Lateral rail trolley system

Abstract

A lateral track trolley system is composed of a system host, a lateral wheel trolley, a loading plate, a conductive lateral track, a lateral wheel trolley elevator, a lateral wheel trolley right-angle reversing device, etc. The lateral wheel trolley running loop is: one end of the ground-type conductive lateral track is connected to the ground exit end of elevator No. 2, and the other end is connected to the ground entrance end of elevator No. 1 through a right-angle reversing device; one end of the overhead conductive lateral track is connected to the air exit end of elevator No. 1, and the other end is connected to the air entrance end of elevator No. 2; the trolley adopts on-track power supply and battery power supply modes, and on-track power supply is adopted under normal circumstances. Through the lifting or lowering function of the elevator device, the lateral wheel trolley can run in the conductive lateral tracks of different heights and realize right-angle reversing in a narrow operating space. The present invention has the characteristics of high trolley parking positioning, intelligent anti-collision, track layout flexibility and low energy consumption.

Description

Technical Field

[0001] The present invention relates to a rail trolley logistics system, in particular to a system used in conjunction with an intelligent Chinese medicine cabinet system. Background Art

[0002] Traditional Chinese medicine is extensive and profound. Chinese medicine prescriptions are usually only targeted at specific patients and diseases. The effects of the same medicine in different prescriptions are also very different. The traditional important medicine dispensing process includes: prescription writing, prescription review, medicine picking and preparation, proofreading, and medicine distribution. At present, almost all Chinese medicine pharmacies retain the traditional manual preparation method, and important cabinets usually store hundreds of Chinese medicinal materials, which are stored in thousands of medicine boxes. This makes the medicine picking process of Chinese medicine pharmacists very time-consuming, labor-intensive and error-prone.

[0003] Workers at traditional Chinese medicine hospitals have made some useful explorations in the intelligentization of Chinese medicine cabinets, such as "An Intelligent Chinese Medicine Cabinet for Traditional Chinese Medicine" (CN215382438): the bottom of the Chinese medicine cabinet is a medicine cabinet, and the upper part is a medicine storage cabinet. The medicine storage cabinet is divided into several medicine boxes by baffles. The medicine cabinet is connected to a medicine box with a sliding connection inside. The medicine box is equipped with an LCD screen to display patient information and prescription information, making it easier to retrieve medicine.

[0004] Another example is the "Intelligent Traditional Chinese Medicine Cabinet Based on PLC Control" (CN215776883): By setting a PLC module on the traditional Chinese medicine cabinet, the PLC module controls the corresponding medicine cabinet's medicine-dispensing prompt light to turn on according to the prescription, making it convenient for traditional Chinese medicine pharmacists to adjust and dispense medicines.

[0005] The above patent document is only an improvement for the manual dispensing and preparing process, and is not suitable for dispensing and picking medicines mainly based on bulk medicinal materials and / or medicinal materials in small packaging bags through the combination of different unit medicine cabinets.

[0006] In the main control system, the Chinese medicine formula receives the formula, reviews the formula until the formula is decomposed, and sends the medicine delivery instructions for each Chinese herbal medicine slice in the formula to the intelligent Chinese medicine cabinet. A set of rail-type trolley system is to be configured to complete the medicine delivery and transportation of each Chinese herbal medicine slice in the formula, and complete the medicine replenishment and drug testing operations during the transportation process. Summary of the Invention

[0007] The purpose of the present invention is to provide a lateral track trolley system with high trolley parking accuracy, high trolley operation efficiency and real-time performance, and intelligent anti-collision kinetic energy.

[0008] The object of the present invention is achieved like this:

[0009] A lateral track trolley system, wherein the lateral wheel trolley running loop consists of: one end of the ground-type conductive lateral track is connected to the ground exit of elevator No. 2, and the other end is connected to the ground entrance of elevator No. 1 through a right-angle reversing device; one end of the overhead conductive lateral track is connected to the aerial exit of elevator No. 1, and the other end is connected to the aerial entrance of elevator No. 2;

[0010] The conductive lateral track is composed of two parallel tracks for the wheels of the lateral wheel trolley to engage and run, and to power the lateral wheel trolley. Each track structure is as follows: a V-shaped track bar is fixed on the rectangular tube, a conductive copper bar is provided on the outwardly protruding V-shaped outer end of the V-shaped track bar, and an insulating layer is also laid between the conductive copper bar and the V-shaped track bar, and an insulating protective cover is provided on the top of the V-shaped track bar; a dustproof plate is installed below the two tracks, and a magnet and an RFID card are installed on the dustproof plate for cooperating with the Hall sensor and RFID card reader on the lateral wheel trolley respectively;

[0011] The bottom of the rectangular tube of the two parallel tracks is provided with a shock-absorbing block for preventing the tracks from directly contacting the ground, thereby forming a ground-type conductive lateral track;

[0012] A plurality of support frames are provided at the bottom of the rectangular tubes of the two parallel tracks to form an overhead conductive lateral track;

[0013] The structure of the elevator is as follows: the support frame is composed of four vertically arranged rectangular tubes and a number of cross bars connected between two adjacent vertical rectangular tubes; the lower ends of the four vertical rectangular tubes of the support frame are respectively fixed to the lower base plate through mounting seats, and the lower base plate is provided with a lower limit block and a lower limit switch. The four rectangular tube short sections fixed to the bottom surface of the upper cover are respectively sleeved on the upper ends of the four vertical rectangular tubes and fixed by bolts. The control circuit board box with a control circuit board arranged therein is installed on the upper cover, the motor is installed on the upper cover, the motor shaft is connected to the upper end of the vertically arranged screw rod through a coupling, the lower end of the screw rod is fixed to the inner ring of the bearing installed on the lower base plate, the bearing is installed in the bearing sleeve, and the bearing sleeve is fixed on the lower On the bottom plate; a slide rail is fixed on each of the two vertical moment tubes on the left side of the support frame, and a slider is movably mounted on each slide rail; the movable track support platform is equipped with two parallel V-shaped tracks for the operation of the lateral wheel trolley, and the movable track support platform is equipped with Hall magnets and RFID cards from front to back for cooperating with the Hall sensor and RFID card reader on the lateral wheel trolley. The movable track support platform is fixed to the two sliders with screws through the two vertical plates thereon, and the screw nut screwed on the screw is fixed to the movable track support platform; an upper limit stopper and an upper limit switch are respectively installed on the upper part of the two vertical moment tubes on the left side of the support frame;

[0014] The lower base plate is provided with a lower track connecting piece for connecting to the lower track, and the upper cross bar of the support frame is provided with an upper track connecting piece for connecting to the upper track;

[0015] The structure of the right-angle reversing device of the lateral wheel trolley is: a right-angle reversing track with a square area formed by the intersection of two longitudinal tracks and two transverse tracks; the above track is composed of a V-shaped track bar used to cooperate with the side wheel trolley wheel and for the side wheel trolley to travel, which is fixed on a rectangular tube, and all the rectangular tubes of the above track are fixed on a base plate, and the trolley entrance and trolley exit of the above right-angle reversing track are respectively provided with a flip track assembly of the same structure in the transverse and longitudinal directions. The structure of the flip track assembly is: the reduction motor is installed on the outer surface of the track, and the gear installed on the reduction motor shaft extending into the inner side of the track is engaged with the driven gear, and the driven gear is installed on the flip shaft, and the flip shaft is mounted on two bearings in the double bearing seat, and the base is installed with a shaft The double bearing seat of the bearing is fixed on the strip, the lower limit switch is installed on the strip, the upper limit switch is installed on the double bearing seat located between the two bearings, the base is fixed to the bottom plate by screws through the strip, the flip track is fixed to the flip shaft located between the two bearing seats on the double bearing seat, a Hall magnet used for sensing the Hall sensor on the side wheel trolley is installed in the middle of the square area of ​​the right-angle reversing track on the bottom plate, a first RFID card for reading by the RFID reader on the side wheel trolley is installed near the trolley entrance in the square area of ​​the right-angle reversing track on the bottom plate, and a second RFID card for reading by the RFID reader on the side wheel trolley is installed on the bottom plate outside the trolley exit of the right-angle reversing track;

[0016] The structure of the side-wheel trolley is as follows: the cube-shaped body is composed of a car body and a car body top plate, and the car body is integrated with a front side vertical plate, a rear side vertical plate, a left side vertical plate, a right side vertical plate and a car body bottom plate; four V-shaped wheels are evenly distributed under the square car body bottom plate, and four motor drive devices are arranged symmetrically with respect to the center, and each motor drive device is composed of: a V-shaped wheel is installed on the outer end of the reduction motor output shaft perpendicular to the bottom plate extending downward from the bottom plate, and the reduction motor is installed on the reduction motor mounting plate, and a slide rail is respectively installed on both sides of the square diagonal on the bottom plate in a diagonally symmetrical manner, and both ends of the reduction motor mounting plate are respectively fixed to a slider by bolts, and the above two sliders form a sliding fit relationship with the two slide rails respectively, and a tension spring is installed between the reduction motor mounting plate and the intersection of the corresponding two adjacent side vertical plates of the car body, and the tension spring is arranged along the diagonal direction of the square of the bottom plate;

[0017] A V-shaped conductive wheel is installed between two adjacent V-shaped wheels on the bottom plate of the vehicle body, which is used to contact the conductive side track to receive electricity. The movement trajectory of each V-shaped conductive wheel and the two adjacent V-shaped wheels are in a straight line. The bottom plate is installed with an RFID card reader and a Hall sensor, which are used to cooperate with the RFID card and Hall magnet on the conductive side track respectively. The top plate of the vehicle body is equipped with a Wi-Fi antenna, an operating indicator light, a loading tray indicator light, and a loading tray quick installation and removal mechanism.

[0018] The front, rear, left and right side panels are respectively equipped with Hall sensors and distance sensors as well as heat dissipation holes. The front side panel is equipped with a start button, the left side panel is equipped with a power switch, and the rear side panel is equipped with a charging port for battery charging.

[0019] The dual power automatic switch and the control circuit board are both installed on the mounting plate, and the mounting plate and the battery are installed in the inner cavity of the vehicle shell.

[0020] The present invention has the following technical features and advantages

[0021] 1. System independence: The lateral track trolley system is an independently operated system that can operate independently or in conjunction with other systems.

[0022] 2. High efficiency and real-time operation of trolleys: When the lateral wheel trolleys are idle, they are all parked in the departure area waiting for operation instructions. When the lateral track trolley system receives the operation instruction, it can dispatch 1 to n trolleys to run according to the instruction, which can efficiently realize the real-time reception and real-time delivery of the transported items and the fixed-point parking and unloading.

