CN110949412B

CN110949412B - Traffic facility

Info

Publication number: CN110949412B
Application number: CN201911265300.1A
Authority: CN
Inventors: 叶大可
Original assignee: Ningbo Yinzhou Leke Electromechanical Technology Co ltd
Current assignee: Ningbo Yinzhou Leke Electromechanical Technology Co ltd
Priority date: 2018-07-07
Filing date: 2018-07-07
Publication date: 2021-01-26
Anticipated expiration: 2038-07-07
Also published as: CN109109868A; CN110949412A

Abstract

The scheme of the invention is a transportation facility, which comprises a plurality of platforms, a plurality of motion paths, a plurality of trolleys, a plurality of switching devices, a plurality of input devices, a starting position identification unit and a control system; under the control of the control system, the trolley can be switched among all the movement paths; an acceleration path, a deceleration path, a queuing path and a traveling path are arranged on the platform; the method comprises the following steps that a user inputs destination platform information on a queuing path and generates a trolley of a preset path, namely a trolley to be cut in, and the trolley to be cut in executes a batch cut-in mode, and specifically comprises the following steps: when the trolley running on the traveling path and other trolleys which are executing the switching action do not form a barrier for the switching-in, the trolley to be switched in executes the switching action. The scheme of the invention has the following advantages: the automatic switching device is safe, reliable and high in efficiency, and the trolley which is executing the switching action can not affect the cut-in of the follow-up trolley.

Description

Traffic facility

Technical Field

The invention relates to the field of construction of traffic facilities.

Background

Modern transportation facilities use automobiles as carriers, and after long-term development, the system has exposed insurmountable defects, mainly as follows: the efficiency is low, sometimes a huge automobile only bears a few people, and the automobile is required to stop at a platform and an intersection, and the automobile is easy to block, so that the citizens have a deep experience, and the repeated description is omitted, and the environmental pollution is serious and mainly caused by automobile exhaust. The Chinese patent with the application number of 201610289874.2 makes a beneficial improvement and discloses a transportation facility which comprises a plurality of platforms, a plurality of motion paths, a plurality of trolleys, a plurality of switching devices, a plurality of input devices, a starting position identification unit and a control system; the moving path is fully distributed with carriers capable of moving along the path direction, so that when the trolley is combined on the moving path, the trolley can move along the path direction; all the motion paths are spliced into a netlike traffic network, all the platforms are connected together through the traffic network, each platform is connected with the head end of at least one motion path, the motion path with the head end connected with the platform is called an uplink path, each platform is connected with the tail end of at least one motion path, the motion path with the tail end connected with the platform is called a downlink path, in all the motion paths, the other motion paths except the uplink path and the downlink path are called running paths, through a switching device, a trolley running on each uplink path or running path can be switched into at least one other motion path, and through the switching device, each downlink path or running path can receive trolleys from at least one other motion path; the input devices correspond to the trolleys one by one, a user inputs information representing a destination platform through the input devices, the input devices transmit the information to the control system, the departure position identification unit is used for identifying which uplink path the trolleys depart from, the departure position identification unit transmits an identification signal to the control system, the control system arranges a preset path reaching the destination platform according to the uplink path from which the trolleys depart and the destination platform, and the preset path is formed by splicing a plurality of movement paths; when the trolleys need to be switched at the switching positions, the switching device must respond at the corresponding responding positions, the responding positions correspond to a responding position identification unit which is used for identifying which trolley passes through the responding positions and transmitting the information to the control system, and when the trolleys pass through the responding positions, the control system determines whether the switching device responds or not according to the preset path of the trolleys; the system also comprises a plurality of acceleration paths and a plurality of deceleration paths; the acceleration path is connected with the head end of the uplink path and is used for accelerating the trolley, so that when the trolley reaches the head end of the uplink path, the speed of the trolley is consistent with the running speed of a carrier on the uplink path; the deceleration path is connected with the tail end of the descending path and is used for decelerating the trolley. In the scheme of the invention, the acceleration path accelerates the trolley to gradually accelerate the speed of the trolley, and the deceleration path decelerates the trolley to gradually reduce the speed of the trolley. However, in practical simulation tests, the transportation facility of the scheme of the invention has some defects, which are as follows: the traffic facility of the scheme of the invention is not convenient enough to use, and the trolley is very troublesome to carry from the deceleration path to the acceleration path in the using process, on the basis of which, the Chinese patent with the application number of 201610680030.0 makes a beneficial improvement and discloses an urban traffic facility which comprises a plurality of platforms, a plurality of motion paths, a plurality of trolleys, a plurality of switching devices, a plurality of input devices, a starting position identification unit and a control system; the moving path is fully distributed with carriers capable of moving along the path direction, so that when the trolley is combined on the moving path, the trolley can move along the path direction; all the motion paths are spliced into a netlike traffic network, all the platforms are connected together through the traffic network, each platform is connected with the head end of at least one motion path, the motion path with the head end connected with the platform is called an uplink path, each platform is connected with the tail end of at least one motion path, the motion path with the tail end connected with the platform is called a downlink path, in all the motion paths, the other motion paths except the uplink path and the downlink path are called running paths, through a switching device, a trolley running on each uplink path or running path can be switched into at least one other motion path, and through the switching device, each downlink path or running path can receive trolleys from at least one other motion path; the input devices correspond to the trolleys one by one, a user inputs information representing a destination platform through the input devices, the input devices transmit the information to the control system, the departure position identification unit is used for identifying which uplink path the trolleys depart from, the departure position identification unit transmits an identification signal to the control system, the control system arranges a preset path reaching the destination platform according to the uplink path from which the trolleys depart and the destination platform, and the preset path is formed by splicing a plurality of movement paths; when the trolleys need to be switched at the switching positions, the switching device must respond at the corresponding responding positions, the responding positions correspond to a responding position identification unit which is used for identifying which trolley passes through the responding positions and transmitting the information to the control system, and when the trolleys pass through the responding positions, the control system determines whether the switching device responds or not according to the preset path of the trolleys; the system also comprises a plurality of acceleration paths and a plurality of deceleration paths; the acceleration path is connected with the head end of the uplink path and is used for accelerating the trolley, so that when the trolley reaches the head end of the uplink path, the speed of the trolley is consistent with the running speed of a carrier on the uplink path; the deceleration path is connected with the tail end of the descending path and is used for decelerating the trolley; at least one transition path is arranged on each station; the tail end of the transition path is connected with the deceleration path, so that the transition path can receive the trolley from the deceleration path; the head end of the transition path is connected with the acceleration path, so that the trolley on the transition path can be switched into the acceleration path. In the scheme of the invention, the trolley can move from the deceleration path to the acceleration path through the transition path, so that the trolley is very convenient. However, this solution has disadvantages, such as low operating efficiency of the transportation facility, for example: when user A occupies a dolly of transition route head end, user B occupies another dolly, the dolly that user B occupied is followed closely user A's dolly, if user A's dolly does not go out, receive user A's blockking, user B's dolly also can't go out, such situation takes place occasionally, because the business has made a call temporarily after user A gets into the dolly, do not go out immediately, this can cause the influence to user B's dolly obviously, and then influence transportation facilities's operating efficiency, based on this, Chinese patent that application number is 201710560543.2 has made beneficial improvement, a transportation facilities is disclosed, its characterized in that: a queuing path and a traveling path are arranged on each station; the queuing path and the traveling path are parallel to each other; the head end of the queuing path is connected with the tail end of the speed reducing path, so that the queuing path can receive the trolleys from the speed reducing path, and the queuing path is used for queuing the trolleys, and specifically comprises the following steps: the tail end of the queuing path is taken as the head of the queue, and the trolleys are closely arranged in a line; the tail end of the advancing path is connected with the head end of the accelerating path, so that the accelerating path can receive the trolley from the advancing path, and the advancing path is provided with a moving carrier, so that when the trolley is positioned on the advancing path, the trolley can move along the path direction; when the trolley on the queuing path receives a starting command of the control system, the trolley executes a mode of switching the detective mode so as to cut the trolley into the advancing path, and the method specifically comprises the following steps: the trolley is correspondingly provided with a detective unit, when the trolley receives a starting command, the detective unit is started, and when the detective unit detects that the trolley on the advancing path cannot block the cut-in action of the trolley, the control system controls the switching device to execute the switching action. In the scheme of the invention, when the trolley on the queuing path receives the starting command of the control system, the trolley executes the switching mode of the detective mode so that the trolley is switched into the advancing path, and the starting of the rear trolley is not influenced by the front trolley. However, in practical simulation, the transportation facility of the scheme of the present invention has a disadvantage that when the spacing distance between the carts on the queuing path is too small and the carrier running speed on the traveling path is too high, for a cart on one queuing path, even if it is detected that the cart on the traveling path does not form a barrier to the cut-in action of the cart, the cut-in action of the cart is affected by other carts performing the switching action, for example: if the trolley B is positioned behind the trolley A, namely the trolley B is closer to the head end of the queuing path compared with the trolley A, the spacing distance between the trolley B and the trolley A is very small, and because the switching action needs a certain time, if the trolley B performs the switching action before the trolley A, the trolley B completes the switching action and moves along with the traveling path in the switching action process of the trolley A, the switching action of the trolley A can be influenced by the trolley B, namely, although the time for the switching action of the trolley A is very short, the position relation of the small workshops can also change in the very short time range, and further the switching action can be influenced possibly, therefore, there is a need to provide a solution that overcomes the above-mentioned drawbacks.

