An efficient and streamlined orbital logistics system

Abstract

The present invention discloses an efficient and streamlined rail logistics system, including a track, a trolley, a station, a garage and a path switch arranged on the track, the trolley can move along the track, an operation terminal, the operation terminal is used to initiate a request instruction for calling the trolley, the request instruction includes a starting position and an end position, a server, the server forms a trolley running track label table based on the received request instruction, the trolley running track label table represents the moving path of the trolley to perform tasks, and a regional controller, a regional control area is set corresponding to each area, the regional controller is respectively connected to the server and the trolley for communication, the regional controller is used to receive the current position information fed back by the trolley, and the path switch is controlled to perform track switching in advance so that the trolley can reach the end position along the moving path. The present invention does not need to configure corresponding control panels for the stations, garages and path switches, the system is more streamlined, and the hardware cost is lower.

Description

Technical Field

[0001] The present invention relates to the technical field of track logistics, and particularly to an efficient and streamlined track logistics system. Background Art

[0002] Track logistics is often applied in scenarios such as indoor or between buildings / floors and other limited spaces. Taking a hospital as an example, within the same hospital building, it is necessary to send various drugs from the hospital's drug warehouse to each pharmacy or each floor. If the most traditional method of manual handling is adopted, the efficiency is extremely low. Through the track logistics system, drugs are placed in a trolley running on the track in the drug warehouse, and the trolley moves along the track and is sent to the designated destination. After the drugs are taken out, the next transportation is carried out or the trolley is moved to the garage, thereby greatly improving the drug transportation efficiency.

[0003] In order to enable the trolley to accurately move to the destination without moving to other places by mistake, the traditional track logistics system needs to configure a corresponding hardware control board for each station, garage, and path switcher. The entry and exit of the trolley from the station, garage, and the realization of path switching are all controlled by the control board where it is located. For example, if the trolley needs to park temporarily at station a, whether the trolley is allowed to park temporarily at station a, whether to leave station a, etc. are all controlled and realized by the control board where station a is located, avoiding problems such as allowing the trolley to enter and park when station a is already full, ensuring that the trolley can operate normally and maintaining the normal scheduling of the trolley within the track logistics system.

[0004] When a corresponding hardware control board needs to be configured for each station, garage, and path switcher, the entire track logistics system appears very bloated. Not only does it require a lot of additional hardware costs, but also once a control board has a problem, the corresponding station, garage, or path switcher cannot work properly, and even the entire track logistics system cannot work properly. In addition, when there are a large number of control boards in a track logistics system, since each control board needs to communicate point-to-point with the server or the upper computer at least, it means that the networking is complex. And if wired networking is adopted, the wiring and networking are complex and costly, and even wiring cannot be completed due to space limitations. When the number of control boards increases, it also means that there are more communication instruction transmissions, which easily trigger communication congestion, thus affecting the real-time performance of communication instructions and further affecting the slow scheduling of the trolley.

[0005] In summary, there is a need for a more efficient and streamlined track logistics system. Summary of the Invention

[0006] Aiming at the deficiencies of the prior art, the purpose of the present invention is to provide an efficient and streamlined track logistics system, which can solve the problems described in the background art.

[0007] The technical solution for achieving the object of the present invention is as follows: An efficient and streamlined rail logistics system includes:

[0008] A rail, the range covered by the rail is the target space range covered by the rail logistics system. The target space range is divided into several regions.

[0009] And it further includes a trolley, a station, a garage and a path switcher arranged on the rail. The trolley can move along the rail.

[0010] The station and the garage are space ranges delimited on the rail according to a preset length. Both the station and the garage include several parking spaces, and a position tag is set on each parking space.

[0011] The station is used for the trolley to temporarily stay when performing tasks, the garage is used for the trolley to stay when not performing tasks and not needing to move, and the path switcher is used to realize the path switching of the trolley from the current rail to the next rail.

[0012] An operation terminal, which is used to initiate a request instruction for calling the trolley. The request instruction includes a starting position and an ending position.

[0013] A server, which forms a trolley operation trajectory tag table based on the received request instruction. The trolley operation trajectory tag table represents the moving path of the trolley performing tasks.

[0014] A regional controller, one regional control area is correspondingly set for one region. The regional controller is respectively communicatively connected with the server, the trolley and the path switcher.

