CN206826641U

CN206826641U - A kind of means of transportation

Info

Publication number: CN206826641U
Application number: CN201720337545.0U
Authority: CN
Inventors: 叶大可
Original assignee: Ningbo Yinzhou Leke Mechanical And Electrical Techonlogy Co Ltd
Current assignee: Ningbo Yinzhou Leke Mechanical And Electrical Techonlogy Co Ltd
Priority date: 2017-03-24
Filing date: 2017-03-24
Publication date: 2018-01-02
Anticipated expiration: 2027-03-24

Abstract

The utility model is a kind of means of transportation, including some platforms, some motion paths, some dollies, some switching devices, some input units, homeposition recognition unit, control system；Under control of the control system, dolly can switch between each motion path；At least chased in the presence of one at formula switching, chase and a deceleration path is provided with formula switching, one is lined up path, an acceleration path；Deceleration path head end is connected to preceding path, it is lined up path head end connection deceleration path tail end, acceleration path head end, which closes on, is lined up path tail end, acceleration path afterbody approaching target path, control system determines to cut the time of acceleration path in the dolly for being lined up path tail end according to the distributing position of dolly on destination path, so that the dolly realizes the purpose from acceleration path afterbody incision destination path.The utility model has advantages below：It is efficiency high, safe and reliable.

Description

A kind of means of transportation

Technical field

It the utility model is related to a kind of construction applications of means of transportation.

Background technology

The Chinese patent of Application No. 201710091460.3 discloses a kind of means of transportation, including some platforms, some Motion path, some dollies, some switching devices, some input units, homeposition recognition unit, control system；Move road The carrier of motion is provided with footpath, so when dolly is on motion path, dolly can move along path direction；Each motion Path is spliced into a netted transportation network, and each platform is linked together by transportation network, each platform and at least one The head end of bar motion path is connected, and the motion path that head end is connected with platform is referred to as up path, each platform and at least one The tail end of bar motion path is connected, and the motion path that tail end is connected with platform is referred to as downlink path, in total movement path, Other motion paths in addition to up, downlink path are referred to as operating path, by switching device, operate in each upper walking along the street Dolly on footpath, operating path can cut at least one other motion paths, by switching device, each downlink path, operation Path can accept the dolly from least one other motion paths；Input unit corresponds with dolly, and user passes through input Device inputs the information for representing destination platform, and this information is conveyed to control system by input unit, and homeposition identification is single To identify dolly from which bar up path, identification signal is conveyed to control and is member by homeposition recognition unit System, up path that control system is set out according to dolly, destination platform arrange out a default road for arriving at platform Footpath, the preset path are spliced by some motion paths；The position switched between motion path is referred to as at switching, often A response position is corresponding with one switching, when dolly needs to switch at switching, switching device must ring accordingly Position is answered to be responded, response position is corresponding with a response location identification unit, and which response location identification unit is to identify One dolly have passed through response position and this information be conveyed into control system, when dolly is by response position, control system System determines whether switching device is responded according to the preset path of dolly；The combination of one group of motion path at least be present, i.e., the One motion path, the second motion path, the 3rd motion path；Second motion path and can only be accepted and cut from the first motion path The dolly entered, i.e., the dolly run on the second motion path are run on the second motion path all from the first motion path Whole dollies can only cut through the 3rd motion path；Second motion path is first one section of deceleration path, rear to be lined up path for one section, The dolly from the first motion path is accepted in deceleration path, is lined up path and is accepted the dolly from deceleration path, deceleration path is used To slow down to dolly, path is lined up to line up to dolly, is specially：To be lined up the tail end in path as head of the queue, respectively Dolly is closely formed a line, if the dolly of head of the queue cuts the 3rd motion path, follow-up dolly is kept up with successively to be re-formed to be lined up The tail end in path is the queue of head of the queue, and the dolly of head of the queue uses the switching of detective's pattern, i.e. switching device includes detective's unit, When scout unit detective to the dolly on the 3rd motion path will not be to the dolly switching formed stop when, the dolly perform cut Move work；3rd motion path is provided with one section of gear paths, and gear paths are first one section of deceleration path, rear for one section of acceleration road Footpath, deceleration path to slow down to dolly, acceleration path to accelerate to dolly, deceleration path and acceleration path The tail end for being lined up path closes in intersection.In the scheme of the invention, the second motion path can and can be only accepted from the first motion road The dolly of footpath incision, i.e., the dolly run on the second motion path is all from the first motion path, it is clear that dolly is from first Motion path cut the second motion path be very smoothly, the second motion path be not present to dolly be cut into interference its Its dolly, during dolly is from the second motion path the 3rd motion path of incision, operate in small on the second motion path Car first lowers speed, is then lined up using the tail end for being lined up path as head of the queue, and the dolly of head of the queue is using detective's pattern Switching, when dolly is switched to the gear paths of the 3rd motion path, the speed of dolly is not still high, and dolly passes through acceleration afterwards Path reaches the normal speed of service, and can be seen that switching under lower-speed state for dolly from this process is carried out, and is extremely pacified Entirely.But in actual applications, there is a shortcoming in the technical scheme, and the operational efficiency of means of transportation is low, because the 3rd One section of gear paths is provided with motion path, gear paths are first one section of deceleration path, and rear is one section of acceleration path, it is clear that Dolly consumes many times on gear paths, and during dolly arrives at platform, dolly will pass through multiple changes Fast path, the run time of dolly can become very long, it is therefore apparent that can so reduce the operational efficiency of means of transportation.

Utility model content

The technical problems to be solved in the utility model is the present situation for prior art, there is provided a kind of operational efficiency is high, peace Complete reliable means of transportation.

The technical scheme that the utility model solves the above problems is：A kind of means of transportation, including some platforms, some motions Path, some dollies, some switching devices, some input units, homeposition recognition unit, control system；On motion path The carrier of motion is provided with, so when dolly is on motion path, dolly can move along path direction；Each motion path A netted transportation network is spliced into, each platform is linked together by transportation network, each platform and at least one fortune The head end in dynamic path is connected, and the motion path that head end is connected with platform is referred to as up path, each platform and at least one fortune The tail end in dynamic path is connected, and the motion path that tail end is connected with platform is referred to as downlink path, in total movement path, except upper Other motion paths outside row, downlink path are referred to as operating path, by switching device, operate in each up path, fortune Dolly on walking along the street footpath can cut at least one other motion paths, and by switching device, each downlink path, operating path can Accept the dolly from least one other motion paths；Input unit corresponds with dolly, and user is defeated by input unit Enter to represent the information of destination platform, this information is conveyed to control system by input unit, homeposition recognition unit to Identification signal is conveyed to control system by identification dolly from which bar up path, homeposition recognition unit, is controlled Up path that system processed is set out according to dolly, destination platform arrange out a preset path for arriving at platform, should Preset path is spliced by some motion paths；The position switched between motion path is referred to as at switching, control system System determines whether dolly switches at switching according to the preset path of dolly, the operation of dolly is met default road Footpath；For at each switching, dolly is referred to as the motion that will be switched in preceding path, dolly in the motion path of preceding operation Path is referred to as destination path；At least chased in the presence of one at formula switching, chase and a deceleration path, a row are provided with formula switching Team path, an acceleration path；Deceleration path head end is connected to preceding path, and such deceleration path can be accepted from being cut in preceding path Dolly；Path head end connection deceleration path tail end is lined up, path is so lined up and accepts the dolly from deceleration path；Acceleration path Head end, which closes on, is lined up path tail end, so can cut into acceleration path head end, acceleration path tail in the dolly for being lined up path tail end Portion approaching target path, the dolly so operated on acceleration path can cut into destination path；Path is lined up to enter to dolly Ranks team, it is specially：To be lined up the tail end in path as head of the queue, each dolly closely forms a line, if the dolly incision of head of the queue plus Fast path, follow-up dolly is kept up with successively to be re-formed to be lined up queue of the path tail end as head of the queue；Control system is according to destination path The distributing position of upper dolly determines whether need to cut acceleration path in the dolly for being lined up path tail end, if so, then determining small Car cuts the time of acceleration path, so that the dolly realizes the purpose from acceleration path afterbody incision destination path.In this practicality In new, when run on need to be cut into destination path in the dolly on preceding path when, i.e., according to the preset path of dolly determine Dolly needs to switch at formula switching chasing, and dolly first cuts deceleration path, and then is being lined up path waiting, control system It is controlled according to the distributing position of dolly on destination path to waiting in the dolly for being lined up path tail end, so that the dolly is from adding Fast path afterbody cuts destination path.Compared to prior art, the dolly on destination path of the present utility model is all the time in height The state of speed operation, so that the operational efficiency of means of transportation is improved, dolly to be cut is before incision to wait in line Formal distribution is fool proof, reliable, it is clear that if dolly to be cut is kept in motion and can not cut again on path is lined up Enter destination path, whole means of transportation will be in risk.In the utility model, if on destination path dolly distribution Position is not suitable for dolly incision, and dolly does not just set out and waits and stay in queuing path tail end, and this point is particularly important, and dolly etc. stays in Path tail end is lined up, such state is fool proof, will not bring risk to means of transportation.Control system is according to the default of dolly Path determines whether dolly switches at switching, the operation of dolly is met preset path, this technical scheme exists Had a detailed description in Application No. 201510702108.X Chinese patent：A response position is corresponding with each switching, when small When car needs to switch at switching, switching device must be responded in response position accordingly, and response position is corresponding with One response location identification unit, response location identification unit to identify be which dolly have passed through response position and by this Information is conveyed to control system, and when dolly is by response position, control system determines switching dress according to the preset path of dolly Put and whether responded；Specific in the utility model, being just whether to need to switch at formula switching chasing whether cut Enter path of slowing down.The utility model is related to preceding path, destination path, switching device, deceleration path, be lined up path, accelerate Path has a detailed description in Application No. 201720152528.X Chinese patent, and expansion does not repeat one by one here, deceleration road Footpath can both take the mode continuously slowed down, can also by the way of sectional deceleration, i.e., deceleration path by some sections of speed not Same motion path is spliced, and the setting of acceleration path is also based on same principle.In the utility model, in queuing The dolly of path tail end can cut into acceleration path head end, it is clear that conventional cut-in device can all realize this function, typically can be It is lined up path tail end and running position recognition unit is set to identify being which dolly reaches queuing path tail end, in practical application In, it can also be docked path tail end is lined up with acceleration path head end, the Chinese patent of Application No. 201710091460.3 A kind of queuing path is described, dolly reaches queuing purpose by the switching of binding pattern and sliding mode, as long as control system The dolly that control is lined up path tail end is in binding pattern, and the dolly just can cut into acceleration path.