[0023] 3. Flexibility of track layout: Since the lateral wheel trolley can run on a straight V-shaped track, a curved V-shaped track, and can also make right-angle turns on a right-angle V-shaped track, the difficulty of arranging a plane track is greatly reduced, and it is suitable for track layout on planes of various shapes; by adopting a special track lifting device, the lateral wheel trolley can run up and down on tracks of different heights, so that the tracks can be arranged in spaces of different heights to meet the operation of the lateral wheel trolley at different heights.

[0024] 4. Wide Range of Applications: The lateral track trolley system can operate independently or in conjunction with other systems. In the "Smart Chinese Medicine Pharmacy Intelligent Dispensing and Dispensing System for Chinese Herbal Pieces," it collaborates with the main business system, dispatch subsystem, intelligent Chinese medicine cabinet subsystem, missing medicine replenishment subsystem, and drug inspection subsystem to complete tasks. Due to the lateral track trolley system's independence, real-time operation, and flexible track layout, it can replace conveyor belts in factory production line layouts and can also be used for item sorting and delivery in logistics plants.

[0025] 5. High parking positioning accuracy: By adopting a positioning technology solution that combines RFID positioning and magnetic steel positioning, the lateral wheel trolley can achieve precise positioning and parking during operation. When the lateral wheel trolley runs on the V-shaped track to the position where it needs to park, it will first read the RFID card code through the RFID card reader. Knowing that it needs to park at this position, the trolley control program will control the lateral wheel trolley to immediately slow down. When the Hall sensor senses the positioning magnet that matches the RFID card, the trolley control program will control the lateral wheel trolley to stop immediately and no longer run, achieving a positioning error of ≤10mm.

[0026] 6. Intelligent anti-collision function: Distance sensors are set on all four sides of the side-wheel trolley. During the operation, the side-wheel trolley uses the distance sensors to detect the distance between it and the surrounding obstacles in real time. Since the side-wheel trolley runs on a V-shaped track, there is no possibility of obstacles in other directions except the forward direction. Therefore, the trolley control program will automatically ignore the distance measurement in the other three directions except the forward direction, and only judge the distance measurement in the forward direction. Then, by judging the distance length of the obstacles in the forward direction, it will slow down or stop, thereby avoiding collision with obstacles in the forward direction and realizing intelligent anti-collision.

[0027] 7. Low energy consumption: When the lateral track trolley system is running, only the lateral wheel trolley that receives the instruction will participate in the operation, and the lateral wheel trolley that does not receive the instruction will wait for the instruction in the departure area, thus achieving low power consumption operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a perspective view of the side wheel trolley and the loading tray.

[0029] Figure 2 It is a three-dimensional diagram of the side-wheeled trolley.

[0030] Figure 3 、 Figure 4 They are respectively the exploded view and stereoscopic view of the main internal components of the side-wheel trolley.

[0031] Figure 5 This is a perspective view of the motor drive unit (with a sliding mechanism).

[0032] Figure 6 yes Figure 5 Top view of .

[0033] Figure 7 、 Figure 8 、 Figure 9 、 Figure 10 、 Figure 11 、 Figure 12 They are Figure 2The front view of the vehicle shell top plate, front side vertical plate, left side vertical plate, rear side vertical plate, right side vertical plate and vehicle shell bottom plate is shown.

[0034] Figure 13 、 Figure 14 They are the top view and three-dimensional view of the car without electronics inside.

[0035] Figure 15 yes Figure 13 Enlarged view of part C.

[0036] Figure 16 It is a top view and a three-dimensional view of the electronics inside the car.

[0037] Figure 17 、 Figure 18 They are Figure 5 The diagram shows a motor drive device when the tension spring receives a force in the corresponding direction, and a diagram shows the corresponding movement direction of the reduction motor (including the mounting plate).

[0038] Figure 19 、 Figure 20 They are Figure 17 Figure 18 Top view of .

[0039] Figure 21 、 Figure 22 、 Figure 23 、 Figure 24 They are a three-dimensional diagram of the Hall sensor fixed on the bracket, an exploded diagram, a three-dimensional diagram installed on a side panel of the vehicle shell, and a three-dimensional diagram installed inside the vehicle shell ( Figure 23 yes Figure 24 (enlarged view of part A of the figure).

[0040] Figure 25 、 Figure 26 、 Figure 27 They are a three-dimensional view of the distance sensor's support, an assembly view, and a three-dimensional view of the sensor installed in the vehicle shell.

[0041] Figure 28 yes Figure 27 Enlarged view of part B.

[0042] Figure 29 yes Figure 26 Cross-section of the mount shown.

[0043] Figure 30 、 Figure 31 、 Figure 32 They are the top view, left view and three-dimensional view of the control circuit board respectively.

[0044] Figure 33 、 Figure 34 、 Figure 35 They are the main view, top view and three-dimensional view of the dual power automatic switcher.

[0045] Figure 36 、 Figure 37 They are the cross-sectional view and stereoscopic view of the double-pass hexagonal copper column.

[0046] Figure 38 、 Figure 39 They are the top view and three-dimensional view of the full-bridge rectifier mounting box.

[0047] Figure 40 、 Figure 41 They are respectively a top view and a three-dimensional view of the battery support plate.

[0048] Figure 42 This is the main view of the loading tray.

[0049] Figure 43 yes Figure 42 Section along line DD.

[0050] Figures 44-47 This is a schematic diagram of the loading disk installation process.

[0051] Figure 48 It is a three-dimensional diagram of the ground conductive lateral track and the elevated conductive lateral track.

[0052] Figure 49 It is a cross-sectional view of the conductive lateral track.

[0053] Figure 50 It is a three-dimensional diagram of an elevator.

[0054] Figure 51 This is an exploded view of the elevator.

[0055] Figure 52 It is a three-dimensional diagram of the right-angle steering device of the side wheel trolley track.

[0056] Figure 53 yes Figure 52 Exploded view of the flip track assembly shown.

[0057] Figure 54 yes Figure 53 A perspective view of the flip track assembly is shown.

[0058] Figure 55 yes Figure 54 main view.

[0059] Figure 56 、 Figure 57 yes Figure 52 Stereoscopic view without and with flip track.

[0060] Figure 58 、 Figure 59 、 Figure 60They are three-dimensional images of the overall system of the present invention from different viewing angles.

[0061] Figure 61 It is a schematic diagram of the operation of the lateral wheel trolley in contact with the conductive lateral track.

[0062] Figure 62 、 Figure 63 、 Figure 64 、 Figure 65 、 Figure 66 It is a schematic diagram of the side wheel trolley entering and exiting the elevator.

[0063] Figure 67 、 Figure 68 、 Figure 69 、 Figure 70 This is a schematic diagram of the operation process of the side-wheel trolley in the right-angle reversing device.

[0064] Figure 71 、 Figure 72 、 Figure 73 、 Figure 74 、 Figure 75 This is a schematic diagram of the operation process of the side-wheel trolley in cooperation with the right-angle reversing device and the elevator. DETAILED DESCRIPTION

[0065] Figures 52-57 In the middle, (flip shaft) mounting hole 322, (base 11) mounting hole 324, bearing mounting hole 427, mounting seat 423, coupling 17.

[0066] Figure 3 Figure 49 Figure 50 Figure 52 The figure shows a lateral track trolley system. The lateral wheel trolley running loop consists of: one end of the ground-type conductive lateral track 200 is connected to the ground exit of the No. 2 elevator 400a, and the other end is connected to the ground entrance of the No. 1 elevator 400 through the right-angle reversing device 300. One end of the overhead conductive lateral track 200 is connected to the aerial exit of the No. 1 elevator, and the other end is connected to the aerial entrance of the No. 2 elevator.

[0067] The conductive lateral track 200 is composed of two parallel tracks for the wheels of the lateral wheel trolley to engage and run, and to provide power to the lateral wheel trolley. Each track structure is as follows: a V-shaped track bar 210 is fixed on a rectangular tube 207, and a conductive copper bar 209 is provided on the outwardly protruding V-shaped outer end of the V-shaped track bar. An insulating layer 208 is also provided between the conductive copper bar and the V-shaped track bar, and an insulating protective cover 204 is provided on the top of the V-shaped track bar; a dustproof plate 205 is installed below the two tracks, and a magnet 202 and an RFID card 203 are installed on the dustproof plate for respectively cooperating with the Hall sensor and RFID card reader on the lateral wheel trolley 100;

[0068] The bottom of the rectangular tube of the two parallel tracks is provided with a shock-absorbing block for preventing the tracks from directly contacting the ground, thereby forming a ground-type conductive lateral track;

[0069] A plurality of support frames 201 are provided at the bottom of the rectangular tubes of the two parallel tracks to form an overhead conductive lateral track;

[0070] The structure of the elevator 400, 400a is as follows: the support frame 416 is composed of four vertically arranged rectangular tubes and a plurality of cross bars 409 connected between two adjacent vertical rectangular tubes; the lower ends of the four vertical rectangular tubes of the support frame are fixed to the lower base plate 413 through the mounting seat 428, and the lower base plate is provided with a lower limit block 412 and a lower limit switch 414. The upper cover plate 408 is respectively covered with four rectangular tube short sections 423 fixed to its bottom surface, and is fixed by bolts. The control circuit board box 2 407 with a control circuit board 422 is installed on the upper cover plate, the motor 406 is installed on the upper cover plate, the motor shaft is connected to the upper end of the vertically arranged screw rod 402 through a coupling, the lower end of the screw rod is fixed to the inner ring of the bearing 426, the bearing is installed in the bearing sleeve (427), and the bearing sleeve is fixed. Fixed on the lower base plate; a slide rail 418 is fixed on each of the two vertical moment tubes on the left side of the support frame, and a slider 405 is movably mounted on each slide rail; the movable track support platform 403 is equipped with two parallel V-shaped tracks 404 and 410 for the operation of the lateral wheel trolley 100, and the movable track support platform 403 is equipped with a Hall magnet 424 and an RFID card 411 from front to back for cooperating with the Hall sensor and RFID card reader on the lateral wheel trolley. The movable track support platform is fixed to the two sliders 405 by screws through the two vertical plates thereon, and the screw nut 421 screwed on the screw is fixed to the movable track support platform; an upper limit stopper 420 and an upper limit switch 419 are respectively installed on the upper part of the two vertical moment tubes on the left side of the support frame;

[0071] The lower base plate is provided with a lower track connecting piece 401 for connecting to the lower track, and the upper crossbar of the support frame is provided with an upper track connecting piece 415 for connecting to the upper track;

[0072] The upper track connecting piece and the lower track connecting piece are used to fix the upper V-shaped track and the lower V-shaped track respectively.