[0015] The regional controller is used to receive the current position information fed back by the trolley, control the path switcher to make preparations for rail switching in advance, so that the trolley can reach the ending position along the moving path.

[0016] Further, the operation terminal is arranged on the rail or outside the rail along the rail, and the starting position is the position where the operation terminal is located.

[0017] Further, the operation terminal is a touch screen, and is communicatively connected with the server through TCP / IP. The position where the operation terminal is located also serves as a station, and both the starting position and the ending position are one of the stations on the rail.

[0018] Further, the regional controller stores station information. The station information includes a station number and the directions in which the trolley is allowed to travel at the station. The directions in which the trolley is allowed to travel at the station include one-way travel and two-way travel. The regional controller determines the parking space where the trolley stays after entering the station based on the station information, and controls the order of the trolley entering and leaving the station.

[0019] Further, two ports are also provided on the track, and position recognition tags are pasted on both ports, namely the head tag and the tail tag respectively. The head tag and the tail tag are globally unique. The trolley can determine its current moving direction by passing through the port and reading the position recognition tag.

[0020] Further, track information is also stored in the area controller. The track information includes the number of tracks and track attributes included in the track logistics system. The track attributes include track number, total number of tags on the track, value of each tag on the track, direction attribute when the trolley moves from the head tag to the tail tag of the track, track length, and the direction allowed for the trolley to travel on the track. The direction allowed for the trolley to travel on the track includes one-way travel and two-way travel.

[0021] Further, garage information is also stored in the area controller. The garage information includes garage number and the direction allowed for the trolley to travel in the garage. The direction allowed for the trolley to travel in the garage includes one-way travel and two-way travel. The area controller determines the parking space where the trolley stays after entering the garage based on the garage information, and controls the order of the trolley entering and leaving the garage.

[0022] Further, when more than two trolleys need to call the path switcher and before reaching the path switcher, the area controller is also used to arbitrate the sequence of each trolley calling the path switcher to switch tracks based on the position information received from the trolleys.

[0023] Further, a track position tag is also included. The track position tag is arranged on or outside the track and extends along the track. When the trolley passes through the track position where the track position tag is located, it can read the tag information of the track position tag to obtain the current position of the trolley.

[0024] The area controller determines whether the trolley moves along the moving path determined by the trolley running track tag table based on the current position of the trolley at each moment.

[0025] Further, the server forms a trolley running track tag table based on the received request instruction. The specific implementation process includes:

[0026] The server pre-stores a trolley path table, queries the track position tags where the starting position and the ending position are located in the trolley path table, and then determines the sequence of each track position tag through the track where the track position tag is located and other track position tags on the track, and finally obtains the trolley running track tag table corresponding to each task of the trolley.

[0027] Advantages of the present invention: The present invention does not need to configure corresponding control boards for stations, garages and path switchers. The system is more concise, the hardware cost is lower, the communication efficiency and real-time performance are higher, and the networking operation is more convenient. Description of the Drawings

[0028] Figure 1 is the overall principle block diagram of a preferred embodiment of the present invention;

[0029] Figure 2 is an example of an orbital logistics system. Detailed implementation manners

[0030] The present invention will be further described below in conjunction with the accompanying drawings and specific implementation manners:

[0031] As Figure 1 - Figure 2 shown, an efficient and streamlined orbital logistics system includes a server, several area controllers, an orbit, an operation terminal, as well as trolleys, stations, garages, and path switches arranged on the orbit. The operation terminal is arranged on the orbit or outside the orbit along the orbit. The operation terminal is used to initiate a request instruction for calling a trolley, and the request instruction includes a starting position and an ending position. An operator can directly input the request instruction on the operation terminal. The operation terminal can be a touch screen. The user only needs to select the corresponding starting position and ending position on the touch screen by touching, and then the request instruction can be formed.

[0032] As a carrier tool for orbital logistics transportation, when it is necessary to call a trolley to transport items to a target position, the request instruction can be formed on the operation terminal. For example, when an operator inputs the terminal position on the current operation terminal, the request instruction is formed. The request instruction is sent to the server or the area controller where the operation terminal is located, and then the trolley is notified to reach the position where the operation terminal is located as the starting position. After the items are placed on the trolley, the trolley moves along the orbit to the ending position to complete the transportation of the items. After the items are taken out of the trolley, the trolley moves back into the garage.