Disclosure of Invention

The technical problem to be solved by the scheme of the invention is to provide a transportation facility which runs efficiently aiming at the current situation of the prior art, and in the transportation facility, a trolley which is executing switching action does not influence the cut-in of a subsequent trolley.

The technical scheme for solving the problems comprises the following steps:

a traffic facility comprises a plurality of platforms, a plurality of motion paths, a plurality of trolleys, a plurality of switching devices, a plurality of input devices, a starting position identification unit and a control system; the moving path is provided with a moving carrier, so that when the trolley is positioned on the moving path, the trolley can move along the path direction; all the motion paths are spliced into a mesh-shaped traffic network, all the stations are connected together through the traffic network, each station is connected with the head end of one motion path, the motion path with the head end connected with the station is called an uplink path, each station is connected with the tail end of one motion path, the motion path with the tail end connected with the station is called a downlink path, in all the motion paths, the other motion paths except the uplink path and the downlink path are called running paths, through a switching device, a trolley running on each uplink path and each running path can be cut into at least one other motion path, and through a switching device, each downlink path and each running path can receive trolleys from at least one other motion path; the input devices correspond to the trolleys one by one, a user inputs information representing a destination platform through the input devices, the input devices transmit the information to the control system, the departure position identification unit is used for identifying which uplink path the trolleys depart from, the departure position identification unit transmits an identification signal to the control system, the control system arranges a preset path reaching the destination platform according to the uplink path from which the trolleys depart and the destination platform, and the preset path is formed by splicing a plurality of movement paths; the position where the movement paths are switched is called as a switching position, and the control system determines whether the trolley is switched at the switching position according to the preset path of the trolley, so that the running of the trolley conforms to the preset path; each station is provided with an acceleration path and a deceleration path; the tail end of the acceleration path is connected with the head end of the ascending path, and the acceleration path is used for accelerating the trolley, so that when the trolley reaches the head end of the ascending path, the speed of the trolley is consistent with the running speed of a carrier on the ascending path; the head end of the deceleration path is connected with the tail end of the descending path, and the deceleration path is used for decelerating the trolley; a queuing path and a traveling path are arranged on each station; the queuing path and the traveling path are parallel to each other; the head end of the queuing path is connected with the tail end of the speed reducing path, so that the queuing path can receive the trolleys from the speed reducing path, and the queuing path is used for queuing the trolleys, and specifically comprises the following steps: the tail end of the queuing path is taken as the head of the queue, and the trolleys are closely arranged in a line; the tail end of the advancing path is connected with the head end of the accelerating path, so that the accelerating path can receive the trolley from the advancing path, and the advancing path is provided with a moving carrier, so that when the trolley is positioned on the advancing path, the trolley can move along the path direction; the method comprises the following steps that a user inputs destination platform information on a queuing path and generates a trolley of a preset path, namely a trolley to be cut in, and the trolley to be cut in executes a batch cut-in mode, and specifically comprises the following steps: the traveling path and the queuing path are provided with a running position identification unit, the running position identification unit is used for identifying the positions of the trolley on the traveling path and the queuing path, and the running position identification unit inputs the identification results into the control system; every time a preset time is set, the control system sequentially carries out one-time double judgment on each trolley to be cut in, namely, whether the trolley running on the advancing path blocks the cut-in of the trolley, and whether other trolleys to be cut in which switching actions are being executed block the cut-in of the trolley; for a trolley to be cut in, when the trolley running on the traveling path and other trolleys to be cut in which the switching action is being performed do not form a barrier for cutting in, the trolley to be cut in performs the switching action.

In the scheme of the invention, the control system carries out double judgment once on the trolley to be cut in, and when the trolley running on the travelling path and other trolleys to be cut in which the switching action is being carried out do not form a barrier for cutting in, the trolley to be cut in carries out the switching action. Compared with the prior art, other trolleys which are executing the switching action can not influence the switching-in action of the trolley to be switched in, so that the switching-in of the trolley is safer. In the scheme of the invention, the control system sequentially carries out one-time double judgment on each trolley to be cut in, and the sequence can be carried out from the tail end to the head end of the queuing path in sequence and also can be carried out from the head end to the tail end of the queuing path in sequence. In the scheme of the invention, the trolleys which affect the trolley to be cut in are classified into two types, namely trolleys running on a travelling path and trolleys which are executing switching action, the switching process of the trolley is controlled by the control system, the control system can obviously distinguish the two types of trolleys, the trolley which is operated by the switching device is obviously the trolley which is executing the switching action, and the trolley which is switched by the switching device and finishes the switching action is obviously the trolley which runs on a travelling path, of course, since the time for performing a switching action is constant, the control system can also determine by recording the time, if it is assumed that the time for performing a switching action is T6, the timing is started as soon as the switching action is performed by the cart, if the time is less than or equal to T6, the trolley is the trolley which is executing the switching action, and if the time is more than T, the trolley is operated on the travel path. In the scheme of the invention, for a platform, the trolleys running on the queuing path can enter the traffic network through the corresponding uplink path, namely the trolleys running on the queuing path can enter the corresponding uplink path predictably, therefore, the departure position identification unit can be arranged on the queuing path, for example, for the platform No. 3, the uplink path No. 3 corresponds to the queuing path No. 3, and for example, if the trolley A is identified to be on the queuing path No. 3, the trolley A can pass through the uplink path No. 3 after being issued, once the user inputs destination platform information for the trolley A on the queuing path No. 3, the control system can immediately generate the preset path of the trolley A. In the scheme of the invention, in order to make the cut-in of the trolley smoother, the length of the traveling path can slightly exceed the length of the queuing path, the head end of the traveling path slightly exceeds the head end of the queuing path, and the tail end of the traveling path slightly exceeds the tail end of the queuing path, so that the traveling path is higher in accommodating capacity. In the scheme of the invention, the control system sequentially carries out one-time double judgment on each trolley to be cut in, namely, whether the trolley running on the advancing path blocks the cut-in of the trolley, and whether other trolleys to be cut in which switching actions are being executed block the cut-in of the trolley; for the first judgment, chinese patent application No. 201510874759.7 specifies that whether a car running on the traveling path forms a barrier to the cut-in of the car to be cut in is obtained by the detecting unit, and generally, whether a car queue on the traveling path has a neutral position beneficial to the cut-in of the car to be cut in is detected, if it is specified that there is no other car on the traveling path within a set distance from the front end of the car to be cut in and there is no other car on the rear end of the car to be cut in, the above mentioned spacing distance is a spacing distance in the path length direction, for example, for the car to be cut in, there is no other car on the front end of the car a within 2 meters, and there is no other car on the rear end of the car a within 2.5 meters, if the length of the car a itself is 1.2 meters, this requires that there is a neutral position with a length of at least 5.7 meters on the car queue on the traveling path, because the running position identification units are arranged on the advancing path and the queuing path, the control system can know the positions of the trolleys in real time, and further judge. In practical applications, the distance of separation should be set to provide redundancy so that absolute safety of the car cut-in is ensured. For the second judgment, the problem to be solved is whether the other to-be-cut trolley performing the switching action blocks the cutting of one to-be-cut trolley, and such judgment obviously has various implementation manners.