[0073] Matching method: Since the lower track connecting piece is U-shaped, the V-shaped track reinforcement rectangular tube at the bottom of the lower V-shaped track can be directly placed into the U-shaped groove, and then screws are inserted into the left and right ends of the lower track connecting piece to fix it to the V-shaped track.

[0074] The upper track connecting piece is C-shaped, so the way to connect the V-shaped track and the upper connecting piece is to directly insert the side of the V-shaped track into the C-shaped opening, and then use screws to directly penetrate it from the bottom of the upper connecting piece to fix the V-shaped track in the upper connecting piece.

[0075] The structure of the right-angle reversing device 300 of the lateral wheel trolley is as follows: a right-angle reversing track with a square area formed by the intersection of two longitudinal tracks and two transverse tracks; the track is composed of a V-shaped track bar 320 used to cooperate with the side wheel trolley wheel and for the side wheel trolley to travel, which is fixed on a rectangular tube 316, and all the rectangular tubes of the track are fixed on a base plate 314, and the trolley entrance and trolley exit of the right-angle reversing track are respectively provided with a flip track assembly of the same structure in the transverse and longitudinal directions. The structure of the flip track assembly is as follows: the reduction motor 301 is installed on the outer surface of the track, and the gear 303 installed on the shaft of the reduction motor 301 extending into the inner side of the track is engaged with the driven gear 304, and the driven gear is installed on the flip shaft 305, and the flip shaft is mounted on two bearings 306 and 307 in the double bearing seat, and the base 311 The system comprises a double bearing seat with bearings mounted thereon, fixed to a strip. A lower limit switch 312 is mounted on the strip, and an upper limit switch 313 is mounted on the double bearing seat located between the two bearings. The base is fixed to a bottom plate 314 via the strip with screws. The flip track 310 is fixed to a flip shaft 305 located between the two bearing seats on the double bearing seat. A Hall magnet 317 for sensing the Hall sensor on the side-wheeled trolley is mounted in the center of the square area of ​​the right-angled reversing track on the bottom plate 314. A first RFID card 319 for reading by the RFID reader on the side-wheeled trolley is mounted near the trolley entrance within the square area of ​​the right-angled reversing track on the bottom plate. A second RFID card 318 for reading by the RFID reader on the side-wheeled trolley is mounted on the bottom plate outside the trolley exit of the right-angled reversing track.

[0076] The structure of the side-wheeled trolley 100 is as follows: the cube-shaped body is composed of a car body 1 and a car body top plate 1f, and the car body is integrated with a front side vertical plate 1a, a rear side vertical plate 1b, a left side vertical plate 1c, a right side vertical plate 1d and a car body bottom plate 1e; four V-shaped wheels 17 are evenly distributed under the square car body bottom plate, and four motor drive devices are arranged symmetrically with respect to the center. Each motor drive device 37 is composed of: a V-shaped wheel 17 is installed on the outer end of the output shaft of the reduction motor 14 perpendicular to the bottom plate and extending downward from the bottom plate, and the reduction motor is installed on the reduction motor mounting plate 15. A slide rail 18 is respectively installed on both sides of the square diagonal of the bottom plate in a diagonally symmetrical manner. The two ends of the reduction motor mounting plate are respectively fixed to a slider 19 by bolts 20. The above two sliders form a sliding fit relationship with the two slide rails respectively. A tension spring 16 is installed between the reduction motor mounting plate and the intersection of the corresponding two adjacent side vertical plates of the car body, and the tension spring is arranged along the diagonal direction of the square of the bottom plate;

[0077] A V-shaped conductive wheel 28 is installed between two adjacent V-shaped wheels on the vehicle body bottom plate, which is used to contact the conductive side rail to receive electricity. The movement trajectory of each V-shaped conductive wheel and the two adjacent V-shaped wheels is in a straight line. An RFID card reader 36 and a Hall sensor 35 are installed on the bottom plate, which are used to cooperate with the RFID card and Hall magnet on the conductive side rail respectively. A WiFi antenna 21, an operation indicator light 24, a loading tray indicator light 25, and a loading tray quick installation and removal mechanism are installed on the vehicle body top plate.

[0078] The front, rear, left and right side panels are respectively equipped with a Hall sensor 29 and a distance sensor 30, as well as heat dissipation holes 31. A start button 33 is installed on the front side panel, a power switch 32 is installed on the left side panel, and a charging port 34 for charging the battery 8 is installed on the rear side panel.

[0079] The dual power automatic switch 3 and the control circuit board 2 are both mounted on the mounting plate 6 , and the mounting plate 6 and the battery 8 are mounted in the inner cavity of the vehicle shell.

[0080] In the elevator, there are two upper limit blocks, which are respectively installed on the two vertical rectangular tubes on the left side of the support frame; there are four lower limit blocks, which are respectively installed on the lower base plate adjacent to the four mounting seats. In the four vertical rectangular tubes of the support frame 416, the length of each rectangular tube is greater than the width, the width of the two vertical rectangular tubes on the left side of the support frame is the same as the length of the two vertical rectangular tubes on the right side, and four cross bars are fixedly connected on the outer side surfaces of the two vertical rectangular tubes on the left side of the support frame; two cross bars are fixedly connected between the two vertical rectangular tubes on the right side of the support frame and between the two vertical rectangular tubes on the right side and the adjacent vertical rectangular tubes on the left side; a reinforcing rectangular tube 425 is fixedly connected between the two mounting seats of the two vertical rectangular tubes on the left side of the lower base plate; the control circuit board box 407 is composed of a box body 407a and a box cover 407b.

[0081] In the right-angle reversing device, a gear cover 302 is provided on the mutually meshing gear 303 and the driven gear 304, and the gear cover is fixed to the outer surface of the track by screws; bearing retaining springs 308 and 309 are respectively provided on the outer sides of the two bearings on the flip shaft; a control circuit board box 315 is installed on the outer side of the transverse track: it consists of a box cover 315b and a box body 315c, and the control circuit board 315a is arranged in the box body; it also has a right-angle connector 321, which is composed of two ear plates 321a and two bottom plates 321b integrated with a rectangular parallelepiped; the right-angle connector is provided at the intersection of the fracture of the above-mentioned longitudinal track and transverse track: the two rectangular tubes of the longitudinal track and the transverse track are respectively placed on two pads, and the two V-shaped track bars of the longitudinal track and the transverse track are respectively fixed on the two ear plates by screws, and the rectangular parallelepiped coincides with the fracture at the intersection of the longitudinal track and the transverse track; the bottom of the longitudinal track and the transverse track is also provided with a pad 323 for keeping the bottom surface of the entire right-angle reversing track flush.

[0082] In the side-wheel trolley, the four V-shaped wheels are symmetrical up and down and left and right. The axis center line of the output shaft of the reduction motor corresponding to each V-shaped wheel is perpendicular to and intersects with the diagonal line corresponding to the square of the bottom plate; one end of the tension spring is fixed at the intersection of the adjacent two side vertical plates, and the other end is fixed to the tension spring clamp 16a on the reduction motor mounting plate 15; it also has a loading tray 38, the outside of the loading tray is provided with a reinforcing rib 38b, and the lower periphery of the loading tray is provided with a quick disassembly port 38a; the quick disassembly mechanism of the loading tray is as follows: the fixed clamp 23 is installed on one side of the top plate, the movable clamp 27 is installed on the other side of the top plate, a tension spring is fixed between the bottom of the movable clamp and the top plate, and the inner side of the tension spring on the top plate A spring piece 39 equipped with a torsion spring is installed. When there is no external force, the spring piece can push the loading tray upward under the action of the torsion spring; when installing, the quick-install and disassembly opening at one end of the loading tray is aligned with the fixed card, and the quick-install and disassembly opening at the other end of the loading tray is applied with downward force to make the movable card overcome the force of the tension spring and move outward, and the quick-install and disassembly openings at both ends of the loading tray are respectively engaged with the fixed card and the movable card to complete the installation of the loading tray; when removing the loading tray, the movable card is pulled outward, thereby overcoming the force of the tension spring and making the movable card move outward and disengage from the quick-install and disassembly opening of the loading tray, and the spring piece pushes the loading tray upward under the action of the torsion spring and finally removes the loading tray; it also has a battery support plate 10 , the battery support plate 10 is mounted on the bottom plate by four screws 9, a full-bridge rectifier mounting box 7 is provided on the mounting plate 6, the full-bridge rectifier is installed in the full-bridge rectifier mounting box 7, four double-pass hexagonal copper columns 11 are fixed between the mounting plate 6 and the battery support plate by screws 5, the battery 8 is placed on the battery support plate, located between the mounting plate 6 and the battery support plate, and the two downwardly bent vertical plates 12 on the mounting plate are respectively inserted into the four strip holes on the battery support plate; the control circuit board 2 is fixed on the four support columns 4 on the mounting plate 6; the dual power automatic switch 3 is mounted on the mounting plate 6 by screws through the mounting holes 3b on its two ear plates; there are nuts 29 on it The front end of the Hall sensor 29 of a passes through the hole on the bracket 29b and is screwed and fixed to the bracket via another nut 29c, and the bracket is welded to the bottom plate; it also has a support 30a, the support structure is as follows: a short pitch tube is fixed to the bottom plate, the distance sensor 30 is mounted in the short pitch tube of the support 30a, and an outwardly expanding trumpet-shaped cylindrical bottom plate is fixed to the opening on one side of the short pitch tube and nested in the support mounting plate 30b, and the support mounting plate is welded to the vehicle body bottom plate; the full-bridge rectifier mounting box 7 is mounted on the mounting plate 6 by screws through two mounting holes 7c, and the full-bridge rectifier is fixed to the full-bridge rectifier mounting box by screws through the holes 7b in the bottom plate of the full-bridge rectifier mounting box;A touch switch 26 is provided on the vehicle body roof to sense whether a loading tray is installed on the side-wheeled trolley. The touch switch is connected to the control circuit board. The backup input line 3c of the dual-power automatic switch 3 is connected to the battery 8, and the normal input line 3d of the dual-power automatic switch 3 is connected to the output line of the full-bridge rectifier. The input line of the full-bridge rectifier is connected to the V-shaped conductive wheel, and the output line 3e of the dual-power automatic switch 3 is connected to the control circuit board. All the Hall sensors 29 and distance sensors 30, as well as the RFID card reader and Hall sensor 35 on the vehicle body floor, are connected to the control circuit board. The WiFi antenna is wirelessly connected to the host computer system. The power switch and start button are both connected to the power supply circuit of the reduction motor; the reduction motor is connected to the control circuit board; the input line of the full-bridge rectifier is connected to the V-shaped conductive wheel, and its output line is connected to the normal input line 3d of the dual-power automatic switch 3.