[0033] It should be noted that from the perspective of the server, the operation terminal is the initiator of the request instruction for calling a trolley. From the perspective of the operation terminal itself, generally, an operator inputs the request instruction on the operation terminal, and it is the receiver of the request instruction.

[0034] Among them, both the station and the garage refer to the space range delimited on the orbit according to a preset length. Therefore, the station and the garage are not an entity component built on the orbit, but an interval artificially delimited on the orbit. Both the station and the garage include several parking spaces, and each parking space is provided with a position tag. The position tag is fixed on the outside of the orbit. When the trolley passes through the position where the position tag is located, it can read the tag information at the position, so as to know the position where the trolley is located.

[0035] 0 - n stations can be set on one track, and each station is numbered to facilitate querying the status of each station by its number. One or more parking spaces can be configured within a station. Only one car is allowed to stay in one parking space, and a station parking space label is configured on each parking space to determine the positional relationship of the cars within the same station. Thus, even when the current area controller fails due to power failure or the need for replacement, etc., the positional relationship between the cars within the station and the position of the cars in the track logistics system can still be determined through the parking space labels, and the correct order for the cars to enter and exit the station can still be controlled.

[0036] Among them, the area controller determines the parking space used by the newly entering car based on the station parking space label table and the station parking space labels of the cars that have already parked. This parking space is the innermost idle parking space in the entering direction. When there is no idle parking space, it waits in front of the path switch. Based on the cars parked corresponding to the station parking space label table, the order for the cars to leave the station is determined. The order for the cars to leave the station follows the first-in, first-out principle for one-way driving and the first-in, last-out principle for two-way driving.

[0037] Similarly, 0 - m garages can be set on one track, and each garage is numbered to facilitate querying the status of each garage by its number. One or more parking spaces can be configured in a garage. When there are more than two parking spaces, a garage parking space label is configured on each parking space to determine the positional relationship of the cars within the same garage. Thus, even when the current area controller fails due to power failure or the need for replacement, etc., the positional relationship between the cars within the garage and the position of the cars in the track logistics system can still be determined through the garage parking space labels, and the correct order for the cars to enter and exit the garage can still be controlled to avoid conflicts among the cars on the track.

[0038] Among them, the area controller determines the parking space used by the newly entering car based on the garage parking space label table and the garage parking space labels of the cars that have already parked. This parking space is the innermost idle parking space in the entering direction. When there is no idle parking space, it waits in front of the path switch. Based on the cars parked corresponding to the garage parking space label table, the order for the cars to leave the garage is determined. The order for the cars to leave the garage follows the first-in, first-out principle for one-way driving and the first-in, last-out principle for two-way driving.

[0039] The station is used for the car to stay temporarily when performing tasks, so that items can be placed in the car and taken out of the car. The garage is used for the car to stay when it does not need to move during non-task execution. The path switch is used to realize the path switching of the car from the current track to the next track. The path switch is an entity of the prior art, which can form the hardware conditions for the car to switch from the current track to the next track on two tracks, that is, complete the physical track switching, thus allowing the car to complete the track switching.

[0040] The trolley can move forward and backward along the track, and the area controller is used to control the trolleys, stations, garages and path switches within its area.

[0041] Each area controller is communicatively connected to the server, and the communication connection between the server and the area controller can be maintained through TCP / IP communication. The area controller is respectively communicatively connected to the trolley and the path switch. The area controller can communicate with the trolley through communication methods such as CAN or LoRa. The area controller and the path switch can maintain communication through communication methods such as CAN or 485.

[0042] The area controller pre-stores track information, garage information, station information and path switching information. The track information includes the number of tracks and track attributes included in the track logistics system. The track attributes include track numbers, the total number of labels on the track, track lengths and the directions in which the trolley is allowed to travel on the track. The directions in which the trolley is allowed to travel on the track include one-way travel and two-way travel. One-way travel means that the trolley is only allowed to move in one direction along the preset direction on this track and is prohibited from moving in the direction opposite to the preset direction; two-way travel means that the trolley is allowed to move in two directions on this track, so that the trolley can move forward and backward without turning around.

[0043] The area controller is mainly responsible for the real-time coordination and scheduling of movable devices such as trolleys, such as the determination of control logic for the trolley at different positions and the reception of the trolley position status information. It also includes controlling the path switch so that the path switch makes preparations in advance for track switching to receive the vehicle, so that the trolley can quickly reach the end position along the moving path.