Further technology, up path are a queuing path；It is referred to as at switching between up path and operating path At up switching, an acceleration path is provided with up switching, acceleration path head end, which closes on, is lined up path tail end, is so in The dolly for being lined up path tail end can cut into acceleration path head end, and acceleration path afterbody closes on operating path, so operates in acceleration Dolly on path can cut into operating path；Control system is determined in queuing road according to the distributing position of dolly on operating path Whether the dolly of footpath tail end needs to cut acceleration path, if so, the time of dolly incision acceleration path is then determined, so that the dolly Realize the purpose from acceleration path afterbody incision operating path.Up path has its particularity, because up path and platform phase Connection, up path is arranged to be lined up path, and set in its tail end at up switching, the dolly on up path can be made Efficiently and safely cut operating path.

Obviously, in the above-mentioned technical solutions, the operational efficiency of means of transportation is not also optimal, because each dolly is necessary Waited being lined up path tail end, before queuing path is entered, dolly must also pass through one section of deceleration path, and this obviously can be big The run time of big increase dolly, reduces the operational efficiency of means of transportation, in consideration of it, being necessary to solve using new technical scheme Certainly this problem.

The technical scheme that the utility model solves the above problems can also be：A kind of means of transportation, including some platforms, if Dry motion path, some dollies, some switching devices, some input units, homeposition recognition unit, control system；Motion The carrier of motion is provided with path, so when dolly is on motion path, dolly can move along path direction；Each fortune Dynamic path is spliced into a netted transportation network, and each platform is linked together by transportation network, each platform with least The head end of one motion path is connected, and the motion path that head end is connected with platform is referred to as up path, each platform with least The tail end of one motion path is connected, and the motion path that tail end is connected with platform is referred to as downlink path, in total movement path In, other motion paths in addition to up, downlink path are referred to as operating path, by switching device, operate in each up Dolly on path, operating path can cut at least one other motion paths, by switching device, each downlink path, fortune Walking along the street footpath can accept the dolly from least one other motion paths；Input unit corresponds with dolly, and user passes through defeated Enter the information that device input represents destination platform, this information is conveyed to control system, homeposition identification by input unit Unit is identifying that identification signal is conveyed to control by dolly from which bar up path, homeposition recognition unit System, up path that control system is set out according to dolly, destination platform arrange out one to arrive at the default of platform Path, the preset path are spliced by some motion paths；The position switched between motion path is referred to as at switching, Control system determines whether dolly switches at switching according to the preset path of dolly, so make dolly operation meet it is pre- If path；For at each switching, dolly is referred to as in preceding path in the motion path of preceding operation, what dolly will be switched to Motion path is referred to as destination path；At least exist at a distribution formula switching, a deceleration path be provided with distribution formula switching, One is lined up path, an acceleration path, a preposition path；Preposition path head end is connected to preceding path, and such preposition path can accept From the dolly cut in preceding path, the carrier of motion is provided with preposition path, it is small so when dolly is on preposition path Car can move along preposition path；Deceleration path head end connects preposition path tail end, and such deceleration path can be accepted from preposition The dolly in path；Path head end connection deceleration path tail end is lined up, path is so lined up and accepts the dolly from deceleration path；Add Fast path head end, which closes on, is lined up path tail end, so can cut into acceleration path head end in the dolly for being lined up path tail end, accelerates Path afterbody approaching target path, the dolly so operated on acceleration path can cut into destination path；Path is lined up to right Dolly is lined up, and is specially：To be lined up the tail end in path as head of the queue, each dolly closely forms a line, if the dolly of head of the queue Acceleration path is cut, follow-up dolly is kept up with successively to be re-formed to be lined up queue of the path tail end as head of the queue；Control system is according to mesh The distributing position of dolly determines whether need to cut acceleration path in the dolly for being lined up path tail end on mark path, if so, then The time of dolly incision acceleration path is determined, so that the dolly realizes the purpose from acceleration path afterbody incision destination path；Before Put and incision unit at a high speed is provided with path, cut unit at a high speed to make to operate in all or part of dolly on preposition path Destination path is cut in the case of high-speed cruising.In the utility model, according to the preset path of dolly, when dolly needs When switching action is performed at distribution formula switching, the switching device of dolly is responded, and dolly cuts preposition path, in preposition path High speed incision unit, all or part of dolly cuts destination path in the case of high-speed cruising, only when on destination path When there is extreme situation, the distribution such as dolly on destination path is very intensive, extremely least a portion of dolly can not be passed through height Speed incision unit incision destination path, this part dolly is entered by deceleration path is lined up path, according to dolly on destination path Distribution situation, control system control in be lined up path tail end dolly passes sequentially through acceleration path incision destination path, it is comprehensive Upper described, the dolly on preceding path is led to by being finally all switched to destination path, most dollies at distribution formula switching Crossing incision unit at a high speed, incision destination path, only only a few dolly cut destination path by queueing form at a high speed, and traffic is set The operational efficiency applied greatly improves, meanwhile, a small number of dollies that can not cut destination path at a high speed are used and wait in line incision Mode, avoid dolly high-speed cruising but the risk that the situation of destination path is formed to means of transportation can not be cut, it is clear that this The means of transportation of utility model are fool proof, and these benefit from distribution formula switching mode of the present utility model, by a high speed Incision unit connects in a particular manner with chasing formula switching mode, and both cooperate, and has reached good technology effect Fruit.

Control system determines to add in the dolly incision for being lined up path tail end according to the distributing position of dolly on destination path The time in fast path, this point is particularly important for the utility model, and should try one's best makes control mode simple, reasonable.

Preferably, the concrete mode that control system is maked decision is：Stretch footpath is selected as detection road in destination path Footpath, detect and be provided with running position recognition unit on path, running position recognition unit is to each dolly on recognition detection path Position, running position recognition unit is by recognition result input control system；One segment length is 5 meters and without distance existing for dolly It is referred to as to can cut into distance, control system is judged on detection path with the presence or absence of can cut into distance, if so, control system can by this Incision distance is mapped with the dolly for being lined up path tail end, and determines to need to cut in the dolly for being lined up path tail end Acceleration path, control system go out the time of dolly incision acceleration path according to the position arrangement at the midpoint that can cut into distance, so that When dolly reaches acceleration path tail end, the midpoint face dolly of distance is can cut into corresponding to it, such dolly can be in acceleration path Tail end cuts destination path.In the technical program, the position that destination path closes on acceleration path tail end is referred to as tail end correspondingly Locate, the part corresponding with preposition path is referred to as the corresponding portion in preposition path on destination path, detection path can be arranged on tail Between holding corresponding position portion corresponding with preposition path, control system detects according to the recognition result can be known of running position recognition unit The position of each dolly on path, control system judge to detect accordingly with the presence or absence of can cut into distance on path, if detection path Upper in the presence of can cut into distance, control system marks out its position to come, and dolly one and dolly two is distributed with path as detected, small Car one is preceding, and dolly two is rear, and both are at a distance of 6 meters, it is clear that the segment length of one rear of dolly one is that 5 meters of distance is constituted and can cut Enter distance, so mean the chance for having incision destination path in the dolly for being lined up path tail end, control system determines should Dolly needs to cut acceleration path, after generation can cut into distance on detection path, can cut into apart from midpoint and tail end corresponding position Distance also decide, this distance is labeled as S1, what the speed of service of destination path was to determine, and this speed is V1, can The time cut apart from midpoint arrival tail end corresponding position is T1, T1=S1/V1, is lined up the dolly incision acceleration path of path tail end And the time for reaching acceleration path tail end is to determine, this time calibrating is T2, in actual applications, should make detection path with The enough distances in tail end corresponding position interval, so that T1 is more than or equal to T2, it is lined up the dolly incision acceleration path of path tail end Time can calculate, T3=T1-T2=S1/V1-T2, and T3 refers to the dolly incision acceleration path of queuing path tail end here Time.After detection coordinates measurement one can cut into distance, this can cut into distance corresponding with the dolly for being lined up path tail end Come, gradually leave detection path as this can cut into distance, the new distance that can cut into can be generated on path by detecting, newly-generated Can cut into distance can be mapped again with the new dolly for being in queuing path tail end.Distance is can cut into provide for the incision of dolly Enough space.