[0083] The full-bridge rectifier is respectively connected to the dual-power automatic switch 3 and the four V-shaped conductive wheels of the lateral wheel trolley. Since the V-shaped tracks on the left and right sides are respectively positive and negative and cannot be changed, the two V-shaped conductive wheels at the bottom of the trolley that are in contact with the V-shaped track will keep changing after each reversal. At this time, the positive and negative poles on the V-shaped track will enter different V-shaped tracks and cannot change with the change of the V-shaped conductive wheels. This causes the V-shaped conductive wheels that should originally flow into the positive pole to sometimes flow into the positive pole electricity and sometimes flow into the negative pole electricity. If there is no full-bridge rectifier, the electricity on the V-shaped track will directly flow into the control circuit board through the V-shaped conductive wheels and directly through the dual-power automatic switch, which will cause the line originally connected to the positive pole to flow into the negative pole electricity. When the full-bridge rectifier is installed, no matter whether the positive or negative current flows in, the current that finally flows into the control circuit board after passing through the full-bridge rectifier will be the positive current flowing into the wire connected to the positive pole, and the negative current into the wire connected to the negative pole, and there will be no positive current entering the wire connected to the negative pole and the negative current entering the wire connected to the positive pole. Therefore, no matter how the trolley changes direction, no matter which direction the positive and negative poles on the V-shaped track enter from the bottom of the trolley, they will eventually flow into the control circuit board from the fixed electrode line.

[0084] The ground-type conductive lateral track is provided with a waiting parking area 51 for departure and a parking area 52 for medicine receiving and reversing in sequence along its entrance end; the overhead conductive lateral track is provided with a parking area 53 for medicine replenishment and a parking area 54 for medicine inspection in sequence along the aerial exit end of the No. 1 elevator, as well as a waiting parking area for entering the No. 2 elevator. The dustproof plates of the conductive lateral tracks of all the above parking areas are installed in sequence along the direction of the vehicle's travel with RFID cards 203 and magnets 202 for cooperating with the RFID card reader and Hall sensor on the side wheel trolley. (See Figure 1 Figure 2 Figure 3 ).

[0085] It is also equipped with a dedicated system host: it has a built-in control program, communicates with the elevator and right-angle reversing device by wired means, and communicates with the side wheel trolley by wireless WIFI, receives instructions from the upper system, reports the operating status to the upper system, receives information reported by the side wheel trolley, elevator and right-angle reversing device, and sends instructions to the side wheel trolley, elevator and right-angle reversing device;

[0086] Lateral wheel trolley: Receives instructions from the system host via wireless WIFI, carries the loading tray and runs or stops on the conductive lateral track, elevator and right-angle reversing device, and reports the operating status information to the system host.

[0087] Figure 59 Shows:

[0088] 1. The car starts from the departure area;

[0089] 2. The trolley passes the turning point and arrives at the trolley medicine receiving and reversing area to wait for medicine receiving and reversing

[0090] 3. When the trolley receives the medicine, the reversing device on the side close to the elevator opens, and the other reversing device closes to make the trolley complete a 90° reversal;

[0091] 4. After the trolley completes the reversal, it enters elevator No. 1. At the same time, the reversing device returns to its original state. After detecting that the trolley has entered the elevator and is in place, the elevator platform begins to rise (the lifting platform of elevator No. 1 remains on the first-floor track at all times);

[0092] 5. After the elevator rises to the second-level track, the trolley enters the second-level track. After detecting that the trolley has left the elevator, the elevator begins to reset.

[0093] 6. The car continues to move forward on the second track and passes a bend first.

[0094] 7. After successfully passing the bend, the car will move forward and arrive at the medicine table.

[0095] 8. After passing the medicine replenishment table, the car goes forward and arrives at the medicine inspection table;

[0096] 9. After passing the medication counter and the drug inspection counter, the trolley will enter Elevator No. 2 (the platform of Elevator No. 2 will always remain on the second-level track). The elevator will begin to descend after detecting that the trolley is in place.

[0097] 10. When the elevator descends to the first track, the trolley drives out of the elevator and the lifting platform starts to reset.

[0098] 11. After the car completes the last turn on the first track, it returns to the original departure area and waits for the next departure.

[0099] The lateral wheel trolley operates in a one-way motion mode on the conductive track and is generally not allowed to run backwards. When the lateral wheel trolley runs on the conductive lateral track, the RFID card and magnet installed below it will achieve precise parking of the trolley.

[0100] The V-shaped wheels of the lateral-wheeled trolley are clamped onto the V-shaped track strips of the conductive lateral track, creating direct frictional contact with the V-shaped track strips. Controlling the rotation of the V-shaped wheels allows the lateral-wheeled trolley's movement to be controlled. The lateral-wheeled trolley operates in a unidirectional mode within the V-shaped track and generally does not allow reverse movement. When the lateral-wheeled trolley operates on the conductive lateral track, its four V-shaped wheels, driven by internal tension springs, fit tightly against the V-shaped track strips, enabling the V-shaped track strips to provide the following functions for the lateral-wheeled trolley: supporting the trolley's operation; guiding the trolley's operation; and providing electrical power to the trolley.

[0101] Figure 62 It shows that the side-wheel trolley now arrives at the parking waiting area outside the elevator and waits to enter the elevator.

[0102] Figure 63 It shows that at this time, the side wheel trolley enters the elevator and stops accurately through the RFID and magnet in the elevator, waiting for the elevator to descend.

[0103] Figure 64 It shows that at this moment the lateral wheel trolley is descending along with the movable track support platform inside the elevator.

[0104] Figure 65 It shows that: at this time, the side-wheel trolley arrives at the bottom of the elevator along with the movable track support platform inside the elevator, and waits for the side-wheel trolley to drive out of the elevator.

[0105] Figure 66 It shows that at this time, the side wheel trolley has driven out of the elevator and reported to the system host through the RFID outside the elevator, and then the elevator begins to reset.

[0106] Figure 67 It shows that at this moment the lateral wheel trolley moves from the conductive track to the right-angle reversing device.

[0107] Figure 68 It shows that at this time, the side-wheeled trolley will stop and wait immediately when it senses the RFID card and the magnet before entering the right-angle reversing device. If there is a car in front or the corresponding command is not received, the side-wheeled trolley will stop and wait. If there is no obstacle in front and the corresponding command is received, the side-wheeled trolley will continue to move forward and enter the right-angle reversing device.

[0108] Figure 69It shows that at this time, the side-wheel trolley stops precisely in the right-angle reversing device and waits for the right-angle reversing device to complete the reversing action, and the side-wheel trolley also completes a 90° right-angle reversing here, and then waits for the right-angle reversing device to release.

[0109] Figure 70 It shows that at this time, the side-wheeled trolley has left the right-angle reversing device, and when passing the RFID card at the exit position, the side-wheeled trolley will report to the system host that it has left the right-angle reversing device. Then the system host will issue a command to make the right-angle reversing device start to reset and wait for the next trolley to enter and continue to complete the above reversing action.

[0110] Figure 71 It shows that at this time, the side-wheel trolley reaches the entrance of the right-angle reversing device and stops accurately through the RFID card and magnet to wait. If there are other side-wheel trolleys in the right-angle reversing device, it will continue to wait. If not, it will enter the right-angle reversing device.

[0111] Figure 72 It shows that at this time, the side-wheel trolley enters the right-angle reversing device and stops accurately through the RFID card and magnet below it. It then waits for the right-angle reversing device to complete the reversing action. At the same time, the side-wheel trolley completes a 90° right-angle reversal and then drives into the elevator.

[0112] Figure 73 It shows that at this time, the side-wheel trolley enters the elevator and stops accurately through the RFID card and magnet inside, and reports to the system host that the side-wheel trolley has left the right-angle reversing device, and then the right-angle reversing device is immediately reset.

[0113] Figure 74 It shows that at this time, the side wheel trolley climbs to the second-layer conductive track entrance through the movable track support platform in the elevator, and then leaves the elevator after the elevator stops.

[0114] Figure 75 It shows that at this time, the side-wheeled trolley leaves the elevator and then reports to the host system that it has left the elevator through the RFID card at the exit. At the same time, the elevator will receive a reset instruction and wait for the next side-wheeled trolley to enter after resetting.

[0115] 1. Composition:

[0116] 1. The lateral track trolley system consists of a system host, a lateral wheel trolley, a loading tray, a conductive lateral track, a lateral wheel trolley elevator, a lateral wheel trolley right-angle reversing device, etc.

[0117] 2. Each system sub-device:

[0118] (1) System Host: The lateral track trolley system is equipped with a dedicated system host with a built-in control program. It communicates with the lateral wheel trolley elevator and the lateral wheel trolley right-angle reversing device via wired communication, and with the lateral wheel trolley via wireless Wi-Fi. Its functions are to receive commands from the upper system; report operating status to the upper system; receive information reported by the lateral wheel trolley, elevator, and right-angle reversing device; and send commands to the lateral wheel trolley, elevator, and right-angle reversing device.

[0119] (2) Lateral Wheel Cart: This trolley consists of a main body, control circuit board, rechargeable battery, full-bridge rectifier, power manager, V-wheel reduction motor mounting assembly, RFID card reader, Hall effect sensor, distance sensor, Wi-Fi antenna, touch switch, three-color indicator light, power button, start button, and loading tray. It receives commands from the system host via Wi-Fi, carries the loading tray, and moves or stops on the conductive lateral track, elevator, and right-angle reversing device, and reports operating status information to the system host.

[0120] (3) Loading Tray: The loading tray is a tray-shaped container that is mounted on the hood of the side-wheeled trolley via movable and fixed loading tray latches. It is used to load items such as medicinal herbs and slices. The movable and fixed loading tray latches on the hood allow for quick removal and installation of the loading tray.

[0121] (4) Conductive Lateral Track: The conductive lateral track consists of V-shaped track bars, conductive bars, track bar reinforcement tubes, insulating protective covers, dust shields, track pads, track support frames, and adjustable feet. Its function is to provide a support track for the lateral wheel trolley, restricting, guiding, and supporting the lateral wheel trolley. The embedded conductive bars provide the lateral wheel trolley with operating power.