[0044] Two ports are also provided on the track, and position identification labels are pasted on both ports, namely the head label and the tail label. The head label and the tail label are globally unique. The trolley can determine its current moving direction by passing through the port and reading the position identification label.

[0045] The station information includes the station number and the direction in which the trolley is allowed to travel at the station. The direction in which the trolley is allowed to travel at the station includes one-way travel and two-way travel. One-way travel means that the trolley is only allowed to move in one direction along the preset direction to enter and leave the station and is prohibited from moving in the direction opposite to the preset direction; two-way travel means that the trolley is allowed to move in two directions to enter and leave the station, so that the trolley can move forward and backward without turning around to enter and leave the station.

[0046] The garage information includes the garage number and the direction in which the car is allowed to travel in the garage. The direction in which the car is allowed to travel in the garage includes one-way travel and two-way travel. One-way travel means that the car is only allowed to move in one direction along the preset direction into and out of the garage, and movement in the direction opposite to the preset direction is prohibited; two-way travel means that the car is allowed to move in two directions into and out of the garage, so that the car can move forward and backward without turning around to enter and exit the garage.

[0047] The area controller calls the idle car in the garage according to the request instruction received from the operation terminal. An idle car refers to a car that has no current task. Specifically, according to the starting position and the ending position in the request instruction, the server determines the car operation trajectory label table and sends it to the area controller, and the area controller then sends the car operation trajectory label table to the target car, and the car moves along the path determined based on the car operation trajectory label table until it reaches the ending position.

[0048] Specifically, after the control terminal initiates a request instruction for a driving task, it is transmitted to the server through TCP / IP; the server finds the corresponding starting position label and ending position label according to the starting position and the ending position included in the request instruction, and matches the car operation trajectory label table for the current driving task through the table lookup method; the server sends the car operation trajectory label table to the area controller through TCP / IP, and the area controller implements the motion scheduling of the car and the path switch according to the position corresponding to the car operation trajectory label table and the current position label of the car.

[0049] Take Figure 2 as an example. Figure 2 It is an example of an orbital logistics system, which includes three tracks, two stations, 1 garage and a path switch. In the order from top to bottom and from left to right, the three tracks are respectively recorded as the first track, the second track and the third track. There are three labels (D, E, F) on the first track, four labels (A, B, K, C) on the second track, three labels (H, I, J) on the third track, and one label G on the path switch. There is one station on the first track, recorded as station 2, one station on the second track, recorded as station 1, and one garage on the third track, recorded as garage 1. The cars without tasks stay in garage 1.

[0050] Assume that an item needs to be placed on the operating terminal at the location of station 1, and the placed item is transported to station 2, and the item placement is completed, that is, the item can be taken out from the trolley staying at station 2. Then the starting position is station 1 of the second track, specifically the location of tag A as the starting position, and the end position is station 2 of the first track, specifically the location of tag D as the end position. The server queries the tags of the starting position and the end position in the pre-stored trolley path table, which is the track position tag, and then determines the sequence of each track position tag through the track where the track position tag is located and other track position tags on the track, and then determines that the trolley operation trajectory tag table of the trolley for this task is A→C→G→F→D, where only the key tags on the path are shown. In fact, the trolley needs to pass through every tag on the track. The trolley moves along this path, and the regional controller directly sends a call instruction to an idle trolley in the garage. The trolley that receives the call instruction moves to the location of tag A. The tracks of the three tracks allow the trolley to travel in both directions, and station 1, station 2 and garage 1 are also bidirectional.

[0051] Assuming that the current car moves to the path switch, there happens to be another car that also needs to use the path switch to switch. If both cars need to call the path switch, the regional controller will arbitrate which car calls the path switch first based on preset conditions to avoid car congestion.

[0052] The regional controller is also used to coordinate the relationship between carts. Assuming that there is a cart currently parked at the location of tag A, if a cart needs to be called to station 1, and if the maximum number of carts allowed to be parked at station 1 is 2, the regional controller controls the later called cart to move to the location of tag B. If the maximum number of carts allowed to be parked at station 1 is 1, the regional controller requires the cart currently parked at the location of tag A to move and switch to another track through the path switcher, and then notify another cart to enter the second track and stay at the location of tag A.

