, 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, dolly 2 can also with front path, destination path
Wherein at least one using sliding mode connected mode, when dolly 2 be in sliding mode when, dolly 2 not with carrier phase
With reference to dolly 2 is slided on motion path with the inertia of itself；Dolly 2 is on one section of motion path using sliding mode
Running is referred to as taxiing procedures；It is special that run location recognition unit D, fortune are provided with front path and application-specific target path
Row location identification unit D is to recognize each dolly in the special position on front path, application-specific target path, run location identification
Cells D is by recognition result input control system 7；For into the special dolly in front path, control system 7 is according to dolly 2
Preset path determines whether the dolly 2 needs the Q at switching to switch over, and needs the dolly 2 that Q is switched at switching to be referred to as
For target dolly；Control system 7 controls special on front path or on application-specific target path or special in front path and described special
Taxiing procedures are performed with the part dolly on destination path, so that the Q at the switching, the dolly on application-specific target path will not be to mesh
That marks dolly is cut into stop.
Wherein, dolly 2 and the connected mode that sliding mode is adopted in front path, control system 7 can control special in Qian Lu
Part dolly on footpath performs taxiing procedures.
Wherein, the movement velocity of the special carrier on front path is consistent with the movement velocity of carrier on application-specific target path.
Wherein, also including some acceleration path K1, some deceleration path K2；The head end phase of acceleration path K1 and up path
Connection, acceleration path K1 to accelerate to dolly 2, so when dolly 2 reach up path head end when, the speed of dolly 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
Footpath K2 is to slow down to dolly 2.
What the present invention program was realized in：In the present invention program, when dolly 2 run to it is special on front path 15
When, run location recognition unit D is identified to which, and this information is conveyed to control system 7 by run location recognition unit D,
According to the preset path of the dolly, control system 7 determines whether dolly needs whether switching, i.e. dolly need to cut destination path,
If desired, control system is defined as target dolly dolly, and control system 7 controls the special part dolly on front path 15 and holds
Row taxiing procedures, when dolly is in sliding mode, the speed of dolly can be substantially slack-off, so, special on front path
The position relationship between dolly on dolly and application-specific target path can change, so that at switching, application-specific target path
Dolly on 16 will not be cut into stop to target dolly, so that means of transportation are more safe and reliable.
Although the present invention program is described by reference to preferred embodiment, this professional ordinary skill people
Member is it is to be appreciated that in the range of claims, can make the various change in form and details.
Claims (8)
1. a kind of means of transportation, including some platforms (Z), some motion paths (1), some dollies (2), some switching devices
(3), some input equipment (5), homeposition recognition unit (6), control system (7)；Being covered with the motion path (1) can edge
The carrier of its path direction motion, so when the dolly (2) is combined on the motion path (1), dolly (2) energy
Move along path direction；Each motion path (1) is spliced into a netted transportation network (W), and each platform passes through institute
State transportation network (W) to link together, each platform is connected with the head end of motion path described at least one (1), head end with station
The motion path (1) that platform is connected is referred to as up path, the tail end phase of each platform and motion path described at least one (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 up, descending
Other motion paths outside path are referred to as operating path, by the switching device (3), operate in each up path or fortune
The dolly (2) on walking along the street footpath can cut at least one other motion paths (1), by the switching device (3), per once
Walking along the street footpath or operating path can accept the dolly (2) from least one other motion paths (1)；The input equipment (5) with
The dolly (2) corresponds, and user represents the information of destination's platform, the input by the input equipment (5) input
This information is conveyed to the control system (7) by device (5), and the homeposition recognition unit (6) is to recognize dolly (2)
From which bar up path, the homeposition recognition unit (6) will recognize that signal is conveyed to the control system
(7) up path that, the control system (7) is set out according to dolly (2), destination's platform arrange out one to arrive at station
The preset path of platform, the preset path are spliced by some motion paths (1)；Switch between the motion path (1)
Position be referred to as switching at (Q)；It is characterized in that：The dolly (2) (Q) at the switching at least carries out detective's pattern
Switching, specially：The dolly (2) is referred to as in front path in the motion path (1) of front operation, and the dolly (2) will be cut
The motion path (1) changed to is referred to as destination path, at switching (Q), described in front path and the destination path parallel
Section setpoint distance, set one section at switching (Q) be referred to as exclusive in front path (11) in front path, set one section of process
At switching, the destination path of (Q) is referred to as exclusive destination path (12)；In addition to binding pattern, the dolly (2) can also with it is described
The connected mode of sliding mode is adopted in the wherein at least one of front path, the destination path, when the dolly (2) is in cunning
During row mode, the dolly (2) is not combined with the carrier, and the dolly (2) is as the inertia of itself is in the motion
Slide on path；The dolly (2) is referred to as taxiing procedures using the running of sliding mode on one section of motion path；Institute
State it is exclusive be provided with run location recognition unit (D) on front path and the exclusive destination path, the run location identification
Unit (D) is to recognize each dolly relative to exclusive at front path, the exclusive destination path, the switching (Q)
Recognition result is input into the control system (7) by position relationship, the run location recognition unit (D)；For into it is exclusive
According to the preset path of dolly (2), the dolly in front path, the control system (7) determine whether the dolly (2) is needed in switching