[0122] (5) Lateral Wheel Trolley Lift: This device consists of a lift control circuit board, a control circuit board mounting box, a support frame, a movable track support platform (including a lead screw, nut, and slider), limit switches, limit blocks, a motor, a lead screw, and a slide rail. Its function is to enable the lateral wheel trolley to operate on conductive lateral tracks at different heights by leveraging the lift's lifting or lowering functions.

[0123] (6) The right-angle reversing device for the side-wheeled trolley consists of a tilting track assembly (tilt track, tilt shaft, tilting track base, tilting track base connector, bearings, and bearing retaining springs), a reduction motor, a gear set (driving gear and driven gear), a gear cover, a V-shaped track bar, right-angle connectors for the V-shaped track bar, a reversing device baseplate, a control circuit board box, a reversing device control circuit board, a limit switch, an RFID card, and a Hall magnet. Its function is to achieve right-angle reversing for the side-wheeled trolley in a narrow operating space due to its compact design and small footprint.

[0124] 2. Working process:

[0125] 1. Information reception and feedback of the side-wheeled vehicle: The side-wheeled vehicle receives command information sent by the system host through the wireless WIFI antenna, and performs actions such as running, acceleration, deceleration and parking at a specified position according to the command, and reports the running status, command completion status and alarm information to the system host in real time.

[0126] For example, in the "Smart Chinese Medicine Pharmacy Intelligent Dispensing and Dispensing System for Chinese Herbal Medicine Slices," the side-wheeled trolley waits for departure in the departure area. Upon receiving the departure command from the system host, the trolley begins to leave the departure area and then stops at the parking point according to the command. It then leaves the parking point according to the command. After multiple "stop at the parking point → leave the parking point and run → stop at the parking point" actions, it finally arrives at the departure area and stops, waiting for the next operation. Throughout this operation, the trolley receives the command from the system host in real time to proceed to the next step, and reports the operation status and command completion status to the system host in real time. If a fault occurs during operation, the fault information will be promptly reported to the system host.

[0127] 2. Parking of the side-wheel trolley: The parking of the side-wheel trolley is divided into two situations: positioning parking and blocking parking.

[0128] ⑴. Positioning and parking: The positioning and parking of the lateral wheel trolley is completed by the cooperation of RFID positioning and positioning Hall positioning. In the running direction of the lateral wheel trolley, at the bottom of the positioning stop point set on the V-shaped track, an RFID card is installed and a magnet is installed at a certain distance. When the lateral wheel trolley receives the information instruction and needs to park at a certain positioning stop position, when the lateral wheel trolley runs to this position in the V-shaped track, it will first read the RFID card code through the RFID card reader, and know that it needs to park at this position. Then the trolley control program controls the lateral wheel trolley to decelerate immediately. When the Hall sensor senses the positioning magnet matching the RFID card during deceleration, the trolley control program controls the lateral wheel trolley to stop immediately and stop running.

[0129] (2) Stopping and stopping: The stopping and stopping of the side-wheel trolley is accomplished by the distance sensor on the side-wheel trolley measuring the distance between the trolley and the obstacle in front in the forward direction, and then slowing down and stopping by judging the length of the distance. Distance sensors are installed on the four sides of the side-wheel trolley to detect the distance between the trolley and the obstacle in front in real time. When the distance to the obstacle in front is less than the preset safety value (the preset safety value ≥ 2 times the safety distance), the trolley control program will control the side-wheel trolley to automatically reduce the speed of the trolley; when the distance to the obstacle in front reaches the set safety distance, the side-wheel trolley will stop to avoid collision.

[0130] 3. Operation of the lateral wheel trolley: There are four ways for the lateral wheel trolley to operate in the lateral track trolley system: one is to operate in the conductive lateral track; the second is to operate in the elevator; the third is to operate in the right-angle reversing device; the fourth is to operate in the coordination of the elevator and the right-angle reversing device.

[0131] ⑴. Running in the conductive lateral track: The V-shaped wheels of the lateral wheel trolley are stuck on the V-shaped track bar of the conductive lateral track, and are in direct contact and friction with the V-shaped track bar. Therefore, the operation of the lateral wheel trolley can be controlled by controlling the rotation of the V-shaped wheels. The lateral wheel trolley runs in a unidirectional motion mode in the V-shaped track, and generally does not allow reverse operation. When the lateral wheel trolley runs on the conductive lateral track, the four V-shaped wheels of the trolley are tightly fitted with the V-shaped track bar under the action of the internal tension spring, so that the V-shaped track bar plays the following roles for the lateral wheel trolley: supporting the operation of the trolley; guiding the operation of the trolley; and providing electricity for the trolley.

[0132] ⑵、Operating in the elevator:

[0133] ①. Entering the elevator: To facilitate identification and confirmation of the side-wheeled trolley entering the elevator, an RFID card and positioning magnet are installed in the middle of the parking space one parking space away from the elevator on the side of the entry. When the side-wheeled trolley reaches this position, it reads the RFID card and reports the arrival of the position to the system host. The side-wheeled trolley begins to slow down and waits for the system host to reply. Thereafter, there are three operating states:

[0134] The first one is that if the movable track support platform of the elevator has returned to its position and there is no trolley on the platform, the system host will reply with a command to let the trolley continue to drive into the movable track support platform of the elevator. When the side-wheel trolley enters the movable track support platform, it will read the RFID card installed on the platform, and then report the status information of having entered the platform to the system host. The side-wheel trolley continues to drive until it stops when it senses the Hall magnet in the middle position of the platform, and then reports to the system host that it has entered the movable track support platform of the elevator and is in position. The system host then sends an elevator operation instruction to the control circuit board of the elevator, and the control circuit board of the elevator then controls the elevator to start ascending or descending.

[0135] The second type is that if the movable track support platform of the elevator has not returned to its position or there is a trolley parked on the platform, the system host will reply with a command to let the trolley stop and wait. The side wheel trolley will continue to move until it senses the Hall magnet and stops, waiting for the system host to send a command to enter the elevator.

[0136] The third type is that if the lateral wheel trolley does not receive any instructions from the system host when it moves to the Hall magnet, the lateral wheel trolley must stop at the Hall magnet position and wait for the system host to send instructions for the next step of operation.

[0137] ②. Leaving the elevator: To facilitate identification and confirmation of the side-wheeled trolley leaving the elevator, an RFID card is installed in the middle of the parking space one parking space away from the elevator on the departure side. When the elevator's movable track support platform rises or falls into place, the side-wheeled trolley moves out of the elevator. When it reaches the RFID card position and reads the RFID card, it indicates that the side-wheeled trolley has completely left the elevator. The side-wheeled trolley immediately reports the completion of the elevator departure information to the system host. The system host then sends a command to the elevator control circuit board to raise or lower the elevator's movable track support platform back to its original position. The elevator control circuit board then controls the elevator operation by raising or lowering the movable track support platform and returning it to its original position, waiting for the next side-wheeled trolley to enter.

[0138] ⑶、Operating in right-angle reversing device:

[0139] ①. Entering the right-angle reversing device: To facilitate identification and confirmation that the side-wheeled trolley has entered the right-angle reversing device, an RFID card and positioning magnet are installed in the middle of the parking space one parking space away from the right-angle reversing device on the side of the entry. When the side-wheeled trolley reaches this position, it reads the RFID card and reports the arrival of the position to the system host. The side-wheeled trolley begins to slow down and wait for the system host to reply. Thereafter, it can be divided into three operating states:

[0140] The first one is that if there is no trolley in the right-angle reversing device, the system host will reply with a command to let the trolley continue to drive into the right-angle reversing device. When the side-wheel trolley enters the right-angle reversing device, it will read the RFID card installed on the base of the right-angle reversing device. The side-wheel trolley starts to slow down and continue to drive until it senses the Hall magnet installed in the middle position of the base of the right-angle reversing device and stops. Then it reports to the system host that it has entered the right-angle reversing device and is in position. The system host then sends a reversing command to the control circuit board of the right-angle reversing device. The control circuit board of the right-angle reversing device then controls the flip track on the entering side to flip up the closed track, and then controls the flip track on the exiting side to flip down the open track. At this point, the reversing operation is completed. The control circuit board of the right-angle reversing device reports the information that the reversing operation is completed to the system host. The system host sends a command to the side-wheel trolley to exit the right-angle reversing device, and the trolley exits the right-angle reversing device.

[0141] The second method is that if there is a car parked in the right-angle reversing device, the system host will reply with a command to let the car stop and wait. The side wheel car will continue to move until it senses the Hall magnet and stop, waiting for the system host to send a command to enter the right-angle reversing device.

[0142] The third type is that if the lateral wheel trolley does not receive any instructions from the system host when it moves to the Hall magnet, the lateral wheel trolley must stop at the Hall magnet position and wait for the system host to send instructions for the next step of operation.

[0143] ②. Exiting the right-angle reversing device: To facilitate identification and confirmation that the lateral wheel trolley has left the right-angle reversing device, an RFID card and a Hall magnet are installed in the middle of the parking space one parking space away from the reversing track assembly of the right-angle reversing device on the departure side. When the lateral wheel trolley leaves the right-angle reversing device and reaches the RFID card position and reads the RFID card, it indicates that the lateral wheel trolley has started to leave the elevator. The lateral wheel trolley immediately reports the information that it has started to leave the elevator to the system host, and the lateral wheel trolley immediately starts to decelerate. When the lateral wheel trolley continues to run until it senses the Hall magnet, it indicates that the lateral wheel trolley has completed leaving the right-angle reversing device. The lateral wheel trolley immediately reports the information that it has completely left the right-angle reversing device to the system host, and the system host immediately sends a recovery command to the control circuit board of the right-angle reversing device. The control circuit board of the right-angle reversing device immediately controls the reversing track on the entry side to flip down to open the track, and at the same time controls the reversing track on the exit side to flip up to close the track, completing the recovery operation. Wait for the next side-wheeled vehicle to enter.

[0144] If the lateral wheel trolley senses the Hall magnet and reports to the system host that it has completely left the right-angle reversing device, and there is an obstacle ahead, the system host will immediately send a stop command to the lateral wheel trolley, and the lateral wheel trolley will stop at the Hall magnet position and wait for the next operation command.