If once a trolley to be cut in starts to execute the cut-in action, a virtual position is immediately arranged on a trolley queue of the travelling path, and the position of the trolley coincides with the virtual position after the trolley to be cut in completes the switching action along with the execution of the cut-in action by the trolley to be cut in and the running of the virtual position on the travelling path. The position of the virtual position on the trolley queue of the travel path is consistent with the position of the trolley queue of the to-be-switched-in trolley on the travel path after the to-be-switched-in trolley performs the switching-in action, that is, the position relationship between the virtual position and each trolley running on the travel path, and the position relationship between the to-be-switched-in trolley after the to-be-switched-in trolley performs the switching-in action and each trolley originally running on the travel path are consistent. When other to-be-cut trolleys need to make judgment later, the virtual positions are taken into consideration, namely, one trolley exists in the virtual positions, the virtual positions can be obtained through actually simulating a cut-in process, for example, when the operation is just started, the to-be-cut trolleys and the trolleys on the advancing path form a certain position relation, and the position relation refers to the distance between the to-be-cut trolleys and the trolleys on the advancing path in the path length direction. After the switching is completed, compared with the original position relation, the position of the trolley to be cut in moves backwards for a certain distance, and the distance can be obviously obtained by actually simulating the cutting-in process. If the distance between the trolley A to be cut and the trolley B running on the travelling path is 6 meters when the movement is just started, the trolley A to be cut is positioned in front of the trolley B, and after the switching is finished, compared with the original position relation, the position of the trolley A to be cut on the trolley queue can move backwards for a certain distance, if the distance is 0.5 meter, namely the distance between the trolley A and the trolley B is 5.5 meters after the switching is finished, the distance between the virtual position and the trolley B is 5.5 meters, and the virtual position is positioned in front of the trolley B. Of course, such a determination can also be obtained by precise calculation, and for a car performing the switching process, the relationship between the change of the position and the time can be plotted, and the timing is started with the position of the car at the beginning of the switching process as the origin, so as to form a functional relationship S ═ f (T), where S represents the moving distance of the car in the path direction, and T represents the elapsed time from the beginning of the timing, and such a functional relationship can be obtained by simulating the switching process, and such a function is actually a piecewise function bounded by the time point at which the switching process is completed. Therefore, by recording the position and the time when the switching operation of the carriage is just started, the position of the carriage after the switching operation can be calculated. In the solution of the present invention, there are two states of the cart on the queuing path, a static state and a moving state, where the moving state refers to the cart performing the queuing process, generally, the functional relationship obtained by actually simulating the cut-in process of the cart in the static state and the cart in the moving state is not very different, and of course, the cart in the two different states may be separately simulated to obtain their respective functional relationships, for example, when T is not greater than T0, S is 0, and when T is greater than T0, S is V (T-T0), where T0 represents the time required by the cart to complete a switching action, and V represents the running speed of the carrier on the traveling path. For a trolley in motion, when T is not greater than T0, S ═ f1(T), and when T is greater than T0, S ═ f1(T0) + V (T-T0), where S ═ f1(T) functional relationships are obtainable by actually simulating the cut-in process. The method comprises the steps of judging a trolley to be cut in, namely judging that other trolleys executing switching action can not affect the switching of the trolley to be cut in, setting a front limit line in front of the trolley to be cut in, setting the spacing distance between the front limit line and the front end of the trolley to be cut in as a first distance, setting a rear limit line behind the trolley to be cut in, setting the spacing distance between the rear limit line and the rear end of the trolley to be cut in as a second distance, and keeping the positions of the front limit line and the rear limit line unchanged on a queuing path and a traveling path once the front limit line and the rear limit line are marked. The control system can obtain the judgment according to the position of the other trolleys which are executing the switching action in a period of time because the positions of the other trolleys which are executing the switching action can be calculated. The method comprises the steps of judging by taking the rear end of a trolley to be cut into as an origin, wherein the first distance is A1, the second distance is A2, the length of the trolley is A3, the area surrounded by the front boundary line and the rear boundary line is-A2-A1 + A3, the position of the front end of the trolley which is executing the switching action when the trolley just starts to execute the switching action is S1, the position of the rear end of the trolley which is currently to be cut into is S2, the distance between the two is A5, A5 is S1-S2, the time when the trolley which is executing the switching action is judged to be cut into is T1, the current time when the trolley which is judging to be cut into is SK1, the time when the trolley which is executing the switching action just starts to execute the switching action is SK2, and T1 is SK1-SK 2. In the process of performing the switching operation by the cart to be switched in, the moving track of the front end of the cart performing the switching operation is a5+ f (T1) -a5+ f (T1+ T0), so as to obtain whether the moving track of the front end of the cart performing the switching operation falls within the area enclosed by the front boundary line and the rear boundary line, and similarly, whether the moving track of the rear end of the cart performing the switching operation falls within the area enclosed by the front boundary line and the rear boundary line, if the front end and the rear end of the cart performing the switching operation do not appear within the area enclosed by the front boundary line and the rear boundary line, it is determined that the cart performing the switching operation does not affect the switching of the cart to be switched in. In practical application, when the car executing the switching action just starts to execute the switching action, the front end of the car is located behind the rear end of the car to be switched into, the spacing distance a5 is expressed by a negative number, otherwise, when the car executing the switching action just starts to execute the switching action, the front end of the car is located in front of the rear end of the car to be switched into, the spacing distance a5 is expressed by a positive number, and the moving trajectory of the whole car executing the switching action in the process of executing the switching action can be expressed, the trajectory is a5+ f (T1) -a6-a5+ f (T1+ T0), wherein a6 is the length of the car executing the switching action, and further, whether the moving trajectory of the car executing the switching action falls within a region surrounded by the front boundary line and the rear boundary line can be obtained. Of course, the first distance a1 and the second distance a2 can be set as required, the larger the first distance a1 and the second distance a2 are, the safer the cutting process is, the smaller the first distance a1 and the second distance a2 are, the higher the cutting efficiency of the trolley to be cut into, and if the trolley to be cut into is in a static state, the first distance a1 can be set to 0 in order to improve the cutting efficiency of the trolley. The operation position identification unit relates to the prior art, is described in detail in Chinese patents with application numbers 201510702108.X and 201510874759.7, and is widely applied to the fields of numerical control lathes and rail transit, and the input device, the departure position identification unit, the control system and the motion path related to the scheme of the invention are described in detail in Chinese patents with application numbers 201510702108.X, 201510874759.7, 201610289874.2, 201610662346.7, 201610701640.4, 201610680030.0, 201611127849.0, 201710072356.9, 201710091460.3 and 201710216921.5, which are not repeated herein. The acceleration path and the deceleration path related to the solution of the present invention are described in detail in chinese patent application No. 201610289874.2, and are not described herein again. The queuing paths related to the scheme of the present invention are described in detail in chinese patent application nos. 201710091460.3 and 201710216921.5, which are not described herein again. The travel path according to the present invention is actually a motion path, and is described in detail in the chinese patent application No. 201510702108.

Preferably, the preset time is 10 milliseconds.

The chinese patent with application number 201510874759.7 discloses a transportation facility, which includes a plurality of platforms, a plurality of movement paths, a plurality of trolleys, a plurality of switching devices, a plurality of input devices, a departure position identification unit, and a control system; the moving path is fully distributed with carriers capable of moving along the path direction, so that when the trolley is combined on the moving path, the trolley can move along the path direction; all the motion paths are spliced into a netlike traffic network, all the platforms are connected together through the traffic network, each platform is connected with the head end of at least one motion path, the motion path with the head end connected with the platform is called an uplink path, each platform is connected with the tail end of at least one motion path, the motion path with the tail end connected with the platform is called a downlink path, in all the motion paths, the other motion paths except the uplink path and the downlink path are called running paths, through a switching device, a trolley running on each uplink path or running path can be switched into at least one other motion path, and through the switching device, each downlink path or running path can receive trolleys from at least one other motion path; the input devices correspond to the trolleys one by one, a user inputs information representing a destination platform through the input devices, the input devices transmit the information to the control system, the departure position identification unit is used for identifying which uplink path the trolleys depart from, the departure position identification unit transmits an identification signal to the control system, the control system arranges a preset path reaching the destination platform according to the uplink path from which the trolleys depart and the destination platform, and the preset path is formed by splicing a plurality of movement paths; when the trolleys need to be switched at the switching positions, the switching device must respond at the corresponding responding positions, the responding positions correspond to a responding position identification unit which is used for identifying which trolley passes through the responding positions and transmitting the information to the control system, and when the trolleys pass through the responding positions, the control system determines whether the switching device responds or not according to the preset path of the trolleys; the switching of the detective mode is carried out at least one switching position of the trolley, which specifically comprises the following steps: the moving path of the trolley running in the front is called a front path, the moving path to which the trolley is to be switched is called a target path, and the front path and the target path are parallel for a set distance at the switching position; the response position identification unit is used for identifying which trolley enters the switching position; the switching device comprises a detecting unit, when the trolley runs to a switching position, the detecting unit can detect whether other trolleys running on a target path block the switching action of the trolley, and the detecting unit inputs a detecting result into the control system; when the trolley needs to cut into the target path, the switching device responds in the following way: starting the detective unit, and controlling the switching device to execute the switching action by the control system when other trolleys running on the detected target path cannot block the switching action of the trolley; at the switch, there is a predetermined speed difference between the moving speed of the carrier on the forward path and the moving speed of the carrier on the target path. However, this technical solution also has disadvantages, and for a cart to be cut into a target path, not only the cart running on the target path may affect the cut-in, but also other carts executing a switching action may affect the cut-in, and this case shows that the distance between the carts to be cut into is small, and when the difference between the moving speed of the carrier on the front path and the moving speed of the carrier on the target path is large, for example: the distance between the trolley b and the trolley a is very small, and a certain time is required for executing the switching action, if the trolley b performs the switching action before the trolley a, in the process of performing the switching action by the trolley a, the trolley b has completed the switching action and moves along with the target path, and the trolley b may affect the switching action of the trolley a, that is, although the time for the trolley to perform the switching process is very short, the position relationship of the small workshops may also change within the very short time range, and further, the switching action may be affected.