[0053] Among them, when the trolley arrives at the location of tag A, it will read the information of tag A and upload it to the regional controller, indicating that the trolley has arrived at the starting position, and then wait for the personnel to place the items in the trolley. After the items are placed, the trolley starts from the location of tag A and moves towards tag C on the second track. After the trolley moves to the location of tag C, it reads the information of tag C and uploads it to the regional controller. After receiving the uploaded information, the regional controller notifies the path switcher to switch the path, so that the original second track and the third track are connected together (needed to enable the trolley to move from garage 1 to site 1) and switch to the first track and the second track connected together. Since the second track and the third track are disconnected after the switch, the trolley can move smoothly from the second track to the first track.

[0054] After the trolley moves onto the path switcher, it reads tag G and uploads it to the area controller, enabling the area controller to know that the trolley has currently moved onto the path switcher and is in the process of switching. The trolley continues to move and reaches the position of tag F on the first track. The trolley reads the information of tag F and uploads it to the area controller until the trolley reaches the position of tag D and uploads the information of tag D. When the area controller or the trolley reaches the end position, an operation terminal at the end position can use audio, light, or other reminder methods to remind the user to pick up the item. After picking up the item from the trolley, a completion of item extraction instruction can be triggered inside the trolley, and this instruction can be triggered by the person who picks up the item in the trolley. This instruction is uploaded to the server, and the server forms another trolley operation trajectory tag table from the position of tag D to Garage 1 and sends it to the area controller again. The area controller executes the same logic again, enabling the trolley to finally enter the garage.

[0055] In Figure 2 , the areas covered by the positions of tag I and tag J on the third track are used as Garage 1, which is used as the parking position for the trolley. Before and after each task, the trolley parks inside Garage 1. The trolley departs from the garage and finally returns to Garage 1 after completing the task. Two stations (Station 1, Station 2) are used for the temporary parking of the trolley, enabling users to place items on the trolley and pick up items from the rail trolley at these station positions, thus completing the delivery of items through the transportation of the trolley.

[0056] Whether the trolley reaches a station, a garage, or moves to a specific position on the track can be determined by reading the corresponding tag at that position. When the trolley moves to the corresponding position on the track, it will read the corresponding tag, thereby obtaining information such as the current position of the trolley on the track, whether it enters a station, whether it enters a garage, etc. Furthermore, it can be used to judge how many trolleys are on the current track, how many trolleys are currently parked in the garage, and whether the number of rail trolleys allowed to park at the current station has reached the maximum allowed parking number, etc.

[0057] During the entire delivery process of item transportation, the server only communicates with the area controller. The server is responsible for responses including task initiation, suspension, and change. These tasks are all processing tasks with low real-time requirements and can be regarded as non-real-time tasks. The area controller receives tasks from the server and maintains communication with devices such as trolleys and path switches that have high real-time requirements. It also coordinates the relationship between trolleys on the track and communicates with trolleys. More specifically, the trolley receives the driving track label table forwarded by the area controller. Each label on the track it passes through will read the label information and transmit it to the area controller. The area controller will then arbitrate the scheduling of multiple trolleys at relevant positions in real time to assist the trolley in completing the entire item delivery task. Thus, unlike traditional technologies, there is no need to set up corresponding control boards at each station, garage location, and on the path switch to control the entry and exit of the track trolley from the station, garage, and transfer switch. The transfer switch is a hardware component on the path switch. The entire track logistics system does not require dedicated control boards, thereby reducing hardware costs. Also, real-time tasks and status interactions are handed over to the area controller for control. Real-time tasks include the status interaction of tasks between trolleys to avoid anti-collision; status interaction includes the status interaction between the trolley and the path switch to implement arbitration of the trolley's right to use the path switch. Ultimately, control is within one area controller, with controllable data volume. While fully leveraging the performance of the area controller, it meets the control requirements. This avoids the need for each trolley and each area switch to establish a communication connection with the server and the need for the server to perform real-time arbitration, thus greatly reducing data exchange and processing. As a result, the real-time performance of the entire system response is improved due to the time saved from reducing data exchange and processing, and the real-time performance is stronger. For the server, it usually uses the Linux operating system or the Windows system, both of which are non-real-time kernels and not good at processing real-time tasks. It avoids the deficiency of the traditional need to configure corresponding control boards for each station, garage, and path switch, can reduce point-to-point communication, effectively reduce and avoid communication congestion, making the networking of the track logistics system simpler, more efficient, and less costly.