[0145] (4) Operation in coordination with the elevator and the right-angle reversing device: When the lateral wheel trolley is operating in coordination with the elevator and the right-angle reversing device, taking the right-angle steering device on the trolley's entry side and the elevator on the trolley's exit side as an example, the RFID card and Hall magnet originally installed on the exit side of the right-angle steering device for identifying and locating the lateral wheel trolley's exit can be cancelled, and the RFID card and Hall magnet installed on the elevator's movable track support platform can be used to replace their exit identification and positioning functions; similarly, the RFID card and Hall magnet originally installed on the elevator's entry side for identifying and locating the lateral wheel trolley's entry can also be cancelled, and the RFID card and Hall magnet installed on the base of the right-angle reversing device can be used to replace their entry identification and positioning functions. The specific operation method is as follows:

[0146] ①. Entering the right-angle reversing device and elevator: To facilitate identification and confirmation of the side-wheel trolley entering the right-angle reversing device, an RFID card and positioning magnet are installed in the middle of the parking space one parking space away from the right-angle reversing device on the side of the entry. When the side-wheel trolley reaches this position, it reads the RFID card and reports the arrival of the position to the system host. The side-wheel trolley starts to slow down and wait for the system host to reply. Thereafter, it can be divided into three operating states:

[0147] The first one is that if there is no trolley in the right-angle reversing device, the system host will reply with a command to let the trolley continue to drive into the right-angle reversing device. When the side-wheel trolley enters the right-angle reversing device, it will read the RFID card installed on the base of the right-angle reversing device, and the side-wheel trolley will start to slow down and continue to drive until it senses the Hall magnet installed in the middle position of the base of the right-angle reversing device and stops. Then it reports to the system host that it has entered the right-angle reversing device and is in position. The system host then sends a reversing command to the control circuit board of the right-angle reversing device. The control circuit board of the right-angle reversing device then controls the flip track on the incoming side to flip up the closed track, and then controls the flip track on the outgoing side to flip down the open track. At this point, the reversing operation is completed, and the control circuit board of the right-angle reversing device reports the information that the reversing operation is completed to the system host. The system host determines whether to send a command to the side-wheel trolley based on whether there is a trolley in the elevator? Whether the movable track support platform of the elevator has returned to its position? And other situations:

[0148] A. When the system host determines that there is no trolley in the elevator and the elevator's movable track support platform has returned to its original position, the system host sends a command to the lateral wheel trolley to exit the right-angle reversing device. The trolley exits the right-angle reversing device and enters the elevator's movable track support platform. When the lateral wheel trolley enters the movable track support platform, it reads the RFID card installed on the platform and immediately reports the status of entering the platform to the system host. The lateral wheel trolley continues to decelerate until it senses the Hall magnet in the middle of the platform and stops. It then reports to the system host that it has entered the elevator's movable track support platform and is in position. The system host then sends an elevator operation command to the elevator control circuit board, which then controls the elevator to start ascending or descending.

[0149] B. When the system host determines that there is a trolley in the elevator or the movable track support platform of the elevator has not returned to its original position, the system host sends a parking command to the lateral wheel trolley, and the lateral wheel trolley stops in the right-angle reversing device and waits for the next operation command until the system host determines that there is no trolley in the elevator and the movable track support platform of the elevator has returned to its original position. The subsequent operation mode is as described in the above A.

[0150] The second method is that if there is a car parked in the right-angle reversing device, the system host will reply with a command to let the car stop and wait. The side wheel car will continue to move until it senses the Hall magnet and stop, waiting for the system host to send a command to enter the right-angle reversing device.

[0151] The third type is that if the lateral wheel trolley does not receive any instructions from the system host when it moves to the Hall magnet, the lateral wheel trolley must stop at the Hall magnet position and wait for the system host to send instructions for the next step of operation.

[0152] ②. Leaving the elevator: To facilitate identification and confirmation of the side-wheeled trolley leaving the elevator, an RFID card is installed in the middle of the parking space one parking space away from the elevator on the departure side. When the elevator's movable track support platform rises or falls into place, the side-wheeled trolley moves out of the elevator. When it reaches the RFID card position and reads the RFID card, it indicates that the side-wheeled trolley has completely left the elevator. The side-wheeled trolley immediately reports the completion of the elevator departure information to the system host. The system host then sends a command to the elevator control circuit board to raise or lower the elevator's movable track support platform back to its original position. The elevator control circuit board then controls the elevator operation by raising or lowering the movable track support platform and returning it to its original position, waiting for the next side-wheeled trolley to enter.

[0153] 4. Power Supply: The trolley uses a hybrid power supply mode combining on-track power and battery power. Normally, the trolley draws power from the conductive strips in the conductive side track and the V-shaped conductive wheels installed on the trolley. This power is then supplied to the control circuit board, motor, and other electrical components via the trolley's dual-power automatic switcher. In the event of a break in the on-track power supply or a power failure, the dual-power automatic switcher automatically switches to battery power to ensure the trolley's operation.

[0154] 5. Loading Tray Installation and Removal: A fixed and movable loading tray clip are located on symmetrical sides of the top of the side-wheel trolley's hood. These clips are used for mounting, securing, and removing the loading tray from the trolley. A touch switch is located in front of the movable clip on the top of the trolley's hood, below the loading tray. When the loading tray is installed on the trolley, it presses the touch switch, and the loading tray installation indicator on the trolley turns green, indicating that the loading tray is in place. When the loading tray is removed, the loading tray installation indicator turns red or yellow, depending on the trolley's operating status.

[0155] 6. Fault Alerts: The side-wheel trolley's fault alerts mainly include operating status alerts and loading tray installation alerts. The operating status alert primarily indicates faults in Wi-Fi communication, motor operation, and sensors while the side-wheel trolley is operating. The loading tray installation alert primarily indicates whether the loading tray is loaded while the side-wheel trolley is operating.

[0156] 7. Charging: In addition, there is a battery inside the car and a charging port on the side of the car body. The car control circuit board is equipped with a battery power monitoring function. When the battery power is lower than the set warning value, the car will alarm the upper computer system to remind the maintenance personnel to charge it. The maintenance personnel will remove the car and use the charger to plug it into the charging socket of the car for charging.

Claims

1. A lateral track trolley system, characterized in that: The lateral wheel trolley running loop is composed of: one end of the ground-type conductive lateral track (200) is connected to the ground exit end of the No. 2 elevator (400a), and the other end is connected to the ground entrance end of the No. 1 elevator (400) through the right-angle reversing device (300); one end of the overhead conductive lateral track (200) is connected to the aerial exit end of the No. 1 elevator, and the other end is connected to the aerial entrance end of the No. 2 elevator; The conductive lateral track (200) is composed of two parallel tracks for engaging and running the wheels of the lateral wheel trolley and for supplying power to the lateral wheel trolley. The structure of each track is as follows: a V-shaped track bar (210) is fixed on a rectangular tube (207), a conductive copper bar (209) is provided on the outwardly protruding V-shaped outer end of the V-shaped track bar, and an insulating layer (208) is provided between the conductive copper bar and the V-shaped track bar, and an insulating protective cover (204) is provided on the top of the V-shaped track bar; a dustproof plate (205) is installed below the two tracks, and a magnet (202) and an RFID card (203) are installed on the dustproof plate for cooperating with a Hall sensor and an RFID card reader on the lateral wheel trolley (100). The bottom of the rectangular tube of the two parallel tracks is provided with a shock-absorbing block for preventing the tracks from directly contacting the ground, thereby forming a ground-type conductive lateral track; The bottom of the rectangular tube of the two parallel tracks is provided with a plurality of support frames (201) to form an overhead conductive lateral track; The structure of the elevator (400, 400a) is as follows: the support frame 2 (416) is composed of four vertically arranged rectangular tubes and a plurality of cross bars (409) connected between two adjacent vertical rectangular tubes; the lower ends of the four vertical rectangular tubes of the support frame 2 are fixed to the lower base plate (413) via mounting seats (428), and the lower base plate is provided with a lower limit block (412) and a lower limit switch 2 (414); the upper cover plate (408) is respectively covered with four rectangular tube short sections (423) fixed to its bottom surface on the upper cover plate (408) and fixed with bolts; the control circuit board box 2 (407) in which the control circuit board 2 (422) is provided is installed on the upper cover plate; the motor (406) is installed on the upper cover plate; the motor shaft is connected to the upper end of the vertically arranged screw rod (402) via a coupling; the lower end of the screw rod is fixed to the inner ring of the bearing 1 (426); the bearing 1 is installed in the bearing sleeve (427), and the bearing sleeve is fixed Fixed on the lower base plate; a slide rail (418) is fixed on each of the two vertical moment tubes on the left side of the support frame 2, and a slider (405) is movably mounted on each slide rail; the movable track support platform (403) is equipped with two parallel V-shaped tracks (404, 410) for the side wheel trolley (100) to run; a Hall magnet (424) and an RFID card (411) are installed on the movable track support platform (403) from front to back for cooperating with the Hall sensor and the RFID card reader on the side wheel trolley; the movable track support platform is fixed to the two sliders (405) by screws through the two vertical plates thereon, and the screw nut (421) screwed on the screw is fixed to the movable track support platform; an upper limit stopper (420) and an upper limit switch (419) are respectively installed on the upper part of the two vertical moment tubes on the left side of the support frame 2; A lower track connecting piece (401) for connecting to the lower track is installed on the lower base plate, and an upper track connecting piece (415) for connecting to the upper track is installed on the upper crossbar of the second support frame; The structure of the right-angle reversing device (300) of the lateral wheel trolley is as follows: a right-angle reversing track with a square area formed by the intersection of two longitudinal tracks and two transverse tracks; the track is composed of two V-shaped track bars (320) used to cooperate with the wheels of the lateral wheel trolley and for the lateral wheel trolley to travel, which are fixed on two rectangular tubes (316), and all the rectangular tubes of the track are fixed on a base plate (314). The trolley entrance and trolley exit of the right-angle reversing track are respectively provided with a flip track assembly of the same structure in the transverse and longitudinal directions. The flip track assembly structure is as follows: a reduction motor (301) is installed on the outer surface of the track, and a gear (303) installed on the shaft of the reduction motor (301) extending into the inner side of the track is engaged with a driven gear (304), and the driven gear is installed on a flip shaft (305), and the flip shaft is mounted on two bearings (306, 307) in the double bearing seat. The base (311 ) is composed of a double bearing seat with bearing two fixed on a strip, a lower limit switch one (312) is installed on the strip, an upper limit switch two (313) is installed on the double bearing seat located between the two bearing twos, the base is fixed to the bottom plate one (314) by screws through the strip, the flip track (310) is fixed to the flip shaft (305) located between the two bearing seats on the double bearing seat, a Hall magnet two (317) used for Hall sensor sensing on the side wheel trolley is installed in the middle of the square area of ​​the right angle reversing track on the bottom plate one (314), a first RFID card (319) for reading by the RFID card reader on the side wheel trolley is installed near the trolley entrance in the square area of ​​the right angle reversing track on the bottom plate one, and a second RFID card (318) for reading by the RFID card reader on the side wheel trolley is installed on the bottom plate one outside the trolley exit of the right angle reversing track; The structure of the side wheel trolley (100) is as follows: the cube-shaped vehicle body is composed of a vehicle shell (1) and a vehicle shell top plate (1f) which are fastened together; the vehicle shell is integrally composed of a front side vertical plate (1a), a rear side vertical plate (1b), a left vertical plate (1c), a right vertical plate (1d) and a vehicle shell bottom plate (1e); four V-shaped wheels (17) are evenly distributed under the square vehicle shell bottom plate, and four motor drive devices are arranged in a central symmetrical manner. Each motor drive device (37) is composed of: an output shaft of a reduction motor 2 (14) perpendicular to the bottom plate extends downward from the bottom plate. A V-shaped wheel (17) is installed on the outer end of the plate, and the reduction motor 2 is installed on the reduction motor mounting plate (15). A slide rail 2 (18) is installed on both sides of the square diagonal on the bottom plate in a diagonally symmetrical manner. The two ends of the reduction motor mounting plate are fixed to a slider 2 (19) by bolts (20). The two sliders 2 respectively form a sliding fit relationship with the two slide rails 2. A tension spring (16) is installed between the reduction motor mounting plate and the intersection of the adjacent two side vertical plates of the corresponding vehicle shell, and the tension spring is arranged along the diagonal direction of the square of the bottom plate. A V-shaped conductive wheel (28) is installed between two adjacent V-shaped wheels on the bottom plate of the vehicle body and is used to contact the conductive side track to receive electricity. The movement trajectory of each V-shaped conductive wheel and the two adjacent V-shaped wheels is in the same straight line; an RFID card reader (36) and a Hall sensor (35) are installed on the bottom plate and are used to cooperate with the RFID card on the conductive side track and the Hall magnet respectively; a WIFI antenna (21), an operation indicator light (24), a loading tray indicator light (25) and a loading tray quick assembly and disassembly mechanism are installed on the top plate of the vehicle body; The front, rear, left and right side vertical panels are respectively equipped with Hall sensors (29) and distance sensors (30) and heat dissipation holes (31). The front side vertical panel is equipped with a start button (33), the left side vertical panel is equipped with a power switch (32), and the rear side vertical panel is equipped with a charging port (34) for charging a battery (8). The dual power automatic switch (3) and the control circuit board (2) are both mounted on the mounting plate (6), and the mounting plate (6) and the battery (8) are mounted in the inner cavity of the vehicle shell.