The technical scheme for solving the problems comprises the following steps:

a traffic facility comprises a plurality of platforms, a plurality of motion paths, a plurality of trolleys, a plurality of switching devices, a plurality of input devices, a starting position identification unit and a control system; the moving path is fully distributed with carriers capable of moving along the path direction, so that when the trolley is combined on the moving path, the trolley can move along the path direction; all the motion paths are spliced into a netlike traffic network, all the platforms are connected together through the traffic network, each platform is connected with the head end of at least one motion path, the motion path with the head end connected with the platform is called an uplink path, each platform is connected with the tail end of at least one motion path, the motion path with the tail end connected with the platform is called a downlink path, in all the motion paths, the other motion paths except the uplink path and the downlink path are called running paths, through a switching device, a trolley running on each uplink path or running path can be switched into at least one other motion path, and through the switching device, each downlink path or running path can receive trolleys from at least one other motion path; the input devices correspond to the trolleys one by one, a user inputs information representing a destination platform through the input devices, the input devices transmit the information to the control system, the departure position identification unit is used for identifying which uplink path the trolleys depart from, the departure position identification unit transmits an identification signal to the control system, the control system arranges a preset path reaching the destination platform according to the uplink path from which the trolleys depart and the destination platform, and the preset path is formed by splicing a plurality of movement paths; when the trolleys need to be switched at the switching positions, the switching device must respond at the corresponding responding positions, the responding positions correspond to a responding position identification unit which is used for identifying which trolley passes through the responding positions and transmitting the information to the control system, and when the trolleys pass through the responding positions, the control system determines whether the switching device responds or not according to the preset path of the trolleys; the switching of the detective mode is carried out at least one switching position of the trolley, which specifically comprises the following steps: the moving path of the trolley running in the front is called a front path, the moving path to which the trolley is to be switched is called a target path, and the front path and the target path are parallel for a set distance at the switching position; the response position identification unit is used for identifying which trolley enters the switching position; the switching device comprises a detecting unit, when the trolley runs to a switching position, the detecting unit can detect the contents of two aspects: firstly, whether other trolleys running on the target path form a barrier to the switching action of the trolleys or not, and secondly, whether other trolleys executing the switching action form a barrier to the cut-in of the trolleys or not; the detective unit inputs the detective result into the control system; when the trolley needs to cut into the target path, the switching device responds in the following way: starting a detective unit, and controlling the trolley to execute the switching action by a control system when other trolleys running on the target path cannot form a barrier to the switching action of the trolley and other trolleys executing the switching action cannot form a barrier to the cut-in of the trolley; at the switch, there is a predetermined speed difference between the moving speed of the carrier on the forward path and the moving speed of the carrier on the target path.

In the scheme of the invention, the trolley needing to be cut into the target path is actually the trolley to be cut into, the control system carries out double judgment once on the trolley needing to be cut into the target path, and when the trolley running on the target path and other trolleys to be cut into which the switching action is being carried out do not form a barrier to the cut-in, the trolley to be cut into carries out the switching action. Compared with the prior art, other trolleys which are executing the switching action can not influence the switching-in action of the trolley to be switched in, so that the switching-in of the trolley is safer. In the solution of the present invention, a section of the target path at the switch is called a dedicated target path, and a section of the previous path at the switch is called a dedicated previous path, and preferably, the length of the dedicated target path is slightly longer than that of the dedicated previous path, so that the dedicated target path has better accepting capability, and the completion of the switching process is more smooth, for example, the tail end of the dedicated target path slightly exceeds the tail end of the dedicated previous path. The direction from the head end to the tail end of the special target path is consistent with the running direction of the trolley on the special target path. In the scheme of the invention, the control system carries out double judgment once on the trolley needing to be cut into the target path, namely, whether the trolley running on the target path blocks the cut-in of the trolley, and whether other trolleys executing switching actions block the cut-in of the other trolleys; for the first judgment, the chinese patent with application number 201510874759.7 is specified, that is, whether the cart running on the target path forms a barrier for the cart to be cut is obtained by the detecting unit, generally speaking, whether the cart queue of the target path has a free space beneficial to the cut of the cart to be cut is detected, if it is specified that there is no other cart on the target path within a set distance from the front end of the cart to be cut and no other cart on the rear end of the cart to be cut, the above mentioned distance is the distance in the path length direction, for example, for the cart to be cut, there is no other cart on the front end of the cart a within 2 meters, there is no other cart on the rear end of the cart a within 2.5 meters, if the length of the cart a is 1.2 meters, it is required that there is a free space on the cart queue of the target path with a length of at least 5.7 meters, the running position recognition units can be arranged on the front path and the target path, and the control system can know the positions of the trolleys in real time so as to obtain judgment. In practical applications, the distance of separation should be set to provide redundancy so that absolute safety of the car cut-in is ensured. For the second judgment, the problem to be solved is that for the cart to be cut in, whether other cart to be cut in which the switching action is being performed blocks the cut in, and such judgment obviously has various implementation manners. If a trolley to be cut in starts to execute the cut-in action, a virtual position is immediately arranged on a trolley queue of the target path, and the position of the trolley coincides with the virtual position after the switching action of the trolley to be cut in is completed along with the execution of the cut-in action of the trolley to be cut in and the running of the virtual position on the target path. The position of the virtual position on the trolley queue of the target path is consistent with the position of the trolley queue on the target path after the trolley to be cut performs the cut-in action, that is, the position relationship between the virtual position and each trolley running on the target path, and the position relationship between the trolley to be cut after the trolley to be cut performs the cut-in action and each trolley running on the target path originally are consistent. When there are other cars to be cut into later to make a determination, these virtual positions should be taken into account, i.e., a car exists as the virtual position. The virtual position can be obtained by actually simulating the cutting-in process, for example, when the movement is just started, the trolley to be cut in and each trolley on the target path form a certain position relation, and the position relation refers to the distance between the trolley to be cut in and each trolley on the target path in the path length direction. After the switching is completed, compared with the original position relation, the position of the trolley to be switched in can move for a distance, the distance can be obviously obtained through an actual simulation switching process, if the distance between the trolley to be switched in A and the trolley B running on the target path is 6 meters when the switching is just started, the trolley to be switched in A is positioned in front of the trolley B, after the switching is completed, compared with the original position relation, the position of the trolley to be switched in A on the trolley queue can move backwards for a distance, if the distance is 0.5 meters, namely after the switching is completed, the distance between the trolley A and the trolley B is 5.5 meters, the distance between the virtual position and the trolley B is 5.5 meters, and the virtual position is positioned in front of the trolley B. Of course, such a determination can also be obtained by precise calculation, and for a car performing the switching process, the relationship between the change of the position and the time can be plotted, and the timing is started with the position of the car at the beginning of the switching process as the origin, so as to form a functional relationship S ═ f (T), where S represents the moving distance of the car in the path direction, and T represents the elapsed time from the beginning of the timing, and such a functional relationship can be obtained by simulating the switching process, and such a function is actually a piecewise function bounded by the time point at which the switching process is completed. When T is not greater than T0, S ═ f1(T), this functional relationship can be obtained by simulating a cut-in process, for example, simulating a cut-in process, and recording the moving distance of the cart in the path direction at each time by a high-speed camera, i.e. obtaining multiple sets of data, such as data 1 (S1, T1), data 2 (S2, T2), and so on, until data N, where S1, S2 represent the moving distance of the cart, and T1, T2 represent the elapsed time of the cart starting from the time when the switching action is just started. These data are prestored in the control system, and when T is determined in the actual application, the control system selects a group of data as the execution data, and the moving distance in the execution data is calculated as the actual moving distance when the time factor in the execution data is closest to the actually measured T. When T is greater than T0, S ═ V × (T-T0) + f1(T0), where T0 represents the time required for the cart to complete a switching action and V represents the speed of the carrier on the target path, so that by recording the position and time when the cart just started to perform a switching action, the position of the cart can be calculated afterwards. The method comprises the steps of judging a trolley to be cut in, namely judging that other trolleys executing switching action can not affect the switching of the trolley to be cut in, setting a front limit line in front of the trolley to be cut in, setting the spacing distance between the front limit line and the front end of the trolley to be cut in as a first distance, setting a rear limit line behind the trolley to be cut in, setting the spacing distance between the rear limit line and the rear end of the trolley to be cut in as a second distance, and keeping the positions of the front limit line and the rear limit line unchanged on a front path and a target path once the front limit line and the rear limit line are drawn. The control system can obtain the judgment according to the position of the other trolleys which are executing the switching action in a period of time because the positions of the other trolleys which are executing the switching action can be calculated. The rear end of the trolley to be switched in is taken as an origin point to be judged, the first distance is A1, the second distance is A2, the length of the trolley is A3, the area enclosed by the front boundary line and the rear boundary line is-A2-A1 + A3, the position of the front end of the trolley which is executing the switching action when the trolley starts to execute the switching action is S1, the position of the rear end of the trolley to be switched in is S2, the distance between the two is A5, A5-S2, the time of the switching action executed by the trolley which is executing the switching action when the trolley to be switched in is judged is T1, the current time of the judgment of the trolley to be switched in is SK1, the time of the switching action when the switching action starts to execute is SK2, T1 is SK1-SK2, the moving track of the front end of the trolley executing the switching action is A24 + T599 f (T599) -T599 f + T599), in this way, it can be determined whether the movement locus of the front end of the dolly performing the switching operation falls within the area surrounded by the front boundary line and the rear boundary line, and similarly, it can also be determined whether the movement locus of the rear end of the dolly performing the switching operation falls within the area surrounded by the front boundary line and the rear boundary line, and if neither the front end nor the rear end of the dolly performing the switching operation appears within the area surrounded by the front boundary line and the rear boundary line, it is determined that the dolly performing the switching operation does not affect the switching of the hand-in dolly. In practical application, when the car executing the switching action just starts to execute the switching action, the front end of the car is located behind the rear end of the car to be switched into, the spacing distance a5 is expressed by a negative number, otherwise, when the car executing the switching action just starts to execute the switching action, the front end of the car is located in front of the rear end of the car to be switched into, the spacing distance a5 is expressed by a positive number, and the moving trajectory of the whole car executing the switching action in the process of executing the switching action can be expressed, the trajectory is a5+ f (T1) -a6-a5+ f (T1+ T0), wherein a6 is the length of the car executing the switching action, and further, whether the moving trajectory of the car executing the switching action falls within a region surrounded by the front boundary line and the rear boundary line can be obtained.

In a further technique, at least one group of motion paths is combined, namely a first motion path, a second motion path and a third motion path, wherein the second motion path can only accept the trolley switched in from the first motion path, the trolley running on the second motion path can only be switched in from the third motion path, and the trolley is switched in from the second motion path to the third motion path to adopt the switching of the detective mode.