Preferably, the concrete mode that control system is maked decision is：Stretch footpath is selected as detection road in destination path Footpath, detect and be provided with running position recognition unit on path, running position recognition unit is to each dolly on recognition detection path Position, running position recognition unit is by recognition result input control system；One segment length is 5 meters and without distance existing for dolly It is referred to as to can cut into distance, control system is judged on detection path with the presence or absence of can cut into distance, if so, control system can by this Incision distance is mapped with the dolly for being lined up path tail end, and determines to need to cut in the dolly for being lined up path tail end Acceleration path, control system go out the time of dolly incision acceleration path according to the position arrangement at the midpoint that can cut into distance, so that In acceleration path afterbody, dolly can meet trolley travelling with the corresponding midpoint that can cut into distance；Dolly is in acceleration path Afterbody uses the switching mode of detective's pattern, i.e., when detective to dolly meets with can cut into the midpoint of distance, dolly incision mesh Mark path.In the technical program, the position that destination path closes on acceleration path tail end is referred to as tail end corresponding position, destination path The upper part corresponding with preposition path is referred to as the corresponding portion in preposition path, detection path can be arranged on tail end corresponding position with before Put between path corresponds to portion, can cut into distance if existed on detection path, mean in the dolly for being lined up path tail end There is the chance of incision destination path, control system determines that the dolly needs to cut acceleration path, in acceleration path afterbody, dolly It can be met with the corresponding midpoint that can cut into distance；Acceleration path afterbody be one section have certain length path, the path Starting point be referred to as afterbody starting point, the terminating point in the path is acceleration path tail end, on destination path with afterbody starting point Corresponding position is referred to as starting point corresponding points；In actual applications, reasonable disposition acceleration path and destination path are answered, can be designed Dolly is with can cut into the different scenes that the midpoint of distance is met, scene one：The length for such as setting acceleration path afterbody is 10 meters, small Car is 10 meter per seconds in the speed of service of acceleration path afterbody, and the speed of service of destination path is 11 meter per seconds, when dolly reaches tail During portion's starting point, the midpoint that can cut into distance does not reach starting point corresponding points also, and the midpoint that can cut into distance is corresponding with starting point The distance of point is 0.3 meter, it is clear that dolly can meet with can cut into the midpoint of distance in acceleration path afterbody, to meet above-mentioned set Meter, the time of dolly incision acceleration path can calculate, and after detection coordinates measurement can cut into distance, can cut into distance Point and the distance of starting point corresponding points are also decided, and this distance is labeled as S5, can cut into midpoint and the starting point pair of distance The distance that should be put is 0.3 meter, and can cut into distance and move to time of this position be T5, T5=(S5-0.3)/11 meter per second, is arranged The dolly incision acceleration path of team's path tail end simultaneously reaches what time of afterbody starting point was to determine, and this time calibrating is T6, Being lined up the time of the dolly incision acceleration path of path tail end can calculate, and T8=T5-T6=(S5-0.3)/11 meter per second- T6.Certainly, can also design others to meet scene, scene two：The length for such as setting acceleration path afterbody is 10 meters, and dolly is adding The speed of service of fast path afterbody is 11 meter per seconds, and the speed of service of destination path is 10 meter per seconds, when dolly reaches afterbody starting During point, the midpoint that can cut into distance has exceeded starting point corresponding points, can cut into the midpoint of distance and the distance of starting point corresponding points For 0.2 meter, it is clear that dolly can meet with can cut into the midpoint of distance in acceleration path afterbody, to meet above-mentioned design, dolly The time of incision acceleration path can calculate, and after detection coordinates measurement can cut into distance, can cut into apart from midpoint with rising The distance of initial point corresponding points is also decided, and this distance is labeled as S5, can cut into midpoint and the starting point corresponding points of distance Distance is 0.3 meter, and can cut into and move to time of this position apart from midpoint be T5, T5=(S5+0.2)/10 meter per second, queuing The dolly incision acceleration path of path tail end simultaneously reaches what time of afterbody starting point was to determine, and this time calibrating be T6, is arranged The time of the dolly incision acceleration path of team's path tail end can calculate, and T8=T5-T6=(S5+0.2)/10 meter per second- T6.Dolly uses the switching mode of detective's pattern in acceleration path afterbody, and the switching mode for pattern of scouting is in Application No. Had a detailed description in 201510874759.7 Chinese patent, running position such as is set on acceleration path afterbody and destination path Recognition unit, the position at the continuous midpoint detected dolly and can cut into distance, as detective to dolly and the midpoint that can cut into distance When meeting, dolly incision destination path.Dolly uses the switching mode of detective's pattern, is the advantages of this technology, even if small Car and it can cut into position relationship and predetermined design of the midpoint of distance in actual moving process and the deviation of very little occur, pass through The switching mode of detective's pattern, dolly can also be precisely directed to can cut into the midpoint of distance and perform switching action.

Preferably, the concrete mode that control system is maked decision is：Stretch footpath is selected as detection road in destination path Footpath, detect and be provided with running position recognition unit on path, running position recognition unit is to each dolly on recognition detection path Position, running position recognition unit is by recognition result input control system；The length for detecting path is 8.5 meters；One segment length It is referred to as to can cut into distance for 5 meters and without distance existing for dolly, control system is sentenced according to the position of each dolly on detection path It is disconnected：By performing taxiing procedures, can detect form one on path can cut into distance, if can, control system can cut into this Distance is mapped with the dolly for being lined up path tail end, and determines to need to cut in the dolly for being lined up path tail end to accelerate Path, control system goes out the time of dolly incision acceleration path according to the position arrangement at the midpoint that can cut into distance, so that dolly When reaching acceleration path tail end, the midpoint face dolly of distance is can cut into corresponding to it, such dolly can be in acceleration path tail end Cut destination path；Dolly on control system control targe path performs taxiing procedures, can cut into so as to be formed between dolly Distance.In the technical program, the dolly on destination path performs taxiing procedures, and distance is can cut into so as to be formed between dolly. The formation chance that can so make to can cut into distance greatly increases, and two formation, dolly one and dolly two occurs as detected on path Distance be 3 meters, it is clear that detection path on be not present can cut into distance, but if dolly can perform taxiing procedures, dolly two-phase Slide 2 meters backward for dolly one, can cut into distance just generate, control system according to this can cut into distance midpoint position The time of dolly incision acceleration path is arranged out, so that during dolly arrival acceleration path tail end, distance is can cut into corresponding to it Midpoint face dolly；In actual applications, this technical scheme can be reached by the method for data acquisition, simulates a detection The distribution scene of dolly on path, the position for recording each dolly form data one, then draw number according to the distribution scene of dolly According to two, if the distribution of dolly is more crowded on detection path, it is difficult to which formation can cut into distance, then it is " difficult data two to be defined as Incision, incision action need not be performed by being lined up the dolly of path tail end ", if the distribution of dolly is than sparse on detection path, Rational be arranged to form then is made to the position of each dolly and can cut into distance, makes the relative position of each dolly after reasonable arrangement Put, can cut into apart from the position at midpoint, the dolly gone out according to the position arrangement that can cut into apart from midpoint cut acceleration path when Between be stored in as three elements in data two, data one and data dimorphism are into data group, by the distribution field of repeatedly simulation dolly Scape, there is the data group of magnanimity in control system, when the dolly distribution scene of a reality occurs, control system is actual small The position of each dolly is matched with each data group in car distribution scene, if the data one of a data group are distributed with actual dolly The position of each dolly forms matching in scene, then the data two of the data group are used as performing data by control system, i.e. control system System is controlled on the basis of data two to dolly, the time as recorded dolly incision acceleration path in data two, such as herein Just have in the departure time for the dolly for being lined up path tail end.Dolly on control system control targe path, which performs, to be slided Journey, distance is can cut into so as to be formed between dolly, such technical scheme is special in the China of Application No. 201610662346.7 Had a detailed description in profit, in practical operation, as long as running position recognition unit is set on destination path, to the position of each dolly Put and monitored in real time, so that it may dolly is completed taxiing procedures.The length in the detection path of the technical program is shorter, is 8.5 Rice, this is allowed for after detection coordinates measurement can cut into distance, and this can cut into distance and the dolly of queuing path tail end is formed It is corresponding, the dolly incision acceleration path of path tail end is lined up, when new dolly occurs in queuing path tail end, is detected former on path Total movement to detecting outside path, will not set out to form interference some dollies to new dolly.If it should be pointed out that detection path Upper script, which exists, can cut into distance, can also regard as：By performing taxiing procedures, detect can be formed on path one can cut into away from From the coasting distance of this i.e. taxiing procedures is zero, is a kind of special taxiing procedures.

It is clear that the concrete mode that control system is maked decision is also a lot, for example, the dolly on destination path performs Taxiing procedures form and can cut into distance, and the dolly operated on acceleration path uses the switching of detective's pattern in acceleration path afterbody Mode cuts this and can cut into distance, i.e., good effect can also be produced by above two technology being combined, or detection The length in path, which is set, must grow a bit, by performing taxiing procedures, arrange out it is multiple can cut into distance, in view of control system is made Deciding means have diversity, and expansion does not repeat one by one below.

Unit is cut at a high speed to make all or part of dolly on preposition path cut mesh in the case of high-speed cruising Mark path.The Chinese patent of Application No. 201610662346.7 discloses the technical scheme that a kind of dolly is cut at a high speed, the skill Art scheme mainly performs taxiing procedures to adjust mutual position relationship, Application No. 201510874759.7 using dolly Chinese patent disclose the technical scheme of another dolly incision at a high speed, the technical scheme uses the switching side of detective's pattern Formula, it is clear that the operational efficiency of above-mentioned technical proposal is very high, but there is also weak point for such cut-in manner：When target road When occurring extreme case on footpath, as on destination path dolly distribution it is very intensive, the dolly on preceding path can not all be cut Enter destination path, risk just occurs in the operation of means of transportation, but the high speed of above-mentioned technical proposal is cut unit application to originally Utility model, then it can obtain good technique effect.Unit is cut at a high speed to make all or part on preposition path Dolly cuts destination path in the case of high-speed cruising, it is assumed that and means of transportation have run a whole morning, within the time of a whole morning, Whole dollies on preposition path are cut most small on destination path, or preposition path by high speed incision unit Car cuts destination path by high speed incision unit, and only a few dolly is entered by deceleration path is lined up path, and is being lined up road Wait in line on footpath.

Preferably, incision unit includes detective's unit, parallel route at a high speed；Parallel route is one section parallel with destination path Preposition path, dolly can cut destination path from parallel route, and preposition path and destination path have a default speed difference, right In one for the dolly on parallel route, when detective unit detective will not cut shape to the dolly on destination path to it Into when stopping, the dolly performs switching action.In the technical program, if occurring extreme case on destination path, i.e. target Dolly is very crowded on path, and the dolly on parallel route can not all cut destination path, i.e., the portion on parallel route The dolly for dividing detective's unit of dolly to scout always onto destination path can be cut into stopping that this part dolly will lead to it Cross deceleration path and enter queuing path, and wait in line on path is lined up.The switching mode of detective's pattern is in Application No. 201510874759.7 Chinese patent in have a detailed description.