2. A lateral track trolley system according to claim 1, characterized in that: In the elevator, there are two upper limit blocks, which are respectively installed on the two vertical rectangular tubes on the left side of the support frame 2, and four lower limit blocks are respectively installed on the lower base plate of the four adjacent mounting seats. Among the four vertical rectangular tubes of the support frame 2 (416), the length of each rectangular tube is greater than the width. The width of the two vertical rectangular tubes on the left side of the support frame 2 is the same as the length of the two vertical rectangular tubes on the right side. Four cross bars are fixedly connected on the outer side of the two vertical rectangular tubes on the left side of the support frame 2; two cross bars are fixedly connected between the two vertical rectangular tubes on the right side of the support frame 2 and between the two vertical rectangular tubes on the right side and the adjacent vertical rectangular tubes on the left side; a reinforcing rectangular tube (425) is fixedly connected between the two mounting seats of the two vertical rectangular tubes on the left side of the lower base plate; the control circuit board box 2 (407) is composed of a box body 2 (407a) and a box cover 2 (407b).

3. The lateral track trolley system according to claim 1, characterized in that: In the right-angle reversing device, a gear cover (302) is provided on the mutually meshing gear (303) and the driven gear (304), and the gear cover is fixed to the outer surface of the track by screws; the flip shaft is also provided with bearing retaining springs (308, 309) on the outer sides of the two bearings; a control circuit board box (315) is installed on the outer side of the transverse track: it is composed of a box cover (315b) and a box body (315c), and a control circuit board (315a) is provided in the box body; it also has a right-angle connector (321), a right-angle connector The connecting piece is composed of two ear plates (321a) and two bottom plates (321b) integrated with a rectangular parallelepiped; the right-angle connecting piece is arranged at the intersection of the fracture of the longitudinal track and the transverse track: the two rectangular tubes of the longitudinal track and the transverse track are respectively placed on the two pads, and the two V-shaped track bars (321b) of the longitudinal track and the transverse track are respectively fixed to the two ear plates by screws, and the rectangular parallelepiped is matched with the fracture at the intersection of the longitudinal track and the transverse track; the bottom of the longitudinal track and the transverse track is also provided with a pad (323) for keeping the bottom surface of the entire right-angle reversing track flush.

4. The lateral track trolley system according to claim 1, characterized in that: In the side-wheel trolley, the four V-shaped wheels are symmetrical in both vertical and horizontal directions, and the axis center line of the output shaft of the reduction motor corresponding to each V-shaped wheel is perpendicular to and intersects with the diagonal line corresponding to the square of the bottom plate; one end of the tension spring is fixed at the intersection of the adjacent two side vertical plates, and the other end is fixed to the tension spring clamp (16a) on the reduction motor mounting plate (15); a loading tray (38) is also provided, the outside of the loading tray is provided with a reinforcing rib (38b), and the periphery of the lower part of the loading tray is provided with a quick disassembly opening (38a); the quick disassembly mechanism of the loading tray is as follows: the fixed clamp (23) is installed on one side of the top plate, the movable clamp (27) is installed on the other side of the top plate, a tension spring is fixed between the bottom of the movable clamp and the top plate, and a mounting clamp is installed inside the tension spring on the top plate. The spring piece (39) is provided with a torsion spring. When not subjected to external force, the spring piece can push the loading tray upward under the action of the torsion spring. When installing, the quick assembly and disassembly opening at one end of the loading tray is aligned with the fixed card. Under the action of the downward force applied to the quick assembly and disassembly opening at the other end of the loading tray, the movable card overcomes the force of the tension spring and moves outward, and the quick assembly and disassembly openings at both ends of the loading tray are respectively engaged with the fixed card and the movable card to complete the installation of the loading tray. When removing the loading tray, the movable card is pulled outward, thereby overcoming the force of the tension spring and causing the movable card to move outward and disengage from the quick assembly and disassembly opening of the loading tray. The spring piece pushes the loading tray upward under the action of the torsion spring and finally removes the loading tray. The battery support plate (10) is also provided. The battery support plate (10) is installed on the loading tray by four screws (9). A full-bridge rectifier mounting box (7) is provided on the mounting plate (6) on the bottom plate, and the full-bridge rectifier is installed in the full-bridge rectifier mounting box (7). Four double-pass hexagonal copper columns (11) are fixed between the mounting plate (6) and the battery support plate by screws (5). The battery (8) is placed on the battery support plate and located between the mounting plate (6) and the battery support plate, and the four downwardly bent vertical plates (12) on the mounting plate are respectively inserted into the four strip holes on the battery support plate; the control circuit board (2) is fixed on the four support columns (4) on the mounting plate (6); the dual power automatic switch (3) is installed on the mounting plate (6) by screws through the mounting holes (3b) on the two ear plates; the Hole with nuts (29a) on it is fixed. The front end of the sensor (29) passes through the hole on the bracket (29b) and is screwed and fixed to the bracket through another nut (29c), and the bracket is welded to the bottom plate; it also has a support (30a), and the support structure is as follows: a short pitch tube is fixed on the bottom plate, the distance sensor (30) is installed in the short pitch tube of the support (30a), an outward-expanding trumpet-shaped cylinder is fixed on an opening on one side of the short pitch tube, the bottom plate is nested on the support mounting plate (30b), and the support mounting plate is welded to the vehicle shell bottom plate; the full-bridge rectifier mounting box (7) is mounted on the mounting plate (6) by screws through two mounting holes (7c), and the full-bridge rectifier is fixed in the full-bridge rectifier mounting box by screws through the bottom plate hole (7b) of the full-bridge rectifier mounting box;The vehicle shell top plate is provided with a touch switch (26) for sensing whether a loading tray is installed on the lateral wheel trolley. The touch switch is connected to the control circuit board. The backup incoming line (3c) of the dual power automatic switch (3) is connected to the battery (8). The common incoming line (3d) of the dual power automatic switch (3) is connected to the outgoing line of the full-bridge rectifier. The outgoing line (3e) of the dual power automatic switch (3) is connected to the control circuit board. All the Hall sensors (29) and the distance sensor (30) as well as the RFID card reader and the Hall sensor (35) on the vehicle shell bottom plate are connected to the control circuit board. The WIFI antenna is wirelessly connected to the host computer system. The power switch and the start button are both connected to the power supply circuit of the reduction motor. The reduction motor is connected to the control circuit board. The incoming line of the full-bridge rectifier is connected to the V-shaped conductive wheel, and its outgoing line is connected to the common incoming line (3d) of the dual power automatic switch (3).

5. The lateral track trolley system according to claim 1, characterized in that: The ground-type conductive lateral track is provided with a waiting parking area (51) for departure and a parking area (52) for the trolley to receive medicine and to change directions in sequence along the direction of its entrance end; the overhead conductive lateral track is provided with a parking area (53) for the medicine replenishment table and a parking area (54) for the medicine inspection table, as well as a parking area for waiting to enter the No. 2 elevator in sequence along the direction of the aerial exit end of the No. 1 elevator. The dustproof plates of the conductive lateral tracks of all the parking areas are provided with an RFID card (203) and a magnet (202) for cooperating with an RFID card reader and a Hall sensor on the lateral wheel trolley in sequence according to the direction of travel of the trolley.

6. The lateral track trolley system according to any one of claims 1 to 5, characterized in that: It is also equipped with a dedicated system host: it has a built-in control program, communicates with the elevator and right-angle reversing device by wired means, and communicates with the side wheel trolley by wireless WIFI, receives instructions from the upper system, reports the operating status to the upper system, receives information reported by the side wheel trolley, elevator and right-angle reversing device, and sends instructions to the side wheel trolley, elevator and right-angle reversing device; Lateral wheel trolley: Receives instructions from the system host via wireless WIFI, carries the loading tray and runs or stops on the conductive lateral track, elevator and right-angle reversing device, and reports the operating status information to the system host.