The chinese patent with application number 201710216921.5 discloses a transportation facility, which includes a plurality of platforms, a plurality of movement paths, a plurality of trolleys, a plurality of switching devices, a plurality of input devices, a departure position identification unit, and a control system; the moving path is provided with a moving carrier, so that when the trolley is positioned on the moving path, the trolley can move along the path direction; all the motion paths are spliced into a mesh-shaped traffic network, all the stations are connected together through the traffic network, each station is connected with the head end of at least one motion path, the motion path with the head end connected with the station is called an uplink path, each station is connected with the tail end of at least one motion path, the motion path with the tail end connected with the station is called a downlink path, in all the motion paths, the other motion paths except the uplink path and the downlink path are called running paths, through a switching device, a trolley running on each uplink path and each running path can be cut into at least one other motion path, and through a switching device, each downlink path and each running path can receive trolleys from at least one other motion path; the input devices correspond to the trolleys one by one, a user inputs information representing a destination platform through the input devices, the input devices transmit the information to the control system, the departure position identification unit is used for identifying which uplink path the trolleys depart from, the departure position identification unit transmits an identification signal to the control system, the control system arranges a preset path reaching the destination platform according to the uplink path from which the trolleys depart and the destination platform, and the preset path is formed by splicing a plurality of movement paths; the position where the movement paths are switched is called as a switching position, and the control system determines whether the trolley is switched at the switching position according to the preset path of the trolley, so that the running of the trolley conforms to the preset path; for each switching place, the motion path of the trolley running in front is called a front path, and the motion path to be switched to by the trolley is called a target path; at least one distributed switching position is arranged, and the distributed switching position is provided with a deceleration path, a queuing path, an acceleration path and a front path; the head end of the front path is connected with the front path, so that the front path can receive the trolley cut from the front path, and the front path is provided with a moving carrier, so that when the trolley is on the front path, the trolley can move along the front path; the head end of the deceleration path is connected with the tail end of the preposed path, so that the deceleration path can receive the trolley from the preposed path; the head end of the queuing path is connected with the tail end of the speed reducing path, so that the queuing path receives the trolleys from the speed reducing path; the head end of the acceleration path is close to the tail end of the queuing path, so that the trolley at the tail end of the queuing path can be cut into the head end of the acceleration path, the tail end of the acceleration path is close to the target path, and the trolley running on the acceleration path can be cut into the target path; the queuing path is used for queuing the trolleys, and specifically comprises the following steps: taking the tail end of the queuing path as a head of line, closely arranging the trolleys into a line, and if the trolley at the head of line is cut into the accelerating path, sequentially keeping up the following trolleys to form a queue taking the tail end of the queuing path as the head of line; the control system determines whether the trolley at the tail end of the queuing path needs to be switched into the acceleration path or not according to the distribution position of the trolley on the target path, and if so, determines the time for switching the trolley into the acceleration path so as to realize the purpose of switching the trolley into the target path from the tail part of the acceleration path; the front path is provided with a high-speed cutting-in unit which is used for cutting all or part of trolleys running on the front path into the target path under the condition of high-speed running. The high-speed cut-in unit comprises a detecting unit and a parallel path; the parallel path is a section of preposed path parallel to the target path, the preposed path and the target path have a preset speed difference, and for a trolley on the parallel path, when the trolley on the target path is detected by the detection unit to not form a barrier for the cut-in of the trolley, the trolley executes a switching action. The invention scheme enables the trolley to safely and efficiently cut into the target path in a distributed cut-in mode, and the Chinese patent with application number 201810659603.0 also discloses a distributed cut-in traffic facility, but the technical scheme has the defects that for a trolley on the parallel path, not only the trolley running on the target path can influence the cut-in of the trolley, but also other trolleys executing the switching action can possibly influence the cut-in of the trolley, and the situation is shown particularly when the distance between the trolleys on the parallel path is small, the difference between the moving speed of a carrier on the target path and the moving speed of the carrier on the parallel path is large, and the specific defects are described in detail in the front part of the application, so that the technical scheme needs to be correspondingly improved.

The technical scheme for solving the problems comprises the following steps:

a traffic facility comprises a plurality of platforms, a plurality of motion paths, a plurality of trolleys, a plurality of switching devices, a plurality of input devices, a starting position identification unit and a control system; the moving path is provided with a moving carrier, so that when the trolley is positioned on the moving path, the trolley can move along the path direction; all the motion paths are spliced into a mesh-shaped traffic network, all the stations are connected together through the traffic network, each station is connected with the head end of at least one motion path, the motion path with the head end connected with the station is called an uplink path, each station is connected with the tail end of at least one motion path, the motion path with the tail end connected with the station is called a downlink path, in all the motion paths, the other motion paths except the uplink path and the downlink path are called running paths, through a switching device, a trolley running on each uplink path and each running path can be cut into at least one other motion path, and through a switching device, each downlink path and each running path can receive trolleys from at least one other motion path; the input devices correspond to the trolleys one by one, a user inputs information representing a destination platform through the input devices, the input devices transmit the information to the control system, the departure position identification unit is used for identifying which uplink path the trolleys depart from, the departure position identification unit transmits an identification signal to the control system, the control system arranges a preset path reaching the destination platform according to the uplink path from which the trolleys depart and the destination platform, and the preset path is formed by splicing a plurality of movement paths; the position where the movement paths are switched is called as a switching position, and the control system determines whether the trolley is switched at the switching position according to the preset path of the trolley, so that the running of the trolley conforms to the preset path; for each switching place, the motion path of the trolley running in front is called a front path, and the motion path to be switched to by the trolley is called a target path; at least one distributed switching position is arranged, and the distributed switching position is provided with a deceleration path, a queuing path, an acceleration path and a front path; the head end of the front path is connected with the front path, so that the front path can receive the trolley cut from the front path, and the front path is provided with a moving carrier, so that when the trolley is on the front path, the trolley can move along the front path; the head end of the deceleration path is connected with the tail end of the preposed path, so that the deceleration path can receive the trolley from the preposed path; the head end of the queuing path is connected with the tail end of the speed reducing path, so that the queuing path receives the trolleys from the speed reducing path; the head end of the acceleration path is close to the tail end of the queuing path, so that the trolley at the tail end of the queuing path can be cut into the head end of the acceleration path, the tail end of the acceleration path is close to the target path, and the trolley running on the acceleration path can be cut into the target path; the queuing path is used for queuing the trolleys, and specifically comprises the following steps: taking the tail end of the queuing path as a head of line, closely arranging the trolleys into a line, and if the trolley at the head of line is cut into the accelerating path, sequentially keeping up the following trolleys to form a queue taking the tail end of the queuing path as the head of line; the control system determines whether the trolley at the tail end of the queuing path needs to be switched into the acceleration path or not according to the distribution position of the trolley on the target path, and if so, determines the time for switching the trolley into the acceleration path so as to realize the purpose of switching the trolley into the target path from the tail part of the acceleration path; the high-speed cut-in unit is arranged on the front path and is used for cutting all or part of trolleys running on the front path into the target path under the condition of high-speed running; the high-speed cut-in unit comprises a detecting unit and a parallel path; the parallel path is a section of preposed path parallel to the target path, the trolley can be switched into the target path from the parallel path, and the preposed path and the target path have a preset speed difference; for a vehicle on a parallel path, the detecting unit can detect two aspects: firstly, whether other trolleys running on the target path form a barrier to the switching action of the trolley or not, and secondly, whether other trolleys executing the switching action form a barrier to the cut-in of the trolley or not; the detective unit inputs the detective result into the control system; for a trolley on the parallel path, when other trolleys running on the target path do not form a barrier to the switching action of the trolley and other trolleys performing the switching action do not form a barrier to the switching-in of the trolley, the control system controls the trolley to perform the switching action.