Preferably, incision unit includes parallel route at a high speed, parallel route be one section with the destination path parallel before Path is put, is referred to as that companion can be cut from parallel route with path, dolly with the mutually parallel part of parallel route on destination path With path, delimit one section of preposition path for including parallel route and be referred to as exclusive preposition path, delimiting one section is included with path Destination path be referred to as exclusive destination path, it is single that running position identification is provided with exclusive preposition path and exclusive destination path Member, running position recognition unit is identifying the position of each dolly on exclusive preposition path and exclusive destination path, the operation Location identification unit is by recognition result input control system, and control system is according to each on exclusive preposition path and exclusive destination path The position of dolly is controlled on exclusive destination path or on exclusive preposition path or on exclusive preposition path and exclusive destination path Part dolly performs taxiing procedures, so that the dolly on all or part of parallel route can cut into path.In this technology side In case, control system control section dolly performs taxiing procedures, so that the dolly on all or part of parallel route can cut into companion With path.In actual applications, this technical scheme can be reached using the method for data acquisition, with exclusive preposition path head end In being mutually aligned with exclusive destination path head end, simulate a string of dollies for entering exclusive preposition path and a string enter exclusive mesh The dolly in path is marked, the position of each dolly is labeled to form data one, in exclusive preposition path, exclusive destination path scope Interior, the position of each dolly described using data one carries out reasonable arrangement as original state, to the relative position of each dolly, so that entirely Dolly in portion or part parallel path can cut into path, and the relative position and mark of each dolly after record layout can not Incision forms data two with the dolly in path, and data one and data dimorphism are into data group, by the distribution of repeatedly simulation dolly Scene, there is the data group of magnanimity in control system, when the dolly distribution scene of a reality occurs, control system is actual The position of each dolly is matched with each data group in dolly distribution scene, if the data one of a data group and actual dolly point The position of each dolly forms matching in cloth scene, then the data two of the data group are used as performing data by control system, that is, control System is controlled on the basis of data two to dolly.Such technical scheme can be from the special of Application No. 201610662346.7 Go to use for reference in profit, in practical operation, as long as it is single to set running position to identify on exclusive preposition path and exclusive destination path Member, the position of each dolly is monitored in real time, so that it may dolly is completed taxiing procedures.It can not be cut with path for mark Dolly, this part dolly will by deceleration path enter be lined up path, and be lined up path on wait in line.Application No. 201610662346.7 Chinese patent also describe the mode compared one by one：Dolly for having just enter into parallel route, according to The recognition result of running position recognition unit, control system judge whether have dolly to be cut into stopping to it on adjoint path, Taxiing procedures are performed with the dolly on path if so, then controlling, the position relationship in each small workshop is changed with profit In the dolly incision on parallel route, slided obviously by adjacent restricting in rear dolly with dolly on path, work as pole When end situation occurs, the distribution density such as dolly is excessive, makes and is restricted with sliding for dolly on path, i.e., by performing cunning Row process can not still form incision window, for can not still form the dolly to be cut of incision window by performing taxiing procedures, Control system labels it as cutting with path, and the dolly will be entered by deceleration path is lined up path.Assuming that hand over Lead to facility operation a whole morning, it is on exclusive destination path or on exclusive preposition path or exclusive preposition within the time of a whole morning Part dolly on path and exclusive destination path execution taxiing procedures, so that the dolly on all or part of parallel route can Incision is with path.

Preferably, incision unit includes point of penetration at a high speed, and point of penetration is arranged on preposition path afterbody, with cutting on destination path The corresponding point of access point is referred to as to scoop out a little, and dolly can be cut into from point of penetration to be scooped out a little, delimits one section in front of point of penetration Preposition path be referred to as special in preposition path, delimit one section in a destination path in front is scooped out and be referred to as application-specific target Path, is provided with running position recognition unit on special preposition path and application-specific target path, running position recognition unit to The position of each dolly on special preposition path and application-specific target path is identified, recognition result is inputted and controlled by running position recognition unit System processed, control system are controlled on application-specific target path according to the position of each dolly on special preposition path and application-specific target path Or the part dolly on special preposition path or on special preposition path and application-specific target path performs taxiing procedures, so that all Or the dolly on the special preposition path in part can be cut from point of penetration and scoop out a little.In the technical program, control system control unit Dolly is divided to perform taxiing procedures, so that the dolly on all or part of preposition path can cut into destination path.In actual applications, This technical scheme can be reached using the method for data acquisition, with special preposition path head end and application-specific target path head end phase Mutually in alignment, a string of dollies for entering special preposition path and a string of dollies for entering application-specific target path are simulated, to each small The position of car is labeled to form data one, and reasonable arrangement is carried out to the position of each dolly, so that all or part of preposition path On dolly can be cut by point of penetration and scoop out the position after a little, recording each dolly arrangement and mark can not cut destination path Dolly forms data two, and data one and data dimorphism are into data group, by the distribution scene of repeatedly simulation dolly, in control system There is the data group of magnanimity, when the dolly distribution scene of a reality occurs, control system is distributed actual dolly in scene The position of each dolly is matched with each data group, if the data one of a data group and each dolly in actual dolly distribution scene Position form matching, then the data two of the data group are used as performing data by control system, i.e. control system is with data two Benchmark is controlled to dolly.Such technical scheme can go to use for reference from the patent of Application No. 201610662346.7.

Obviously, incision unit can also have other technical schemes at a high speed, such as set point of penetration, dolly in preposition path afterbody The dolly on destination path is scouted when reaching point of penetration, whether the dolly seen on destination path cuts composition shadow to it Ring, if not forming influence, dolly performs incision action, if forming influences, dolly does not perform incision action, and dolly enters deceleration road Footpath.The Chinese patent of Application No. 201710072365.9 discloses a kind of cut-in manner of squash type, and this technical scheme is real It is also a kind of high speed cut-in manner in matter, this technical scheme slight changes just may be used on the present invention program, for thinking From the dolly of switching point incision destination path, the quantity of the dolly near switching point on the destination path of one section of setting can be carried out Statistics, as the dolly quantity on this section of destination path is less than or equal to preset value, then the dolly is contemplated that cutting for execution squash type Enter action, if the dolly quantity on this section of destination path is more than preset value, dolly does not perform incision action, and dolly enters deceleration road Footpath.In summary, the technical scheme of incision unit has diversity at a high speed, and expansion does not repeat one by one here.

Further technology, the head end of up path are connected with an acceleration path, and the tail end of downlink path is connected with one and subtracted Fast path.The technical scheme in acceleration path and deceleration path has in the patent of Application No. 201620189874.2 retouches in detail State.

Compared with prior art, the present invention program is a kind of means of transportation, including some platforms, some motion paths, if Dry dolly, some switching devices, some input units, homeposition recognition unit, control system；In the control of control system Under, dolly can switch between each motion path；At least chased in the presence of one at formula switching, chase and a deceleration is provided with formula switching Path, one is lined up path, an acceleration path；Deceleration path head end is connected to preceding path, is lined up path head end connection deceleration path Tail end, acceleration path head end, which closes on, is lined up path tail end, and acceleration path afterbody approaching target path, control system is according to target road The distributing position of dolly determines the time in the dolly incision acceleration path for being lined up path tail end on footpath, so that the dolly is realized From the purpose of acceleration path afterbody incision destination path.The utility model has advantages below：It is efficiency high, safe and reliable.

Brief description of the drawings

Fig. 1 is the overall structure diagram of the utility model embodiment 1；

Fig. 2 is the overall structure diagram of the utility model embodiment 2；

Fig. 3 is the utility model embodiment 3, embodiment 4, the overall structure diagram of embodiment 5；

Fig. 4 is that the overall structure diagram at formula switching is chased in the utility model embodiment 1, embodiment 2；

Fig. 5 is the overall structure diagram at up switching in the utility model embodiment 2；

Fig. 6 is the overall structure diagram at distribution formula switching in the utility model embodiment 3；

Fig. 7 is the overall structure diagram at distribution formula switching in the utility model embodiment 4；

Fig. 8 is the overall structure diagram at distribution formula switching in the utility model embodiment 5；

Fig. 9 is in the overall structure diagram in preceding path in the utility model embodiment 1,2,3,4,5；

Figure 10 is the overall structure diagram of destination path in the utility model embodiment 1,2,3,4,5；

Figure 11 is the overall structure diagram in deceleration path in the utility model embodiment 1,2,3,4,5；

Figure 12 is the overall structure diagram of acceleration path in the utility model embodiment 1,2,3,4,5；

Figure 13 is the overall structure diagram that path is lined up in the utility model embodiment 1,2,3,4,5；

Figure 14 is the overall structure diagram of switching device in the utility model embodiment 1,2,3,4,5；

Figure 15 is the overall structure diagram in preposition path in the utility model embodiment 3, embodiment 4, embodiment 5.

Embodiment

The utility model is described in further detail with reference to embodiments：

Embodiment 1

A kind of means of transportation, including some platform Z, some motion paths 1, some dollies 2, some switching devices 3 are some Input unit 5, homeposition recognition unit 6, control system 7；The carrier of motion is provided with motion path 1, so works as dolly 2 When being on motion path 1, dolly 2 can move along path direction；Each motion path 1 is spliced into a netted transportation network W, each platform are linked together by transportation network W, and each platform is connected with the head end of at least one motion path 1, head end The motion path 1 being connected with platform is referred to as up path, and each platform is connected with the tail end of at least one motion path 1, tail The motion path 1 that is connected with platform referred to as downlink path is held, in total movement path 1, its in addition to up, downlink path Its motion path is referred to as operating path, by switching device 3, operate in each up path, the dolly 2 on operating path can At least one other motion paths 1 are cut, by switching device 3, each downlink path, operating path can be accepted from least one The dolly 2 of the other motion paths 1 of bar；Input unit 5 corresponds with dolly 2, and user represents purpose by the input of input unit 5 This information is conveyed to control system 7 by the information of ground platform, input unit 5, and homeposition recognition unit 6 is identifying dolly Identification signal is conveyed to control system 7, control system by 2 from which bar up path, homeposition recognition unit 6 7 up paths to be set out according to dolly 2, destination platform arrange out a preset path for arriving at platform, and this is default Path is spliced by some motion paths 1；The position switched between motion path 1 is referred to as Q at switching, control system 7 according to the preset path of dolly 2 determine dolly 2 whether at switching Q is switched over, so make dolly 2 operation meet it is default Path；For Q at each switching, dolly 2 is referred to as to switch in preceding path 11, dolly 2 in the motion path 1 of preceding operation The motion path 1 arrived is referred to as destination path 12；Q1 at formula switching at least is chased in the presence of one, Q1 at formula switching is chased and is provided with One deceleration path J, one is lined up path P, an acceleration path JA；Deceleration path head end is connected to preceding path, and such deceleration path can Accept from the dolly cut in preceding path；Queuing path head end connection deceleration path tail end, so queuing path is accepted to come from and subtracted The dolly in fast path；Acceleration path head end, which closes on, is lined up path tail end, so can cut into and adds in the dolly for being lined up path tail end Fast path head end, acceleration path afterbody approaching target path, the dolly so operated on acceleration path can cut into destination path； Path is lined up to line up to dolly, is specially：To be lined up the tail end in path as head of the queue, each dolly closely lines up one Row, if the dolly incision acceleration path of head of the queue, follow-up dolly is kept up with successively to be re-formed to be lined up queue of the path tail end as head of the queue； Control system 7 determines whether need incision to add in the dolly for being lined up path tail end according to the distributing position of dolly on destination path Fast path, if so, the time of dolly incision acceleration path is then determined, so that the dolly, which is realized from acceleration path afterbody, cuts target The purpose in path.