[0058] The present invention does not require configuring corresponding control boards for stations, garages, and path switches. The system is more streamlined, with lower hardware costs, higher communication efficiency and real-time performance, and simpler networking operations.

[0059] The embodiments disclosed in this specification are only an illustration of the unilateral features of the present invention. The protection scope of the present invention is not limited to this embodiment, and any other functionally equivalent embodiments fall within the protection scope of the present invention. For those skilled in the art, various corresponding changes and deformations can be made according to the technical solutions and concepts described above, and all these changes and deformations should fall within the protection scope of the claims of the present invention.

Claims

1. An efficient and streamlined rail logistics system, characterized in that: include, Track, the range covered by the track is the target space range covered by the track logistics system, and the target space range is divided into several areas. And also includes a trolley, a station, a garage and a path switch arranged on the track, the trolley can move along the track, The station and the garage are the spatial ranges defined by the preset length on the track. The station and the garage each include a number of parking spaces, each of which is provided with a location tag. The station is used for the car to stop temporarily when performing tasks, and for dropping and picking up items. The garage is used for the car to stay when it is not performing tasks and does not need to move. The path switcher is used to switch the path of the trolley from the current track to the next track. The operation terminal is used to initiate a request command to call the car. The request command includes the starting position and the end position. The operation terminal is arranged on the track or outside the track along the track, and the operation terminal is located at the station location, and the starting position is the location of the operation terminal. The server forms a vehicle running track label table based on the received request instruction, wherein the vehicle running track label table represents the moving path of the vehicle to perform the task, A regional controller is set up for each area. The regional controller is connected to the server, the car, and the path switcher. The area controller is used to receive the current position information fed back by the trolley and control the path switcher to switch the track in advance so that the trolley can reach the end position along the moving path. The server forms a vehicle running track label table based on the received request instruction, and the specific implementation process includes: The server pre-stores a trolley path table, and queries the track position tags of the starting position and the end position in the trolley path table, and then determines the sequence of each track position tag through the track where the track position tag is located and other track position tags on the track, and finally obtains the trolley running track tag table corresponding to each task of the trolley. The track is also provided with two ports, both of which are affixed with position identification tags, namely a first tag and a last tag, which are globally unique. The trolley passes through the port and reads the position identification tag, thereby determining the current moving direction of the trolley.

2. The efficient and streamlined rail logistics system according to claim 1 is characterized in that: The operation terminal is a touch screen, which is connected to the server through TCP / IP communication. The location of the operation terminal is also used as a site, and the starting position and the end position are both one of the sites on the track.

3. The efficient and streamlined rail logistics system according to claim 1 is characterized in that: The area controller stores station information, which includes the station number and the direction in which the vehicle is allowed to travel. The directions in which the vehicle is allowed to travel include one-way and two-way. Based on the station information, the area controller determines the parking space where the vehicle will stop after entering the station, and controls the order in which the vehicle enters and exits the station.

4. The efficient and streamlined rail logistics system according to claim 1 is characterized in that: The regional controller also stores track information, which includes the number of tracks and track attributes included in the track logistics system. The track attributes include the track number, the total number of labels on the track, the value of each label on the track, the direction attribute of the vehicle when it moves from the first label to the last label on the track, the track length, and the direction in which the vehicle is allowed to travel on the track. The directions in which the vehicle is allowed to travel on the track include one-way travel and two-way travel.

5. The efficient and streamlined rail logistics system according to claim 1 is characterized in that: The regional controller also stores garage information, which includes the garage number and the direction in which the car is allowed to travel. The directions in which the car is allowed to travel include one-way and two-way. Based on the garage information, the regional controller determines the parking space where the car will stop after entering the garage, and controls the order in which the car enters and exits the garage.

6. The efficient and streamlined rail logistics system according to claim 1 is characterized in that: The area controller is also used to arbitrate the order in which each car calls the path switch to switch tracks based on the position information received from the car when more than two cars need to call the path switch and before reaching the path switch.

7. The efficient and streamlined rail logistics system according to claim 1 is characterized in that: It also includes a track position tag, which is set on the track or outside the track and extends along the track. When the trolley passes the track position where the track position tag is located, the tag information of the track position tag can be read to obtain the current position of the trolley. The area controller determines whether the car moves along the moving path determined by the car running track label table based on the current location of the car at each moment.

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