In the scheme of the invention, the trolley on the parallel path is actually the trolley to be switched in, the control system carries out double judgment on the trolley on the parallel path once, and when the trolley running on the target path and other trolleys which are executing the switching action do not form a barrier for the switching-in, the trolley to be switched in executes the switching action. Compared with the prior art, other trolleys which are executing the switching action can not influence the switching-in action of the trolley to be switched in, so that the switching-in of the trolley is safer. In the scheme of the invention, the control system carries out double judgment once on the trolleys on the parallel path, namely, whether the trolley running on the target path blocks the cut-in of the trolley, and whether other trolleys executing the switching action block the cut-in of the trolley; for the first judgment, the chinese patent with application number 201510874759.7 is specified, that is, whether the cart running on the target path forms a barrier for the cart to be cut is obtained by the detecting unit, generally speaking, whether the cart queue of the target path has a free space beneficial to the cut of the cart to be cut is detected, if it is specified that there is no other cart on the target path within a set distance from the front end of the cart to be cut and no other cart on the rear end of the cart to be cut, the above mentioned distance is the distance in the path length direction, for example, for the cart to be cut, there is no other cart on the front end of the cart a within 2 meters, there is no other cart on the rear end of the cart a within 2.5 meters, if the length of the cart a is 1.2 meters, it is required that there is a free space on the cart queue of the target path with a length of at least 5.7 meters, the running position recognition units can be arranged on the parallel path and the target path, and the control system can know the positions of the trolleys in real time so as to obtain judgment. In practical applications, the distance of separation should be set to provide redundancy so that absolute safety of the car cut-in is ensured. For the second judgment, the problem to be solved is whether the other cart to be cut, which is executing the switching action, blocks the cut-in of the cart to be cut, and such judgment obviously has a plurality of implementation manners. If a trolley on a parallel path starts to execute a cut-in action, a virtual position is arranged on a trolley queue of a target path for the trolley, and the position of the trolley is coincided with the virtual position after the trolley completes a switching action along the movement of the trolley on the target path when the trolley executes the cut-in action and the virtual position. The position of the virtual position on the trolley queue of the target path is consistent with the position of the trolley queue of the trolley to be cut on the target path after the cutting-in action is executed, namely, the position relation between the virtual position and each trolley running on the target path, the position relation between the trolley to be cut in and each trolley which originally runs on the target path after the cutting-in action is executed, the two are identical, and then when other vehicles to be cut into need to make a judgment, the virtual positions are taken into account, i.e., when there is a car at the virtual position, the virtual position can be obtained by actually simulating the plunge process, if the trolley to be cut into forms a certain position relation with each trolley on the target path when the action is just started, the position relation refers to the distance between the trolley to be cut and each trolley on the target path in the length direction of the path. After the switching is completed, compared with the original position relation, the position of the trolley to be switched in can move for a distance, the distance can be obviously obtained through an actual simulation switching process, if the distance between the trolley to be switched in A and the trolley B running on the target path is 6 meters when the switching is just started, the trolley to be switched in A is positioned in front of the trolley B, after the switching is completed, compared with the original position relation, the position of the trolley to be switched in A on the trolley queue can move backwards for a distance, if the distance is 0.5 meters, namely after the switching is completed, the distance between the trolley A and the trolley B is 5.5 meters, the distance between the virtual position and the trolley B is 5.5 meters, and the virtual position is positioned in front of the trolley B. Of course, such a determination can also be obtained by precise calculation, and for a car performing the switching process, the relationship between the change of the position and the time can be plotted, and the timing is started with the position of the car at the beginning of the switching process as the origin, so as to form a functional relationship S ═ f (T), where S represents the moving distance of the car in the path direction, and T represents the elapsed time from the beginning of the timing, and such a functional relationship can be obtained by simulating the switching process, and such a function is actually a piecewise function bounded by the time point at which the switching process is completed. When T is not greater than T0, S ═ f1(T), this functional relationship can be obtained by simulating a cut-in process, such as simulating a cut-in process, and recording the moving distance of the cart in the path direction at each time by a high-speed camera, i.e. obtaining multiple sets of data, such as data 1 (S1, T1), data 2 (S2, T2), and so on, until data N, where S1, S2 represent the moving distance of the cart, and T1, T2 represent the elapsed time of the cart starting from the time when the switching action is just started. These data are prestored in the control system, and when T is determined in the actual application, the control system selects a group of data as the execution data, and the time factor in the execution data is closest to the actually measured T, and the moving distance in the execution data is calculated as the actual moving distance. When T is greater than T0, S ═ V × (T-T0) + f1(T0), where T0 represents the time required for the cart to complete a switching action and V represents the speed of the carrier on the target path, so that by recording the position and time when the cart just started to perform a switching action, the position of the cart can be calculated afterwards. The method comprises the steps of judging a trolley to be cut in, namely judging that other trolleys executing switching action can not affect the switching of the trolley to be cut in, setting a front limit line in front of the trolley to be cut in, setting the spacing distance between the front limit line and the front end of the trolley to be cut in as a first distance, setting a rear limit line behind the trolley to be cut in, setting the spacing distance between the rear limit line and the rear end of the trolley to be cut in as a second distance, and keeping the positions of the front limit line and the rear limit line unchanged on a parallel path and a target path once the front limit line and the rear limit line are marked. The method is characterized in that in the process of switching the to-be-switched-in trolley, no other trolley performing the switching action enters an area enclosed by a front boundary line and a rear boundary line, the position of the other trolley performing the switching action in a period of time can be calculated, so that the control system can obtain the judgment according to the judgment, the judgment is carried out by taking the rear end of the to-be-switched-in trolley as an origin, the first distance is A1, the second distance is A2, the length of the trolley is A3, the area enclosed by the front boundary line and the rear boundary line is-A2-A1 + A3, the position of the front end of the to-be-switched-in trolley when the switching action is just started is S1, the position of the rear end of the to-be-switched-in trolley when the switching action is started is S2, the distance between the two is A5 and A5 is S1-S2, and when the to-be-switched-in trolley is judged, the time that the trolley performing the switching action is T1, the current time for judging the hand-in trolley is SK1, the time when the trolley executing the switching action just starts executing the switching action is SK2, then, T1-SK 1-SK2, during the switching operation of the cart to be cut into, the moving track of the front end of the trolley which is executing the switching action is A5+ f (T1) -A5+ f (T1+ T0), thus, it can be determined whether the moving track of the front end of the trolley performing the switching action falls within the area enclosed by the front boundary line and the rear boundary line, and similarly, it can also be determined whether the moving track of the rear end of the trolley performing the switching action falls within the area enclosed by the front boundary line and the rear boundary line, if the front end and the rear end of the trolley which is executing the switching action are not present in the area enclosed by the front boundary line and the rear boundary line, it is determined that the cart that is performing the switching action does not affect the switching of the cart to be switched in. In practical application, when the car executing the switching action just starts to execute the switching action, the front end of the car is located behind the rear end of the car to be switched into, the spacing distance a5 is expressed by a negative number, otherwise, when the car executing the switching action just starts to execute the switching action, the front end of the car is located in front of the rear end of the car to be switched into, the spacing distance a5 is expressed by a positive number, and the moving trajectory of the whole car executing the switching action in the process of executing the switching action can be expressed, the trajectory is a5+ f (T1) -a6-a5+ f (T1+ T0), wherein a6 is the length of the car executing the switching action, and further, whether the moving trajectory of the car executing the switching action falls within a region surrounded by the front boundary line and the rear boundary line can be obtained.

Compared with the prior art, the scheme of the invention is a transportation facility, which comprises a plurality of platforms, a plurality of motion paths, a plurality of trolleys, a plurality of switching devices, a plurality of input devices, a starting position identification unit and a control system; under the control of the control system, the trolley can be switched among all the movement paths; an acceleration path, a deceleration path, a queuing path and a traveling path are arranged on the platform; the method comprises the following steps that a user inputs destination platform information on a queuing path and generates a trolley of a preset path, namely a trolley to be cut in, and the trolley to be cut in executes a batch cut-in mode, and specifically comprises the following steps: when the trolley running on the traveling path and other trolleys which are executing the switching action do not form a barrier for the switching-in, the trolley to be switched in executes the switching action. The scheme of the invention has the following advantages: the automatic switching device is safe, reliable and high in efficiency, and the trolley which is executing the switching action can not affect the cut-in of the follow-up trolley.

Drawings

FIG. 1 is a schematic view of the overall structure of embodiment 1 of the present invention;

FIG. 2 is a schematic view of the overall structure of embodiment 2 of the present invention;

FIG. 3 is a schematic view of the overall structure of embodiment 3 of the present invention;

fig. 4 is a schematic structural diagram of a distributed switch in embodiment 3 of the present invention.

Detailed Description

The scheme of the present invention is further described in detail with reference to the following examples:

example 1

A transportation facility comprises a plurality of platforms Z, a plurality of motion paths 1, a plurality of trolleys 2, a plurality of switching devices 3, a plurality of input devices 5, a starting position identification unit 6 and a control system 7: the moving path 1 is provided with a moving carrier, so that when the trolley 2 is positioned on the moving path 1, the trolley 2 can move along the path direction; all the motion paths 1 are spliced into a netlike traffic network W, all the platforms are connected together through the traffic network W, each platform is connected with the head end of one motion path 1, the motion path 1 with the head end connected with the platform is called an uplink path, each platform is connected with the tail end of one motion path 1, the motion path 1 with the tail end connected with the platform is called a downlink path, in all the motion paths 1, the motion paths except the uplink path and the downlink path are called operation paths, a trolley 2 running on each uplink path and each operation path can be switched into at least one other motion path 1 through a switching device 3, and each downlink path and each operation path can receive the trolley 2 from at least one other motion path 1 through the switching device 3; the input devices 5 correspond to the trolleys 2 one by one, a user inputs information representing a destination platform through the input devices 5, the input devices 5 transmit the information to the control system 7, the departure position identification unit 6 is used for identifying which uplink path the trolley 2 departs from, the departure position identification unit 6 transmits an identification signal to the control system 7, the control system 7 arranges a preset path reaching the destination platform according to the uplink path the trolley 2 departs from and the destination platform, and the preset path is formed by splicing a plurality of motion paths 1; the position where the movement paths 1 are switched is called a switching position Q, and the control system 7 determines whether the trolley 2 is switched at the switching position Q according to the preset path of the trolley 2, so that the running of the trolley 2 conforms to the preset path; each station Z is provided with an acceleration path K1 and a deceleration path K2; the tail end of the acceleration path K1 is connected with the head end of the ascending path, and the acceleration path K1 is used for accelerating the trolley 2, so that when the trolley 2 reaches the head end of the ascending path, the speed of the trolley 2 is consistent with the running speed of the carrier on the ascending path; the head end of the deceleration path K2 is connected with the tail end of the descending path, and the deceleration path K2 is used for decelerating the trolley 2; a queuing path P and a traveling path J are arranged on each station Z; the queuing path P and the traveling path J are parallel to each other; the head end of the queuing path P is connected with the tail end of the speed reducing path K2, so that the queuing path P can receive the trolley from the speed reducing path K2, and the queuing path P is used for queuing the trolley, and the method specifically comprises the following steps: the tail end of the queuing path P is taken as the head of the queue, and all the trolleys are closely arranged in a row; the tail end of the travelling path J is connected with the head end of the accelerating path K1, so that the accelerating path K1 can receive the trolley from the travelling path J, and a moving carrier is arranged on the travelling path J, so that the trolley 2 can move along the path direction when the trolley 2 is on the travelling path J; the method comprises the following steps that a user inputs destination platform information on a queuing path and generates a trolley of a preset path, namely a trolley to be cut in, and the trolley to be cut in executes a batch cut-in mode, and specifically comprises the following steps: the traveling path and the queuing path are provided with a running position identification unit D, the running position identification unit D is used for identifying the positions of the trolley on the traveling path and the queuing path, and the running position identification unit D inputs the identification results into the control system 7; every time the preset time is spaced, the control system 7 sequentially carries out one-time double judgment on each trolley to be cut in, namely, whether the trolley running on the advancing path blocks the cut-in of the trolley, and whether other trolleys to be cut in which switching actions are being executed block the cut-in of the trolley; for a trolley to be cut in, when the trolley running on the traveling path and the trolley to be cut in which the switching action is being performed do not form a barrier for cutting in, the trolley to be cut in performs the switching action.