Wherein, the concrete mode that control system 7 is maked decision is：Stretch footpath is selected as detection path in destination path 121, detect and be provided with running position recognition unit R on path 121, running position recognition unit R is to recognition detection path 121 The position of upper each dolly, running position recognition unit R is by recognition result input control system 7；One segment length is 5 meters and without dolly Existing distance is referred to as to can cut into distance, and control system 7, which judges to whether there is on detection path 121, can cut into distance, if so, This can cut into distance and is mapped with the dolly for being lined up path tail end by control system 7, and determine in queuing path tail The dolly at end needs to cut acceleration path, and control system 7 goes out dolly incision according to the position arrangement at the midpoint that can cut into distance and added The time in fast path, so that during dolly arrival acceleration path tail end, the midpoint face dolly of distance is can cut into corresponding to it, so Dolly can cut destination path in acceleration path tail end.

Wherein, it is conventional path in preceding path, destination path, conventional path includes the soft rope A3 that a trap is closed, driving Unit A5, slide rail A6；Soft rope A3 is wound on first axle A1 and the second axle A2, and driver element A5 is sliding to drive soft rope A3 to move Rail A6 is arranged on above soft rope A3, the space A61 of a longitudinal direction is provided with the middle part of slide rail A6, if being positioned apart from soft rope A3 Dry upper protruding block A31；The bottom of dolly 2 is provided with lower protruding block 21, and drive division B1 is provided with dolly 2；Drive division B1 is driving down The upward and downward of projection 21 moves, and drive division B1 driving lower protruding blocks 21 switch between first position, the second place；Work as lower protruding block 21 when being in first position, and lower protruding block 21 is plugged in the A61 of space and touches soft rope A3；When lower protruding block 21 is in the second place When, lower protruding block 21 leaves space A61；The controlled systems 7 of drive division B1 control；Deceleration path J includes the soft rope that some traps are closed A3 and the one-to-one driver element A5 of soft rope A3, slide rail A6；Soft rope A3 is wound on first axle A1 and the second axle A2, and driving is single First A5 is to drive soft rope A3 motions corresponding to it, and all soft rope A3, which is sequentially connected, forms a line, and slide rail A6 is arranged on soft rope A3 Top, slide rail A6 middle parts are provided with the space A61 of a longitudinal direction, some upper protruding block A31, soft rope have been positioned apart from soft rope A3 A3 is nearer from deceleration path J head end, and the speed of service of the soft rope A3 is faster；Acceleration path JA includes the soft rope that some traps are closed A3, with the one-to-one driver element A5 of soft rope A3, slide rail A6：Soft rope A3 is wound on first axle A1 and the second axle A2, and driving is single First A5 is to drive soft rope A3 motions corresponding to it, and all soft rope A3, which is sequentially connected, forms a line, and slide rail A6 is arranged on soft rope A3 Top, slide rail A6 middle parts are provided with the space A61 of a longitudinal direction, some upper protruding block A31, soft rope have been positioned apart from soft rope A3 A3 is nearer from acceleration path JA head end, and the speed of service of the soft rope A3 is slower；Being lined up path P includes a slide rail A6；Slide rail A6 Middle part is provided with the space A61 of a longitudinal direction, and the tail end for being lined up path P is provided with a stopper P1, is lined up each of path P both sides Ground is provided with some roller bearing P2, roller bearing P2 touches the bottom of dolly 2, and roller bearing P2 is corresponding with a driving structure P3, driving structure P3 Roller bearing P2 is driven can not stall；Switching device 3 includes a transiting slide plate D1, a telescopic arm D2, a drive device D3, a baffle plate D5, block a D6, a pin D7；The path run before dolly 2 is referred to as to originate path QS, the path that dolly will be switched to Referred to as reset path QQ；Transiting slide plate D1 is arranged on switching position, and transiting slide plate D1 left side connection resets the slide rail in path A6 right side, the slide rail A6 in transiting slide plate D1 right side connection starting path left side；Telescopic arm D2 is arranged on the right side of dolly 2； Drive device D3 is to drive telescopic arm D2, so that telescopic arm D2 realizations are stretched, contracting action, the controlled systems 7 of drive device D3 are controlled System；Baffle plate D5 is arranged on switching position, and baffle plate D5 is positioned at the slide rail A6 in starting path right side；Block D6 is arranged on dolly 2 and pushed up Portion, pin D7 are arranged on switching position, and pin D7 is above the slide rail A6 for resetting path.

What the utility model was realized in：In the utility model, when the dolly 2 run on preceding path 11 needs When being cut into destination path 12, i.e., determine that dolly needs to switch over chasing Q1 at formula switching according to the preset path of dolly 2, Dolly 2 first cuts deceleration path J, and then is being lined up path P waiting, and control system 7 is according to the distribution of dolly 2 on destination path 12 Position is controlled to waiting in the dolly 2 for being lined up path P tail end, so that the dolly 2 cuts target from acceleration path tail JA portions Path 12.Compared to prior art, the dolly on destination path 12 of the present utility model is in the state of high-speed cruising all the time, from And the operational efficiency of means of transportation is improved, dolly to be cut is being lined up road before incision with the formal distribution waited in line It is fool proof, reliable on footpath.The function mode of switching device of the present utility model Application No. 201510874759.7, 201610662346.7th, 201611127849.0,201710072356.9, have in detail in 201720152528.X Chinese patent Description.

Embodiment 2

Wherein, up path is a queuing path P；It is referred to as up cut at switching between up path and operating path Place Q11 is changed, Q11 is provided with an acceleration path JA at up switching, and acceleration path head end, which closes on, is lined up path tail end, is so in The dolly for being lined up path tail end can cut into acceleration path head end, and acceleration path afterbody closes on operating path, so operates in acceleration Dolly on path can cut into operating path；Control system 7 is determined in queuing according to the distributing position of dolly on operating path Whether the dolly of path tail end needs to cut acceleration path, if so, the time of dolly incision acceleration path is then determined, so that this is small Car realizes the purpose from acceleration path afterbody incision operating path.

Wherein, the concrete mode that control system 7 is maked decision is：Stretch footpath is selected as detection path in destination path 121, detect and be provided with running position recognition unit R on path 121, running position recognition unit R is to recognition detection path 121 The position of upper each dolly, running position recognition unit R is by recognition result input control system 7；One segment length is 5 meters and without dolly Existing distance is referred to as to can cut into distance, and control system 7, which judges to whether there is on detection path 121, can cut into distance, if so, This can cut into distance and is mapped with the dolly for being lined up path tail end by the control system 7, and determine in queuing road The dolly of footpath tail end needs to cut acceleration path, and control system 7 goes out dolly according to the position arrangement at the midpoint that can cut into distance and cut Enter the time of acceleration path, so that trolley travelling, in acceleration path afterbody, dolly can cut into distance with corresponding Point meets；Dolly uses the switching mode of detective's pattern in acceleration path afterbody, i.e., as detective to dolly and can cut into distance When midpoint is met, dolly incision destination path.

Wherein, it is conventional path in preceding path, destination path, conventional path includes the soft rope A3 that a trap is closed, driving Unit A5, slide rail A6；Soft rope A3 is wound on first axle A1 and the second axle A2, and driver element A5 is sliding to drive soft rope A3 to move Rail A6 is arranged on above soft rope A3, the space A61 of a longitudinal direction is provided with the middle part of slide rail A6, if being positioned apart from soft rope A3 Dry upper protruding block A31；The bottom of dolly 2 is provided with lower protruding block 21, and drive division B1 is provided with dolly 2；Drive division B1 is driving down The upward and downward of projection 21 moves, and drive division B1 driving lower protruding blocks 21 switch between first position, the second place；Work as lower protruding block 21 when being in first position, and lower protruding block 21 is plugged in the A61 of space and touches soft rope A3；When lower protruding block 21 is in the second place When, lower protruding block 21 leaves space A61；The controlled systems 7 of drive division B1 control；Deceleration path J includes the soft rope that some traps are closed A3 and the one-to-one driver element A5 of soft rope A3, slide rail A6；Soft rope A3 is wound on first axle A1 and the second axle A2, and driving is single First A5 is to drive soft rope A3 motions corresponding to it, and all soft rope A3, which is sequentially connected, forms a line, and slide rail A6 is arranged on soft rope A3 Top, slide rail A6 middle parts are provided with the space A61 of a longitudinal direction, some upper protruding block A31, soft rope have been positioned apart from soft rope A3 A3 is nearer from deceleration path J head end, and the speed of service of the soft rope A3 is faster；Acceleration path JA includes the soft rope that some traps are closed A3, with the one-to-one driver element A5 of soft rope A3, slide rail A6；Soft rope A3 is wound on first axle A1 and the second axle A2, and driving is single First A5 is to drive soft rope A3 motions corresponding to it, and all soft rope A3, which is sequentially connected, forms a line, and slide rail A6 is arranged on soft rope A3 Top, slide rail A6 middle parts are provided with the space A61 of a longitudinal direction, some upper protruding block A31, soft rope have been positioned apart from soft rope A3 A3 is nearer from acceleration path JA head end, and the speed of service of the soft rope A3 is slower；Being lined up path P includes a slide rail A6；Slide rail A6 Middle part is provided with the space A61 of a longitudinal direction, and the tail end for being lined up path P is provided with a stopper P1, is lined up each of path P both sides Ground is provided with some roller bearing P2, roller bearing P2 touches the bottom of dolly 2, and roller bearing P2 is corresponding with a driving structure P3, driving structure P3 Roller bearing P2 is driven can not stall；Switching device 3 includes a transiting slide plate D1, a telescopic arm D2, a drive device D3, a baffle plate D5, block a D6, a pin D7；The path run before dolly 2 is referred to as to originate path QS, the path that dolly will be switched to Referred to as reset path QQ；Transiting slide plate D1 is arranged on switching position, and transiting slide plate D1 left side connection resets the slide rail in path A6 right side, the slide rail A6 in transiting slide plate D1 right side connection starting path left side；Telescopic arm D2 is arranged on the right side of dolly 2； Drive device D3 is to drive telescopic arm D2, so that telescopic arm D2 realizations are stretched, contracting action, the controlled systems 7 of drive device D3 are controlled System；Baffle plate D5 is arranged on switching position, and baffle plate D5 is positioned at the slide rail A6 in starting path right side；Block D6 is arranged on dolly 2 and pushed up Portion, pin D7 are arranged on switching position, and pin D7 is above the slide rail A6 for resetting path.

What the utility model was realized in：The implementation of the present embodiment and embodiment 1 are similar.