Place (Q) switches over, and needs the dolly (2) that (Q) is switched at switching to be referred to as target dolly；The control system (7)
Control described exclusive on front path or on the exclusive destination path or described exclusive in front path and the exclusive target road
Part dolly on footpath performs taxiing procedures, so that at switching (Q), the dolly on the exclusive destination path will not be to target
Being cut into of dolly stops that the controllable target dolly of said 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 motion of the exclusive carrier on front 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 axle (A2), the soft rope (A3) that a trap is closed, driver element (A5), some bracing frames (A10), slide rail (A6)；The soft rope
(A3) it is wound in the first axle (A1) and second axle (A2), the driver element (A5) is to drive the soft rope (A3)
Motion, to support the soft rope (A3) of upside, the slide rail (A6) is arranged on the soft rope (A3) support frame as described above (A10)
Side, has been positioned apart from some upper protruding blocks (A31) on the soft rope (A3)；The dolly (2) is slided on the slide rail (A6),
Dolly (2) basal sliding connects a slide block (21), the slide block (21) can upward and downward slide, the slide block (21) is to having
One drive division (22), to drive the slide block (21), the drive division (22) is by the control system for the drive division (22)
(7) control.
4. a kind of means of transportation according to claim 1 and 2, it is characterised in that：Also include some 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 dolly (2), so when the dolly (2) reaches the up path head end, the dolly (2)
Speed is consistent with the speed of service of carrier on the up path；The tail end of the deceleration path (K2) and the downlink path
It is connected, the deceleration path (K2) is to slow down to the dolly (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, the 3rd motion path, the second motion path can and only may be used
The dolly from the incision of the first motion path is accepted, the dolly run on the second motion path can only cut through the 3rd motion path, little
Car cuts the switching that the 3rd motion path takes detective's pattern from the second motion road.
6. a kind of means of transportation, including some platforms (Z), some motion paths (1), some dollies (2), some switching devices
(3), some input equipment (5), homeposition recognition unit (6), control system (7)；Being covered with the motion path (1) can edge
The carrier of its path direction motion, so when the dolly (2) is combined on the motion path (1), dolly (2) energy
Move along path direction；Each motion path (1) is spliced into a netted transportation network (W), and each platform passes through institute
State transportation network (W) to link together, each platform is connected with the head end of motion path described at least one (1), head end with station
The motion path (1) that platform is connected is referred to as up path, the tail end phase of each platform and motion path described at least one (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 up, descending
Other motion paths outside path are referred to as operating path, by the switching device (3), operate in each up path or fortune
The dolly (2) on walking along the street footpath can cut at least one other motion paths (1), by the switching device (3), per once
Walking along the street footpath or operating path can accept the dolly (2) from least one other motion paths (1)；The input equipment (5) with
The dolly (2) corresponds, and user represents the information of destination's platform, the input by the input equipment (5) input
This information is conveyed to the control system (7) by device (5), and the homeposition recognition unit (6) is to recognize dolly (2)
From which bar up path, the homeposition recognition unit (6) will recognize that signal is conveyed to the control system
(7) up path that, the control system (7) is set out according to dolly (2), destination's platform arrange out one to arrive at station
The preset path of platform, the preset path are spliced by some motion paths (1)；Switch between the motion path (1)
Position be referred to as switching at (Q), at each switching (Q) to there is a response position (X), when dolly (2) need at switching
(Q) when switching over, the switching device (3) must be responded at corresponding response position (X), response position (X) correspondence
There is a response position recognition unit (X1), the response position recognition unit (X1) is which dolly (2) is passed through to recognize
This information is simultaneously conveyed to the control system (7) by response position (X), when dolly (2) is when response position (X), institute
State control system (7) and determine whether the switching device (3) is responded according to the preset path of dolly (2)；It is characterized in that：
The motion road that the dolly (2) is referred to as to be switched in front path, the dolly (2) in the motion path (1) of front operation
Footpath (1) is referred to as destination path, and one section of setting is referred to as special in front path in front path in front of (Q) at switching
(15), set one section of destination path in front of (Q) at switching and be referred to as application-specific target path (16)；In addition to binding pattern,
The dolly (2) can also adopt the connection side of sliding mode with the wherein at least one in front path, the destination path
Formula, when the dolly (2) is in sliding mode, the dolly (2) is not combined with the carrier, the dolly (2) with
The inertia of itself to slide on the motion path；The dolly (2) adopts the fortune of sliding mode on one section of motion path
Row process is referred to as taxiing procedures；The special run location that is provided with front path and the application-specific target path recognizes list
First (D), the run location recognition unit (D) is to recognize each dolly described special on front path, the application-specific target road
Recognition result is input into the control system (7) by the position on footpath, the run location recognition unit (D)；For into special
In the dolly in front path, according to the preset path of dolly (2), the control system (7) determines whether the dolly (2) needs cutting
(Q) is switched at the place of changing, and needs the dolly (2) that (Q) is switched at switching to be referred to as target dolly；The control system
(7) control described special on front path or on the application-specific target path or described special in front path and the application-specific target
Part dolly on path performs taxiing procedures, so that at switching (Q), the dolly on the application-specific target path will not be to mesh
That marks dolly is cut into stop.