Wherein the preset time is 10 milliseconds.

The scheme of the invention is realized as follows: in the scheme of the invention, the control system 7 carries out double judgment once on the trolley to be cut in, and when the trolley running on the travel path J and other trolleys to be cut in which the switching action is being carried out do not form a barrier for the cutting in, the trolleys to be cut in carry out the switching action. Compared with the prior art, other trolleys which are executing the switching action can not influence the switching-in action of the trolley to be switched in, so that the switching-in of the trolley is safer.

Example 2

A transportation facility comprises a plurality of platforms Z, a plurality of motion paths 1, a plurality of trolleys 2, a plurality of switching devices 3, a plurality of input devices 5, a starting position identification unit 6 and a control system 7; the moving path 1 is fully distributed with carriers capable of moving along the path direction, so that when the trolley 2 is combined on the moving path 1, the trolley 2 can move along the path direction; all the motion paths 1 are spliced into a netlike traffic network W, all the platforms are connected together through the traffic network W, each platform is connected with the head end of at least one motion path 1, the motion path 1 with the head end connected with the platform is called an uplink path, each platform is connected with the tail end of at least one motion path 1, the motion path 1 with the tail end connected with the platform is called a downlink path, in all the motion paths 1, the motion paths except the uplink path and the downlink path are called operation paths, a trolley 2 running on each uplink path or operation path can be switched into at least one other motion path 1 through a switching device 3, and each downlink path or operation path can receive the trolley 2 from at least one other motion path 1 through the switching device 3; the input devices 5 correspond to the trolleys 2 one by one, a user inputs information representing a destination platform through the input devices 5, the input devices 5 transmit the information to the control system 7, the departure position identification unit 6 is used for identifying which uplink path the trolley 2 departs from, the departure position identification unit 6 transmits an identification signal to the control system 7, the control system 7 arranges a preset path reaching the destination platform according to the uplink path the trolley 2 departs from and the destination platform, and the preset path is formed by splicing a plurality of motion paths 1; the position of the switching between the motion paths 1 is called a switch Q, each switch Q corresponds to a response position X, when the trolley 2 needs to be switched at the switch Q, the switching device 3 must respond at the corresponding response position X, the response position X corresponds to a response position identification unit X1, the response position identification unit X1 is used for identifying which trolley 2 passes through the response position X and transmitting the information to the control system 7, and when the trolley 2 passes through the response position X, the control system 7 determines whether the switching device 3 responds according to the preset path of the trolley 2; the trolley 2 performs the switching of the detective mode at least one switching position Q, which specifically comprises the following steps: a motion path 1 in which the trolley 2 runs in the front is called a front path, the motion path 1 to which the trolley 2 is to be switched is called a target path, and at a switching position Q, the front path and the target path are parallel for a set distance; the response position recognition unit X1 is used to recognize which car 2 enters the switch Q; the switching device 3 comprises a detecting unit which can detect two aspects when the trolley runs to the switching position Q: firstly, whether other trolleys running on the target path form a barrier to the switching action of the trolleys or not, and secondly, whether other trolleys executing the switching action form a barrier to the cut-in of the trolleys or not; the detective unit inputs the detective result into the control system 7; when the trolley needs to cut into the target path, the switching device 3 responds in the following way: starting the detective unit, and when other trolleys running on the target path cannot form a barrier to the switching action of the trolley and other trolleys executing the switching action cannot form a barrier to the cut-in of the trolley, controlling the trolley to execute the switching action by the control system 7; at the switch, there is a predetermined speed difference between the moving speed of the carrier on the forward path and the moving speed of the carrier on the target path.

The switching method comprises the following steps that at least one group of motion paths is combined, namely a first motion path, a second motion path and a third motion path, the second motion path can only accept a trolley switched from the first motion path, the trolley running on the second motion path can only be switched into the third motion path, and the trolley is switched into the third motion path from the second motion path to adopt a spy mode.

The scheme of the invention is realized as follows: in the scheme of the invention, the trolley needing to be cut into the target path is actually the trolley to be cut into, the control system carries out double judgment once on the trolley needing to be cut into the target path, and when the trolley running on the target path and other trolleys to be cut into which the switching action is being carried out do not form a barrier to the cut-in, the trolley to be cut into carries out the switching action. Compared with the prior art, other trolleys which are executing the switching action can not influence the switching-in action of the trolley to be switched in, so that the switching-in of the trolley is safer.

Example 3

A transportation facility comprises a plurality of platforms Z, a plurality of motion paths 1, a plurality of trolleys 2, a plurality of switching devices 3, a plurality of input devices 5, a starting position identification unit 6 and a control system 7; the moving path 1 is provided with a moving carrier, so that when the trolley 2 is positioned on the moving path 1, the trolley 2 can move along the path direction; all the motion paths 1 are spliced into a netlike traffic network W, all the platforms are connected together through the traffic network W, each platform is connected with the head end of at least one motion path 1, the motion path 1 with the head end connected with the platform is called an uplink path, each platform is connected with the tail end of at least one motion path 1, the motion path 1 with the tail end connected with the platform is called a downlink path, in all the motion paths 1, the motion paths except the uplink path and the downlink path are called operation paths, a trolley 2 running on each uplink path and each operation path can be switched into at least one other motion path 1 through a switching device 3, and each downlink path and each operation path can receive the trolley 2 from at least one other motion path 1 through the switching device 3; the input devices 5 correspond to the trolleys 2 one by one, a user inputs information representing a destination platform through the input devices 5, the input devices 5 transmit the information to the control system 7, the departure position identification unit 6 is used for identifying which uplink path the trolley 2 departs from, the departure position identification unit 6 transmits an identification signal to the control system 7, the control system 7 arranges a preset path reaching the destination platform according to the uplink path the trolley 2 departs from and the destination platform, and the preset path is formed by splicing a plurality of motion paths 1; the position where the movement paths 1 are switched is called a switching position Q, and the control system 7 determines whether the trolley 2 is switched at the switching position Q according to the preset path of the trolley 2, so that the running of the trolley 2 conforms to the preset path; for each switch Q, the movement path 1 on which the trolley 2 runs in front is called the preceding path 11, and the movement path 1 to which the trolley 2 is to be switched is called the target path 12; at least one distributed switch Q2 is provided, the distributed switch Q2 is provided with a deceleration path K2, a queuing path P, an acceleration path K1 and a front path 13; the head end of the front path is connected with the front path, so that the front path can receive the trolley cut from the front path, and a moving carrier is arranged on the front path, so that when the trolley 2 is on the front path, the trolley 2 can move along the front path; the head end of the deceleration path is connected with the tail end of the preposed path, so that the deceleration path can receive the trolley from the preposed path; the head end of the queuing path is connected with the tail end of the speed reducing path, so that the queuing path receives the trolleys from the speed reducing path; the head end of the acceleration path is close to the tail end of the queuing path, so that the trolley at the tail end of the queuing path can be cut into the head end of the acceleration path, the tail end of the acceleration path is close to the target path, and the trolley running on the acceleration path can be cut into the target path; the queuing path is used for queuing the trolleys, and specifically comprises the following steps: taking the tail end of the queuing path as a head of line, closely arranging the trolleys into a line, and if the trolley at the head of line is cut into the accelerating path, sequentially keeping up the following trolleys to form a queue taking the tail end of the queuing path as the head of line; the control system 7 determines whether the trolley at the tail end of the queuing path needs to be switched into the acceleration path or not according to the distribution position of the trolley on the target path, and if so, determines the time for switching the trolley into the acceleration path so as to realize the purpose of switching the trolley into the target path from the tail part of the acceleration path; the high-speed cutting-in unit G is arranged on the front path and is used for cutting all or part of trolleys running on the front path into a target path under the condition of high-speed running; the method is characterized in that: the high-speed cut-in unit G comprises a detective unit T and a parallel path 16; the parallel path 16 is a section of front path parallel to the target path, the trolley can be switched into the target path from the parallel path, and the front path and the target path have a preset speed difference; for a vehicle on a parallel path, the detecting unit can detect two aspects: firstly, whether other trolleys running on the target path form a barrier to the switching action of the trolley or not, and secondly, whether other trolleys executing the switching action form a barrier to the cut-in of the trolley or not; the detective unit inputs the detective result into the control system 7; for a trolley on the parallel path, when other trolleys running on the target path do not form a barrier to the switching action of the trolley and other trolleys performing the switching action do not form a barrier to the switching-in of the trolley, the control system 7 controls the trolley to perform the switching action.