Embodiment 3

A kind of means of transportation, including some platform Z, some motion paths 1, some dollies 2, some switching devices 3 are some Input unit 5, homeposition recognition unit 6, control system 7；The carrier of motion is provided with motion path 1, so works as dolly 2 When being on motion path 1, dolly 2 can move along path direction；Each motion path 1 is spliced into a netted transportation network W, each platform are linked together by transportation network W, and each platform is connected with the head end of at least one motion path 1, head end The motion path 1 being connected with platform is referred to as up path, and each platform is connected with the tail end of at least one motion path 1, tail The motion path 1 that is connected with platform referred to as downlink path is held, in total movement path 1, its in addition to up, downlink path Its motion path is referred to as operating path, by switching device 3, operate in each up path, the dolly 2 on operating path can At least one other motion paths 1 are cut, by switching device 3, each downlink path, operating path can be accepted from least one The dolly 2 of the other motion paths 1 of bar；Input unit 5 corresponds with dolly 2, and user represents purpose by the input of input unit 5 This information is conveyed to control system 7 by the information of ground platform, input unit 5, and homeposition recognition unit 6 is identifying dolly Identification signal is conveyed to control system 7, control system by 2 from which bar up path, homeposition recognition unit 6 7 up paths to be set out according to dolly 2, destination platform arrange out a preset path for arriving at platform, and this is default Path is spliced by some motion paths 1；The position switched between motion path 1 is referred to as Q at switching, control system 7 according to the preset path of dolly 2 determine dolly 2 whether at switching Q is switched over, so make dolly 2 operation meet it is default Path；For Q at each switching, dolly 2 is referred to as to switch in preceding path 11, dolly 2 in the motion path 1 of preceding operation The motion path 1 arrived is referred to as destination path 12；Q2 at a distribution formula switching at least be present, Q2 is provided with distribution formula switching One deceleration path J, one is lined up path P, an acceleration path JA, a preposition path 13；Preposition path head end is connected to preceding path, such as This preposition path can accept the carrier that motion is provided with from the dolly cut in preceding path, preposition path, so at dolly 2 When on preposition path, dolly 2 can move along preposition path；Deceleration path head end connects preposition path tail end, so slows down Path can accept the dolly from preposition path；Path head end connection deceleration path tail end is lined up, path is so lined up and accepts Dolly from deceleration path；Acceleration path head end, which closes on, is lined up path tail end, can so be cut in the dolly for being lined up path tail end Enter acceleration path head end, acceleration path afterbody approaching target path, the dolly so operated on acceleration path can cut into target Path；Path is lined up to line up to dolly, is specially：To be lined up the tail end in path as head of the queue, each dolly is closely arranged Cheng Yilie, if the dolly incision acceleration path of head of the queue, follow-up dolly is kept up with successively to be re-formed to be lined up path tail end as head of the queue Queue；Control system 7 according on destination path dolly distributing position determine in be lined up path tail end dolly whether needs Acceleration path is cut, if so, then determining the time of dolly incision acceleration path, is cut so that the dolly is realized from acceleration path afterbody Enter the purpose of destination path；Incision unit G at a high speed is provided with preposition path, it is preposition to make to operate in cut unit G at a high speed All or part of dolly on path cuts destination path in the case of high-speed cruising.

Incision unit G includes detective unit T, parallel route 16 at a high speed；Parallel route 16 is one section and the destination path Parallel preposition path, dolly can cut destination path from parallel route, and there is a default speed in preposition path with destination path Difference, for one for the dolly on parallel route, when detective unit T detectives will not be to it to the dolly on destination path When being cut into stopping, the dolly performs switching action.

Wherein, the head end of up path is connected with an acceleration path JA, and the tail end of downlink path is connected with a deceleration path J。

Wherein, in preceding path, destination path, preposition path it is conventional path, conventional path closes soft including a trap Rope A3, driver element A5, slide rail A6；Soft rope A3 is wound on first axle A1 and the second axle A2, and driver element A5 is driving soft rope A3 is moved, and slide rail A6 is arranged on above soft rope A3, and the space A61 of a longitudinal direction is provided with the middle part of slide rail A6, is spaced on soft rope A3 Ground is provided with some upper protruding block A31；The bottom of dolly 2 is provided with lower protruding block 21, and drive division B1 is provided with dolly 2；Drive division B1 To drive the upward and downward of lower protruding block 21 to move, drive division B1 driving lower protruding blocks 21 are cut between first position, the second place Change；When lower protruding block 21 is in first position, lower protruding block 21 is plugged in the A61 of space and touches soft rope A3；At lower protruding block 21 When the second place, lower protruding block 21 leaves space A61；The controlled systems 7 of drive division B1 control；Deceleration path J includes some circles The soft rope A3 of closure and the one-to-one driver element A5 of soft rope A3, slide rail A6；Soft rope A3 is wound on first axle A1 and the second axle A2 On, driver element A5 is to drive soft rope A3 motions corresponding to it, and all soft rope A3, which is sequentially connected, is formed a line, and slide rail A6 is set Above soft rope A3, the space A61 of a longitudinal direction is provided with the middle part of slide rail A6, some upper protruding blocks have been positioned apart from soft rope A3 A31, soft rope A3 are nearer from deceleration path J head end, and the speed of service of the soft rope A3 is faster；Acceleration path JA includes some traps The soft rope A3 closed, with the one-to-one driver element A5 of soft rope A3, slide rail A6；Soft rope A3 is wound on first axle A1 and the second axle A2 On, driver element A5 is to drive soft rope A3 motions corresponding to it, and all soft rope A3, which is sequentially connected, is formed a line, and slide rail A6 is set Above soft rope A3, the space A61 of a longitudinal direction is provided with the middle part of slide rail A6, some upper protruding blocks have been positioned apart from soft rope A3 A31, soft rope A3 is nearer from acceleration path JA head end, and the speed of service of the soft rope A3 is slower；Being lined up path P includes a slide rail A6；The space A61 of a longitudinal direction is provided with the middle part of slide rail A6, the tail end for being lined up path P is provided with a stopper P1, is lined up path P both sides have respectively been positioned apart from some roller bearing P2, and roller bearing P2 touches the bottom of dolly 2, and roller bearing P2 is corresponding with a driving structure P3, drive It is dynamic that dynamic structure P3 drives roller bearing P2 not stall；Switching device 3 includes transiting slide plate D1, telescopic arm D2, a drive device D3, One baffle plate D5, block a D6, a pin D7；The path run before dolly 2 is referred to as to originate path QS, and dolly will be switched to Path be referred to as reset path QQ；Transiting slide plate D1 is arranged on switching position, and transiting slide plate D1 left side connection resets path Slide rail A6 right side, transiting slide plate D1 right side connection starting path slide rail A6 left side；Telescopic arm D2 is arranged on dolly 2 Right side；Drive device D3 is to drive telescopic arm D2, so that telescopic arm D2 realizations are stretched, contracting action, the controlled systems of drive device D3 The control of system 7；Baffle plate D5 is arranged on switching position, and baffle plate D5 is positioned at the slide rail A6 in starting path right side；Block D6 is arranged on small The top of car 2, pin D7 are arranged on switching position, and pin D7 is above the slide rail A6 for resetting path.

What the utility model was realized in：In the utility model, according to the preset path of dolly 2, when dolly 2 needs When Q2 performs switching action at distribution formula switching, the switching device of dolly 2 is responded, and dolly 2 cuts preposition path 13, The high speed incision unit G in preposition path 13, all or part of dolly 2 cut destination path 12 in the case of high-speed cruising, only Have when there is extreme situation on destination path 12, the distribution such as dolly on destination path is very intensive, so makes few part Dolly destination path 12 can not be cut by high speed incision unit G, this part dolly is entered by deceleration path J is lined up path P, according to the distribution situation of dolly on destination path, control system control passes sequentially through acceleration in the dolly for being lined up path tail end Path JA cuts destination path 12, and in summary, the dolly on preceding path at distribution formula switching by being finally all switched to Destination path 12, by high speed incision unit, incision destination path, only only a few dolly pass through row to most dollies at a high speed Team's mode cuts destination path, and the operational efficiency of means of transportation greatly improves, meanwhile, destination path can not be cut at a high speed to minority Dolly by the way of incision is waited in line, avoid dolly high-speed cruising but the situation of destination path can not be cut to handing over The risk that logical facility is formed,

Embodiment 4

Wherein, incision unit G includes parallel route 16 at a high speed, and parallel route 16 is one section and destination path parallel preposition Path, it is referred to as to cut from parallel route with path 17, dolly with the mutually parallel part of parallel route 16 on destination path With path, delimit one section of preposition path for including parallel route 16 and be referred to as exclusive preposition path 161, delimiting one section includes companion It is referred to as exclusive destination path 171 with the destination path in path 17, fortune is provided with exclusive preposition path and exclusive destination path Row location identification unit R, running position recognition unit R are identifying each dolly on exclusive preposition path and exclusive destination path Position, running position recognition unit R is by recognition result input control system 7, and control system 7 is according to exclusive preposition path and exclusive The position of each dolly is controlled on exclusive destination path or on exclusive preposition path or exclusive preposition path and exclusive on destination path Part dolly on destination path performs taxiing procedures, so that the dolly on all or part of parallel route 16 can cut into road Footpath 17.