7. a kind of means of transportation according to claim 6, it is characterised in that：The motion of the special carrier on front path
Speed is consistent with the movement velocity of carrier on the application-specific target path.
8. a kind of means of transportation according to claim 6 or 7, it is characterised in that：Also include some 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 dolly (2), so when the dolly (2) reaches the up path head end, the dolly (2)
Speed is consistent with the speed of service of carrier on the up path；The tail end of the deceleration path (K2) and the downlink path
It is connected, the deceleration path (K2) is to slow down to the dolly (2).
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| CN201610662346.7A CN106541949B (en) | 2016-08-09 | 2016-08-09 | A kind of means of transportation |
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| CN201610662346.7A CN106541949B (en) | 2016-08-09 | 2016-08-09 | A kind of means of transportation |
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| CN106541949B CN106541949B (en) | 2018-10-09 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107963083A (en) * | 2017-10-09 | 2018-04-27 | 宁波市鄞州乐可机电科技有限公司 | A kind of means of transportation |
| CN109109868A (en) * | 2018-07-07 | 2019-01-01 | 宁波市鄞州乐可机电科技有限公司 | A kind of means of transportation |
| CN109109867A (en) * | 2018-04-09 | 2019-01-01 | 宁波市鄞州乐可机电科技有限公司 | A kind of means of transportation |
| CN109204327A (en) * | 2018-07-31 | 2019-01-15 | 宁波市鄞州乐可机电科技有限公司 | A kind of means of transportation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE2114608B2 (en) * | 1971-03-26 | 1973-07-26 | Messerschmitt Bolkow Blohm GmbH, 8000 München | DEVICE FOR REGULATING A TRAFFIC SYSTEM |
| US4726299A (en) * | 1986-02-20 | 1988-02-23 | Regents Of The University Of Minnesota | Method and apparatus for controlling a vehicle |
| DE4118205A1 (en) * | 1991-06-04 | 1992-12-10 | Gerd Dipl Ing Riepe | Tracked traffic to convey passengers and goods - has crossing free through routes and feeder routes, and individually driven cabins on tracks |
| KR100250021B1 (en) * | 1996-12-02 | 2000-03-15 | 박태진 | Personal rapid transit |
| CN100402356C (en) * | 2006-06-23 | 2008-07-16 | 颜海滨 | Rail transport network system |
| CN104015731A (en) * | 2014-05-30 | 2014-09-03 | 赵毅 | High-carrying-capacity through rail transit system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107963083A (en) * | 2017-10-09 | 2018-04-27 | 宁波市鄞州乐可机电科技有限公司 | A kind of means of transportation |
| CN107963083B (en) * | 2017-10-09 | 2020-04-10 | 宁波市鄞州乐可机电科技有限公司 | Traffic facility |
| CN109109867A (en) * | 2018-04-09 | 2019-01-01 | 宁波市鄞州乐可机电科技有限公司 | A kind of means of transportation |
| CN109109868A (en) * | 2018-07-07 | 2019-01-01 | 宁波市鄞州乐可机电科技有限公司 | A kind of means of transportation |
| CN109204327A (en) * | 2018-07-31 | 2019-01-15 | 宁波市鄞州乐可机电科技有限公司 | A kind of means of transportation |
| CN109204327B (en) * | 2018-07-31 | 2019-11-15 | 宁波市鄞州乐可机电科技有限公司 | A kind of means of transportation |
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| CN106541949B (en) | 2018-10-09 |
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