Wherein, an acceleration path K1 and a deceleration path K2 are arranged on each platform Z; the tail end of the acceleration path K1 is connected with the head end of the ascending path, and the acceleration path K1 is used for accelerating the trolley 2, so that when the trolley 2 reaches the head end of the ascending path, the speed of the trolley 2 is consistent with the running speed of the carrier on the ascending path; the head end of the deceleration path K2 is connected with the tail end of the descending path, and the deceleration path K2 is used for decelerating the trolley 2;

the scheme of the invention is realized as follows: in the scheme of the invention, the trolley on the parallel path 16 is actually the trolley to be cut in, the control system carries out double judgment on the trolley on the parallel path 16 once, and when the trolley running on the target path and other trolleys which are executing the switching action do not form a barrier for cutting in, the trolley to be cut in executes the switching action. Compared with the prior art, other trolleys which are executing the switching action can not influence the switching-in action of the trolley to be switched in, so that the switching-in of the trolley is safer.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the scope of the appended claims.

Claims

1. A traffic facility comprises a plurality of platforms, a plurality of motion paths (1), a plurality of trolleys (2), a plurality of switching devices (3), a plurality of input devices (5), a starting position identification unit (6) and a control system (7); the motion path (1) is distributed with carriers capable of moving along the path direction, so that when the trolley (2) is combined on the motion path (1), the trolley (2) can move along the path direction; the motion paths (1) are spliced into a netlike traffic network (W), the platforms are connected together through the traffic network (W), each platform is connected with the head end of at least one motion path (1), the motion path (1) with the head end connected with the platform is called an uplink path, each platform is connected with the tail end of at least one motion path (1), the motion path (1) with the tail end connected with the platform is called a downlink path, among all the movement paths (1), the other movement paths except the ascending path and the descending path are called as the running paths, by means of the switching device (3), the trolley (2) running on each ascending path or running path can be switched into at least one other running path (1), each descending or travelling path can take up, by means of said switching means (3), a trolley (2) coming from at least one other path of movement (1); the input devices (5) correspond to the trolleys (2) one by one, a user inputs information representing a destination platform through the input devices (5), the input devices (5) transmit the information to the control system (7), the departure position identification unit (6) is used for identifying which uplink path the trolley (2) departs from, the departure position identification unit (6) transmits an identification signal to the control system (7), the control system (7) arranges a preset path reaching the destination platform according to the uplink path where the trolley (2 departs from and the destination platform, and the preset path is formed by splicing a plurality of movement paths (1); the positions where the moving paths (1) are switched are called switching positions (Q), each switching position (Q) corresponds to a response position (X), when the trolley (2) needs to be switched at the switching position (Q), the switching device (3) must respond at the corresponding response position (X), the response position (X) corresponds to a response position identification unit (X1), the response position identification unit (X1) is used for identifying which trolley (2) passes through the response position (X) and communicating the information to the control system (7), and when the trolley (2) passes through the response position (X), the control system (7) determines whether the switching device (3) responds according to the preset path of the trolley (2); the method is characterized in that: the trolley (2) is switched into a detective mode at least one switching position (Q), and the detective mode switching method comprises the following steps: the moving path (1) where the trolley (2) runs in the front is called a front path, the moving path (1) to which the trolley (2) is switched is called a target path, and at the switching position (Q), the front path and the target path are parallel for a set distance; -said response position identification unit (X1) is configured to identify which trolley (2) enters the switch (Q); the switching device (3) comprises a detecting unit which can detect the contents of two aspects when the trolley runs to a switching position (Q): firstly, whether other trolleys running on the target path form a barrier to the switching action of the trolleys or not, and secondly, whether other trolleys executing the switching action form a barrier to the cut-in of the trolleys or not; the detective unit inputs the detective result into the control system (7); when the trolley needs to cut into the target path, the switching device (3) responds in the following way: starting the detecting unit, and when other trolleys running on the target path cannot form a block for the switching action of the trolley and other trolleys executing the switching action cannot form a block for the cut-in of the trolley, controlling the trolley to execute the switching action by the control system (7); at the switching place, there is a preset speed difference between the moving speed of the carrier on the previous path and the moving speed of the carrier on the target path.

2. A transportation facility according to claim 1, wherein: at least one group of motion path combination exists, namely a first motion path, a second motion path and a third motion path, the second motion path can only accept the trolley cut in from the first motion path, the trolley running on the second motion path can only cut in the third motion path, and the trolley is cut in from the second motion path to the third motion path to adopt the detective mode switching.

3. A traffic facility comprises a plurality of platforms (Z), a plurality of motion paths (1), a plurality of trolleys (2), a plurality of switching devices (3), a plurality of input devices (5), a starting position identification unit (6) and a control system (7); the moving path (1) is provided with a moving carrier, so that when the trolley (2) is on the moving path (1), the trolley (2) can move along the path direction; the motion paths (1) are spliced into a netlike traffic network (W), the platforms are connected together through the traffic network (W), each platform is connected with the head end of at least one motion path (1), the motion path (1) with the head end connected with the platform is called an uplink path, each platform is connected with the tail end of at least one motion path (1), the motion path (1) with the tail end connected with the platform is called a downlink path, among all the movement paths (1), the other movement paths except the ascending path and the descending path are called as the running paths, by means of the switching device (3), the trolley (2) running on each ascending path, running path, can be switched into at least one other running path (1), each descending path, travel path, can take up a trolley (2) from at least one other travel path (1) by means of said switching means (3); the input devices (5) correspond to the trolleys (2) one by one, a user inputs information representing a destination platform through the input devices (5), the input devices (5) transmit the information to the control system (7), the departure position identification unit (6) is used for identifying which uplink path the trolley (2) departs from, the departure position identification unit (6) transmits an identification signal to the control system (7), the control system (7) arranges a preset path reaching the destination platform according to the uplink path where the trolley (2 departs from and the destination platform, and the preset path is formed by splicing a plurality of movement paths (1); the position where the movement paths (1) are switched is called a switching position (Q), the control system (7) determines whether the trolley (2) is switched at the switching position (Q) according to the preset path of the trolley (2), and therefore the operation of the trolley (2) is in accordance with the preset path; for each switching place (Q), the motion path (1) which the trolley (2) runs in front is called a front path (11), and the motion path (1) to which the trolley (2) is switched is called a target path (12); at least one distributed switch (Q2) is present, said distributed switch (Q2) being provided with a deceleration path (K2), a queuing path (P), an acceleration path (K1), a pre-path (13); the head end of the front path is connected with the front path, so that the front path can receive the trolley cut from the front path, and a moving carrier is arranged on the front path, so that the trolley (2) can move along the front path when the trolley (2) is on the front path; the head end of the deceleration path is connected with the tail end of the preposed path, so that the deceleration path can receive the trolley from the preposed path; the head end of the queuing path is connected with the tail end of the speed reducing path, so that the queuing path receives the trolleys from the speed reducing path; the head end of the acceleration path is close to the tail end of the queuing path, so that the trolley at the tail end of the queuing path can be cut into the head end of the acceleration path, the tail end of the acceleration path is close to the target path, and the trolley running on the acceleration path can be cut into the target path; the queuing path is used for queuing the trolleys, and specifically comprises the following steps: taking the tail end of the queuing path as a head of line, closely arranging the trolleys into a line, and if the trolley at the head of line is cut into the accelerating path, sequentially keeping up the following trolleys to form a queue taking the tail end of the queuing path as the head of line; the control system (7) determines whether the trolley at the tail end of the queuing path needs to be switched into the acceleration path or not according to the distribution position of the trolley on the target path, and if so, determines the time for switching the trolley into the acceleration path so as to realize the purpose of switching the trolley into the target path from the tail part of the acceleration path; the high-speed cutting-in unit (G) is arranged on the front path and is used for cutting all or part of trolleys running on the front path into a target path under the condition of high-speed running; the method is characterized in that: the high-speed cut-in unit (G) comprises a detective unit (T), a parallel path (16); the parallel path (16) is a section of preposed path parallel to the target path, the trolley can be switched into the target path from the parallel path, and the preposed path and the target path have a preset speed difference; for a trolley on a parallel path, the detecting unit can detect two aspects: firstly, whether other trolleys running on the target path form a barrier to the switching action of the trolley or not, and secondly, whether other trolleys executing the switching action form a barrier to the cut-in of the trolley or not; the detective unit inputs the detective result into the control system (7); for a trolley on the parallel path, when other trolleys running on the target path do not form a barrier to the switching action of the trolley and other trolleys performing the switching action do not form a barrier to the switching-in of the trolley, the control system (7) controls the trolley to perform the switching action.