Wherein, in preceding path, destination path, preposition path it is conventional path, conventional path closes soft including a trap Rope A3, driver element A5, slide rail A6；Soft rope A3 is wound on first axle A1 and the second axle A2, and driver element A5 is driving soft rope A3 is moved, and slide rail A6 is arranged on above soft rope A3, and the space A61 of a longitudinal direction is provided with the middle part of slide rail A6, is spaced on soft rope A3 Ground is provided with some upper protruding block A31；The bottom of dolly 2 is provided with lower protruding block 21, and drive division B1 is provided with dolly 2；Drive division B1 To drive the upward and downward of lower protruding block 21 move, drive division B1 drive lower protruding block 21 first position, the second place, the 3rd position it Between switch over；When lower protruding block 21 is in first position, lower protruding block 21 is plugged in the A61 of space and touches soft rope A3；Instantly When projection 21 is in the second place, lower protruding block 21 leaves space A61；When lower protruding block 21 is in three positions, lower protruding block 21 is inserted It is connected in the A61 of space and away from soft rope A3；The controlled systems 7 of drive division B1 control；Deceleration path J includes the soft of some traps conjunction Rope A3 and the one-to-one driver element A5 of soft rope A3, slide rail A6；Soft rope A3 is wound on first axle A1 and the second axle A2, driving Unit A5 is to drive soft rope A3 motions corresponding to it, and all soft rope A3, which is sequentially connected, forms a line, and slide rail A6 is arranged on soft rope Above A3, the space A61 of a longitudinal direction is provided with the middle part of slide rail A6, some upper protruding block A31 have been positioned apart from soft rope A3, it is soft Rope A3 is nearer from deceleration path J head end, and the speed of service of the soft rope A3 is faster；Acceleration path JA includes the soft of some traps conjunction Rope A3, with the one-to-one driver element A5 of soft rope A3, slide rail A6；Soft rope A3 is wound on first axle A1 and the second axle A2, driving Unit A5 is to drive soft rope A3 motions corresponding to it, and all soft rope A3, which is sequentially connected, forms a line, and slide rail A6 is arranged on soft rope Above A3, the space A61 of a longitudinal direction is provided with the middle part of slide rail A6, some upper protruding block A31 have been positioned apart from soft rope A3, it is soft Rope A3 is nearer from acceleration path JA head end, and the speed of service of the soft rope A3 is slower；Being lined up path P includes a slide rail A6；Slide rail The space A61 of a longitudinal direction is provided with the middle part of A6, the tail end for being lined up path P is provided with a stopper P1, and it is each to be lined up path P both sides Some roller bearing P2 are positioned apart from, roller bearing P2 touches the bottom of dolly 2, and roller bearing P2 is corresponding with a driving structure P3, driving structure It is dynamic that P3 drives roller bearing P2 not stall；Switching device 3 includes a transiting slide plate D1, a telescopic arm D2, a drive device D3, a baffle plate D5, block a D6, a pin D7；The path run before dolly 2 is referred to as to originate path QS, the path that dolly will be switched to Referred to as reset path QQ；Transiting slide plate D1 is arranged on switching position, and transiting slide plate D1 left side connection resets the slide rail in path A6 right side, the slide rail A6 in transiting slide plate D1 right side connection starting path left side；Telescopic arm D2 is arranged on the right side of dolly 2； Drive device D3 is to drive telescopic arm D2, so that telescopic arm D2 realizations are stretched, contracting action, the controlled systems 7 of drive device D3 are controlled System；Baffle plate D5 is arranged on switching position, and baffle plate D5 is positioned at the slide rail A6 in starting path right side；Block D6 is arranged on dolly 2 and pushed up Portion, pin D7 are arranged on switching position, and pin D7 is above the slide rail A6 for resetting path.

What the utility model was realized in：The implementation of the present embodiment and embodiment 3 are similar, and its difference is Dolly can perform taxiing procedures, it is clear that when lower protruding block 21 is in three positions, dolly can slide on slide rail A6.

Embodiment 5

A kind of means of transportation, including some platform Z, some motion paths 1, some dollies 2, some switching devices 3 are some Input unit 5, homeposition recognition unit 6, control system 7；The carrier of motion is provided with motion path 1, so works as dolly 2 When being on motion path 1, dolly 2 can move along path direction；Each motion path 1 is spliced into a netted transportation network W, each platform are linked together by transportation network W, and each platform is connected with the head end of at least one motion path 1, head end The motion path 1 being connected with platform is referred to as up path, and each platform is connected with the tail end of at least one motion path 1, tail The motion path 1 that is connected with platform referred to as downlink path is held, in total movement path 1, its in addition to up, downlink path Its motion path is referred to as operating path, by switching device 3, operate in each up path, the dolly 2 on operating path can At least one other motion paths 1 are cut, by switching device 3, each downlink path, operating path can be accepted from least one The dolly 2 of the other motion paths 1 of bar；Input unit 5 corresponds with dolly 2, and user represents purpose by the input of input unit 5 This information is conveyed to control system 7 by the information of ground platform, input unit 5, and homeposition recognition unit 6 is identifying dolly Identification signal is conveyed to control system 7, control system by 2 from which bar up path, homeposition recognition unit 6 7 up paths to be set out according to dolly 2, destination platform arrange out a preset path for arriving at platform, and this is default Path is spliced by some motion paths 1；The position switched between motion path 1 is referred to as Q at switching, control system 7 according to the preset path of dolly 2 determine dolly 2 whether at switching Q is switched over, so make dolly 2 operation meet it is default Path；For Q at each switching, dolly 2 is referred to as to switch in preceding path 11, dolly 2 in the motion path 1 of preceding operation The motion path 1 arrived is referred to as destination path 12；Q2 at a distribution formula switching at least be present, Q2 is provided with distribution formula switching One deceleration path J, one is lined up path P, an acceleration path JA, a preposition path 13；Preposition path head end is connected to preceding path, such as This preposition path can accept the carrier that motion is provided with from the dolly cut in preceding path, preposition path, so at dolly 2 When on preposition path, dolly 2 can move along preposition path；Deceleration path head end connects preposition path tail end, so slows down Path can accept the dolly from preposition path；Path head end connection deceleration path tail end is lined up, path is so lined up and accepts Dolly from deceleration path：Acceleration path head end, which closes on, is lined up path tail end, can so be cut in the dolly for being lined up path tail end Enter acceleration path head end, acceleration path afterbody approaching target path, the dolly so operated on acceleration path can cut into target Path；Path is lined up to line up to dolly, is specially：To be lined up the tail end in path as head of the queue, each dolly is closely arranged Cheng Yilie, if the dolly incision acceleration path of head of the queue, follow-up dolly is kept up with successively to be re-formed to be lined up path tail end as head of the queue Queue；Control system 7 according on destination path dolly distributing position determine in be lined up path tail end dolly whether needs Acceleration path is cut, if so, then determining the time of dolly incision acceleration path, is cut so that the dolly is realized from acceleration path afterbody Enter the purpose of destination path；Incision unit G at a high speed is provided with preposition path, it is preposition to make to operate in cut unit G at a high speed All or part of dolly on path cuts destination path in the case of high-speed cruising.

Wherein, the concrete mode that control system 7 is maked decision is：Stretch footpath is selected as detection path in destination path 121, detect and be provided with running position recognition unit R on path 121, running position recognition unit R is to recognition detection path 121 The position of upper each dolly, running position recognition unit R is by recognition result input control system 7；Detection path 121 length be 8.5 rice；One segment length is referred to as to can cut into distance for 5 meters and without distance existing for dolly, and control system 7 is according to detection path The position judgment of each dolly on 121：By performing taxiing procedures, can detect form one on path 121 can cut into distance, if Can, this can cut into distance and is mapped with the dolly for being lined up path tail end by control system 7, and determine in queuing path The dolly of tail end needs to cut acceleration path, and control system 7 goes out dolly according to the position arrangement at the midpoint that can cut into distance and cut The time of acceleration path, so that during dolly arrival acceleration path tail end, the midpoint face dolly of distance is can cut into corresponding to it, such as This dolly can cut destination path in acceleration path tail end；Dolly on the control targe path of control system 7 performs taxiing procedures, Distance is can cut into so as to be formed between dolly.

Wherein, incision unit G includes point of penetration Q6 at a high speed, and point of penetration Q6 is arranged on preposition path afterbody, on destination path The point corresponding with point of penetration Q6 is referred to as to scoop out point Q7, and dolly can be cut into from point of penetration Q6 scoops out point Q7, delimits at one section Preposition path in front of point of penetration Q6 is referred to as special in preposition path 61, delimits one section in the target scooped out in front of point Q7 Path is referred to as application-specific target path 71, running position recognition unit R to be provided with special preposition path and application-specific target path, Running position recognition unit R to identify the position of each dolly on special preposition path and application-specific target path, know by running position Recognition result is inputted the control system 7 by other unit R, and control system 7 is according on special preposition path and application-specific target path On the position control application-specific target path of each dolly or on special preposition path or on special preposition path and application-specific target path Part dolly perform taxiing procedures be scooped out so that the dolly on all or part of special preposition path can be cut from point of penetration Q6 Point Q7.

What the utility model was realized in：The implementation of the present embodiment and embodiment 3 are similar.

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

Claims

1. a kind of means of transportation, including some platforms (Z), some motion paths (1), some dollies (2), some switching devices (3), some input units (5), homeposition recognition unit (6), control system (7)；Fortune is provided with the motion path (1) Dynamic carrier, so when the dolly (2) is on the motion path (1), the dolly (2) can transport along path direction It is dynamic；Each motion path (1) is spliced into a netted transportation network (W), and each platform is joined by the transportation network (W) It is tied, each platform is connected with the head end of at least one motion path (1), the motion path that head end is connected with platform (1) it is referred to as up path, each platform is connected with the tail end of at least one motion path (1), and tail end is connected with platform Motion path (1) be referred to as downlink path, in total movement path (1), other motion roads in addition to up, downlink path Footpath is referred to as operating path, by the switching device (3), operates in each up path, the dolly on operating path (2) at least one other motion paths (1) are can cut into, by the switching device (3), each downlink path, operating path can Accept the dolly (2) from least one other motion paths (1)；A pair of the input unit (5) and the dolly (2) 1 Should, user represents the information of destination platform by the input unit (5) input, and the input unit (5) is by this information It is conveyed to the control system (7), the homeposition recognition unit (6) is identifying that dolly (2) is from walking along the street on which bar What footpath was set out, identification signal is conveyed to the control system (7), the control system by the homeposition recognition unit (6) (7) up path, the destination platform to be set out according to dolly (2) arranges out a preset path for arriving at platform, should Preset path is spliced by some motion paths (1)；The position switched between the motion path (1) is referred to as to switch Locate (Q), the control system (7) according to the preset path of dolly (2) determine dolly (2) whether at switching (Q) is switched over, So the operation of dolly (2) is set to meet preset path：It is characterized in that：For (Q) at each switching, dolly (2) is in preceding fortune Capable motion path (1) is referred to as in preceding path (11), and the motion path (1) that dolly (2) will be switched to is referred to as target road Footpath (12)；At least being chased in the presence of one at formula switching (Q1), chase at formula switching (Q1) is provided with a deceleration path (J), One is lined up path (P), an acceleration path (JA)；Deceleration path head end is connected to preceding path, such deceleration path can accept from The dolly of preceding path incision；Path head end connection deceleration path tail end is lined up, path is so lined up and accepts from deceleration path Dolly；Acceleration path head end, which closes on, is lined up path tail end, so can cut into acceleration path head in the dolly for being lined up path tail end End, acceleration path afterbody approaching target path, the dolly so operated on acceleration path can cut into destination path；It is lined up path To line up to dolly, it is specially：To be lined up the tail end in path as head of the queue, each dolly closely forms a line, if head of the queue Dolly incision acceleration path, follow-up dolly is kept up with successively to be re-formed to be lined up queue of the path tail end as head of the queue；The control System (7) determines whether need incision to accelerate in the dolly for being lined up path tail end according to the distributing position of dolly on destination path Path, if so, the time of dolly incision acceleration path is then determined, so that the dolly is realized from acceleration path afterbody incision target road The purpose in footpath.

A kind of 2. means of transportation according to claim 1, it is characterised in that：The up path is queuing path (P)； It is referred to as at switching between up path and operating path at up switching (Q11), (Q11) is provided with the up switching One acceleration path (JA), acceleration path head end, which closes on, is lined up path tail end, so can cut into the dolly for being lined up path tail end Acceleration path head end, acceleration path afterbody close on operating path, and the dolly so operated on acceleration path can cut into operation road Footpath；Whether the control system (7) determines the dolly in queuing path tail end according to the distributing position of dolly on operating path Need to cut acceleration path, if so, the time of dolly incision acceleration path is then determined, so that the dolly is realized from acceleration path tail Cut the purpose of operating path in portion.

3. a kind of means of transportation, including some platforms (Z), some motion paths (1), some dollies (2), some switching devices (3), some input units (5), homeposition recognition unit (6), control system (7)；Fortune is provided with the motion path (1) Dynamic carrier, so when the dolly (2) is on the motion path (1), the dolly (2) can transport along path direction It is dynamic；Each motion path (1) is spliced into a netted transportation network (W), and each platform is joined by the transportation network (W) It is tied, each platform is connected with the head end of at least one motion path (1), the motion path that head end is connected with platform (1) it is referred to as up path, each platform is connected with the tail end of at least one motion path (1), and tail end is connected with platform Motion path (1) be referred to as downlink path, in total movement path (1), other motion roads in addition to up, downlink path Footpath is referred to as operating path, by the switching device (3), operates in each up path, the dolly on operating path (2) at least one other motion paths (1) are can cut into, by the switching device (3), each downlink path, operating path can Accept the dolly (2) from least one other motion paths (1)；A pair of the input unit (5) and the dolly (2) 1 Should, user represents the information of destination platform by the input unit (5) input, and the input unit (5) is by this information It is conveyed to the control system (7), the homeposition recognition unit (6) is identifying that dolly (2) is from walking along the street on which bar What footpath was set out, identification signal is conveyed to the control system (7), the control system by the homeposition recognition unit (6) (7) up path, the destination platform to be set out according to dolly (2) arranges out a preset path for arriving at platform, should Preset path is spliced by some motion paths (1)；The position switched between the motion path (1) is referred to as to switch Locate (Q), the control system (7) according to the preset path of dolly (2) determine dolly (2) whether at switching (Q) is switched over, So the operation of dolly (2) is set to meet preset path；It is characterized in that：For (Q) at each switching, dolly (2) is in preceding fortune Capable motion path (1) is referred to as in preceding path (11), and the motion path (1) that dolly (2) will be switched to is referred to as target road Footpath (12)；At least existing at a distribution formula switching (Q2), (Q2) is provided with a deceleration path (J) at the distribution formula switching, One is lined up path (P), an acceleration path (JA), a preposition path (13)；Preposition path head end is connected to preceding path, so preposition Path can accept the carrier that motion is provided with from the dolly cut in preceding path, preposition path, so when the dolly (2) place When on preposition path, the dolly (2) can be moved along preposition path；Deceleration path head end connects preposition path tail end, such as This deceleration path can accept the dolly from preposition path；Path head end connection deceleration path tail end is lined up, is so lined up path Accept the dolly from deceleration path；Acceleration path head end, which closes on, is lined up path tail end, so in the small of queuing path tail end Car can cut into acceleration path head end, acceleration path afterbody approaching target path, and the dolly so operated on acceleration path can be cut Enter destination path；Path is lined up to line up to dolly, is specially：To be lined up the tail end in path as head of the queue, each dolly is tight Thickly form a line, if head of the queue dolly incision acceleration path, follow-up dolly keep up with successively re-form using be lined up path tail end as The queue of head of the queue；The control system (7) is determined in queuing path tail end according to the distributing position of dolly on destination path Whether dolly needs to cut acceleration path, if so, the time of dolly incision acceleration path is then determined, so that the dolly is realized from adding The purpose of fast path afterbody incision destination path；Incision unit (G) at a high speed, the high speed incision are provided with the preposition path Unit (G) cuts destination path to make to operate in all or part of dolly on preposition path in the case of high-speed cruising.

A kind of 4. means of transportation according to claim 3, it is characterised in that：The tool that the control system (7) is maked decision Body mode is：Stretch footpath, which is selected, in destination path is provided with fortune on path (121) as detection path (121), described detect Row location identification unit (R), the running position recognition unit (R) is identifying each dolly on detection path (121) Recognition result is inputted the control system (7) by position, the running position recognition unit (R)；One segment length is 5 meters and without small Distance existing for car is referred to as to can cut into distance, and the control system (7) is judged on detection path (121) with the presence or absence of can Distance is cut, is mapped if so, this can cut into distance by the control system (7) with the dolly for being lined up path tail end, And determine to need to cut acceleration path in the dolly for being lined up path tail end, control system (7) basis can cut into distance The position arrangement at midpoint goes out the time of dolly incision acceleration path, can corresponding to it during so that dolly reaching acceleration path tail end The midpoint face dolly of distance is cut, such dolly can cut destination path in acceleration path tail end.

A kind of 5. means of transportation according to claim 3, it is characterised in that：The tool that the control system (7) is maked decision Body mode is：Stretch footpath, which is selected, in destination path is provided with fortune on path (121) as detection path (121), described detect Row location identification unit (R), the running position recognition unit (R) is identifying each dolly on detection path (121) Recognition result is inputted the control system (7) by position, the running position recognition unit (R)；One segment length is 5 meters and without small Distance existing for car is referred to as to can cut into distance, and the control system (7) is judged on detection path (121) with the presence or absence of can Distance is cut, is mapped if so, this can cut into distance by the control system (7) with the dolly for being lined up path tail end, And determine to need to cut acceleration path in the dolly for being lined up path tail end, control system (7) basis can cut into distance The position arrangement at midpoint goes out the time of dolly incision acceleration path, so that trolley travelling is in acceleration path afterbody, dolly can be with Meet at the corresponding midpoint that can cut into distance；Dolly uses the switching mode of detective's pattern in acceleration path afterbody, i.e., ought detect When visiting dolly and can cut into the midpoint of distance and meet, dolly incision destination path.

A kind of 6. means of transportation according to claim 3, it is characterised in that：The tool that the control system (7) is maked decision Body mode is：Stretch footpath, which is selected, in destination path is provided with fortune on path (121) as detection path (121), described detect Row location identification unit (R), the running position recognition unit (R) is identifying each dolly on detection path (121) Recognition result is inputted the control system (7) by position, the running position recognition unit (R)；Detect the length of path (121) For 8.5 meters；One segment length is 5 meter and is referred to as to can cut into distance without distance existing for dolly, and the control system (7) is according to inspection Survey the position judgment of each dolly on path (121)：By performing taxiing procedures, can form one in detection path (121) can Distance is cut, if can, this can cut into distance and is mapped with the dolly for being lined up path tail end by the control system (7), And determine to need to cut acceleration path in the dolly for being lined up path tail end, control system (7) basis can cut into distance The position arrangement at midpoint goes out the time of dolly incision acceleration path, can corresponding to it during so that dolly reaching acceleration path tail end The midpoint face dolly of distance is cut, such dolly can cut destination path in acceleration path tail end；Control system (7) control Dolly on destination path processed performs taxiing procedures, and distance is can cut into so as to be formed between dolly.

A kind of 7. means of transportation according to claim 3 to 6 any claim, it is characterised in that：The high speed incision Unit (G) includes detective's unit (T), parallel route (16)；The parallel route (16) is one section parallel with the destination path Preposition path, dolly can cut destination path from parallel route, and preposition path and destination path have a default speed difference, right In one for the dolly on parallel route, when detective's unit (T) detective will not be right to the dolly on destination path When it is cut into stopping, the dolly performs switching action.

A kind of 8. means of transportation according to claim 3 to 6 any claim, it is characterised in that：The high speed incision Unit (G) includes parallel route (16), and the parallel route (16) is one section of preposition path with the destination path parallel, mesh Mark and be referred to as adjoint path (17) on path with the mutually parallel part of parallel route (16), dolly can be cut adjoint from parallel route Path, delimit one section of preposition path for including parallel route (16) and be referred to as exclusive preposition path (161), delimiting one section includes companion It is referred to as exclusive destination path (171) with the destination path of path (17), is set on exclusive preposition path and exclusive destination path There is a running position recognition unit (R), the running position recognition unit (R) is identifying exclusive preposition path and exclusive target road Recognition result is inputted the control system (7), the control by the position of each dolly on footpath, the running position recognition unit (R) System (7) processed controls on exclusive destination path or exclusive according to the position of each dolly on exclusive preposition path and exclusive destination path Part dolly on preposition path or on exclusive preposition path and exclusive destination path performs taxiing procedures, so that all or part of Dolly on parallel route (16) can cut into path (17).

A kind of 9. means of transportation according to claim 3 to 6 any claim, it is characterised in that：The high speed incision Unit (G) includes point of penetration (Q6), and the point of penetration (Q6) is arranged on preposition path afterbody, on destination path with the point of penetration (Q6) corresponding point is referred to as to scoop out point (Q7), and dolly can be cut into from point of penetration (Q6) scoops out point (Q7), delimits at one section Preposition path in front of point of penetration (Q6) is referred to as special in preposition path (61), delimits one section in scooping out in front of point (Q7) Destination path be referred to as application-specific target path (71), be provided with special preposition path and application-specific target path running position knowledge Other unit (R), the running position recognition unit (R) is identifying each dolly on special preposition path and application-specific target path Recognition result is inputted the control system (7), control system (7) basis by position, the running position recognition unit (R) On special preposition path and application-specific target path on the position control application-specific target path of each dolly or on special preposition path or Part dolly on special preposition path and application-specific target path performs taxiing procedures, so that all or part of special preposition path On dolly can from point of penetration (Q6) cut scoop out point (Q7).

A kind of 10. means of transportation according to claim 3, it is characterised in that：The head end of the up path is connected with one Acceleration path (JA), the tail end of the downlink path are connected with a deceleration path (J).