7. A method for controlling the operation of a trolley system according to any one of claims 1 to 5, characterized in that: The following steps are involved: (1) Information reception and feedback of the lateral wheel trolley: The lateral wheel trolley receives the command information sent by the system host through the wireless WIFI antenna, and realizes the operation, acceleration, deceleration and parking at the specified position according to the command, and reports the operation status, command completion status and alarm information to the system host in real time; For example, in the "Smart Chinese Medicine Pharmacy Intelligent Dispensing and Dispensing System for Chinese Herbal Medicine Pieces", the side-wheeled trolley waits for departure in the departure area. When it receives the departure instruction sent by the system host, it starts to run away from the departure area, then stops at the parking point according to the instruction, and then leaves the parking point according to the instruction. After multiple "stop at the parking point → run away from the parking point → stop at the parking point" actions, it finally arrives at the departure area and stops, waiting for the next operation. During the entire process of this operation, the side-wheeled trolley receives the instructions sent by the system host in real time to perform the next action, and reports the operation status and instruction completion status to the system host in real time. If a fault occurs during the operation, the fault information will be reported to the system host in a timely manner. (2) Parking of the lateral wheel trolley: The parking of the lateral wheel trolley is divided into two situations: positioning parking and blocking parking; ⑴. Positioning and parking: The positioning and parking of the lateral wheel trolley is completed by the cooperation of RFID positioning and positioning Hall positioning. In the running direction of the lateral wheel trolley, at the bottom of the positioning parking point set on the V-shaped track, an RFID card is installed and a magnet is installed at a certain distance. When the lateral wheel trolley receives the information instruction and needs to park at a certain positioning parking position, when the lateral wheel trolley runs to this position in the V-shaped track, it will first read the RFID card code through the RFID card reader, and know that it needs to park at this position. Then the trolley control program controls the lateral wheel trolley to decelerate immediately. When the Hall sensor senses the positioning magnet matching the RFID card during the deceleration, the trolley control program controls the lateral wheel trolley to stop immediately and stop running. (2) Stop and hold: The stop and hold of the side-wheel trolley is achieved by using the distance sensor on the side-wheel trolley to measure the distance between the trolley and the obstacle in front in the forward direction, and then slowing down and stopping the trolley based on the length of the distance. Distance sensors are installed on the four sides of the side-wheel trolley to detect the distance between the trolley and the obstacle in front in real time. When the distance to the obstacle in front is less than the preset safety value (the preset safety value is ≥ 2 times the safety distance), the trolley control program will control the side-wheel trolley to automatically reduce the speed of the trolley. When the distance to the obstacle in front reaches the set safety distance, the side-wheel trolley will stop to avoid collision. (3) Operation of the lateral wheel trolley: There are four ways for the lateral wheel trolley to operate in the lateral track trolley system: one is to operate in the conductive lateral track; the second is to operate in the elevator; the third is to operate in the right-angle reversing device; the fourth is to operate in the combination of the elevator and the right-angle reversing device; ⑴. Running in the conductive lateral track: The V-shaped wheels of the lateral wheel trolley are stuck on the V-shaped track bar of the conductive lateral track, and are in direct contact and friction with the V-shaped track bar. Therefore, the operation of the lateral wheel trolley can be controlled by controlling the rotation of the V-shaped wheels; the lateral wheel trolley runs in a unidirectional motion mode in the V-shaped track, and generally does not allow reverse operation; when the lateral wheel trolley runs on the conductive lateral track, its four V-shaped wheels are tightly fitted with the V-shaped track bar under the action of the internal tension spring, so that the V-shaped track bar plays the following roles for the lateral wheel trolley: supporting the operation of the trolley; guiding the operation of the trolley; and providing the trolley with electric power; ⑵、Operating in the elevator: ①. Entering the elevator: To facilitate identification and confirmation of the side-wheeled trolley entering the elevator, an RFID card and positioning magnet are installed in the middle of the parking space one parking space away from the elevator on the side of the entry. When the side-wheeled trolley reaches this position, it reads the RFID card and reports the arrival of the position to the system host. The side-wheeled trolley begins to slow down and waits for the system host to reply. Thereafter, there are three operating states: The first method is that if the movable track support platform of the elevator has returned to its position and there is no trolley on the platform, the system host will reply with a command to let the trolley continue to drive into the movable track support platform of the elevator. When the lateral wheel trolley enters the movable track support platform, it will read the RFID card installed on the platform and then report the status information of having entered the platform to the system host. The lateral wheel trolley will continue to drive until it senses the Hall magnet in the middle position of the platform and stop. Then it will report to the system host that it has entered the movable track support platform of the elevator and is in position. The system host will then send an elevator operation command to the elevator control circuit board, and the elevator control circuit board will then control the elevator to start ascending or descending. Second, if the elevator's movable track support platform has not returned to its original position or a trolley is parked on the platform, the system host will reply with a command to have the trolley park and wait. The trolley will continue to move until it senses the Hall magnet and then park, waiting for the system host to send a command to enter the elevator. The third method is that if the lateral wheel trolley does not receive any command from the system host when it moves to the Hall magnet, the lateral wheel trolley must stop at the Hall magnet position and wait for the system host to send a command to proceed to the next step. ②. Leaving the elevator: To facilitate identification and confirmation of the side-wheel trolley leaving the elevator, an RFID card is installed in the middle of the parking space one parking space away from the elevator on the departure side. When the movable track support platform of the elevator rises or falls into place, the side-wheel trolley moves out of the elevator. When it drives to the RFID card position and reads the RFID card, it indicates that the side-wheel trolley has completely left the elevator. The side-wheel trolley immediately reports the completion of leaving the elevator to the system host. The system host immediately sends an instruction to the elevator control circuit board to raise or lower the elevator movable track support platform back to its original position. The elevator control circuit board then controls the elevator to operate, raise or lower the movable track support platform, and return the movable track support platform to its original position; waiting for the next side-wheel trolley to enter; ⑶、Operating in right-angle reversing device: ①. Entering the right-angle reversing device: To facilitate identification and confirmation that the side-wheeled trolley has entered the right-angle reversing device, an RFID card and positioning magnet are installed in the middle of the parking space one parking space away from the right-angle reversing device on the side of the entry. When the side-wheeled trolley reaches this position, it reads the RFID card and reports the arrival of the position to the system host. The side-wheeled trolley begins to slow down and wait for the system host to reply. Thereafter, it can be divided into three operating states: The first one is that if there is no trolley in the right-angle reversing device, the system host will reply with a command to let the trolley continue to drive into the right-angle reversing device. When the side-wheel trolley enters the right-angle reversing device, it will read the RFID card installed on the base of the right-angle reversing device, and the side-wheel trolley will start to slow down and continue to drive until it senses the Hall magnet installed in the middle position of the base of the right-angle reversing device and stops. Then it will report to the system host that it has entered the right-angle reversing device and is in position. The system host will then send a reversing command to the control circuit board of the right-angle reversing device. The control circuit board of the right-angle reversing device will then control the flip track on the side of the entry to flip up the closed track, and then control the flip track on the side of the exit to flip down the open track. At this point, the reversing operation is completed, and the control circuit board of the right-angle reversing device reports the information that the reversing operation is completed to the system host. The system host sends a command to the side-wheel trolley to exit the right-angle reversing device, and the trolley exits the right-angle reversing device. The second method is that if there is a car parked in the right-angle reversing device, the system host will reply with a command to let the car park and wait. The side wheel car will continue to move until it senses the Hall magnet and then park, waiting for the system host to send a command to enter the right-angle reversing device. The third method is that if the lateral wheel trolley does not receive any command from the system host when it moves to the Hall magnet, the lateral wheel trolley must stop at the Hall magnet position and wait for the system host to send a command to proceed to the next step. ②. Leaving the right-angle reversing device: To facilitate identification and confirmation that the lateral wheel trolley has left the right-angle reversing device, an RFID card and Hall magnet are installed in the middle of the parking space one parking space away from the flip track assembly of the right-angle reversing device on the leaving side. When the lateral wheel trolley leaves the right-angle reversing device, it drives to the RFID card position and reads the RFID card, indicating that the lateral wheel trolley has started to leave the elevator. The lateral wheel trolley immediately reports the information that it has started to leave the elevator to the system host, and the lateral wheel trolley immediately starts The trolley slows down and runs until it senses the Hall magnet, indicating that the trolley has completed leaving the right-angle reversing device. The trolley then reports to the system host that it has completely left the right-angle reversing device. The system host then sends a recovery command to the control circuit board of the right-angle reversing device. The control circuit board of the right-angle reversing device then controls the flip track on the incoming side to flip down and open the track, and at the same time controls the flip track on the outgoing side to flip up and close the track, completing the recovery operation; waiting for the next trolley to enter; If the lateral wheel trolley senses the Hall magnet and reports to the system host that it has completely left the right-angle reversing device, and there is an obstacle ahead, the system host will immediately send a parking command to the lateral wheel trolley, and the lateral wheel trolley will stop at the Hall magnet position and wait for the next operation command; (4) Operation in coordination with the elevator and the right-angle reversing device: When the lateral-wheel trolley is operating in coordination with the elevator and the right-angle reversing device, taking the case where the right-angle steering device is on the trolley's entry side and the elevator is on the trolley's exit side as an example, the RFID card and Hall magnet originally installed on the exit side of the right-angle steering device for identifying and locating the lateral-wheel trolley's exit can be cancelled, and the RFID card and Hall magnet installed on the movable track support platform of the elevator can be used to replace their exit identification and positioning functions; similarly, the RFID card and Hall magnet originally installed on the entrance side of the elevator for identifying and locating the lateral-wheel trolley's entry can also be cancelled, and the RFID card and Hall magnet installed on the base of the right-angle reversing device can be used to replace their entry identification and positioning functions; the specific operation method is as follows: ①. Entering the right-angle reversing device and elevator: To facilitate identification and confirmation of the side-wheel trolley entering the right-angle reversing device, an RFID card and positioning magnet are installed in the middle of the parking space one parking space away from the right-angle reversing device on the side of the entry. When the side-wheel trolley reaches this position, it reads the RFID card and reports the arrival of the position to the system host. The side-wheel trolley starts to slow down and wait for the system host to reply. Thereafter, it can be divided into three operating states: The first one is that if there is no trolley in the right-angle reversing device, the system host will reply with a command to let the trolley continue to drive into the right-angle reversing device. When the side-wheel trolley enters the right-angle reversing device, it will read the RFID card installed on the base of the right-angle reversing device, and the side-wheel trolley will start to slow down and continue to drive until it senses the Hall magnet installed in the middle position of the base of the right-angle reversing device and stops. Then it reports to the system host that it has entered the right-angle reversing device and is in position. The system host then sends a reversing command to the control circuit board of the right-angle reversing device. The control circuit board of the right-angle reversing device then controls the flip track on the incoming side to flip up the closed track, and then controls the flip track on the outgoing side to flip down the open track. At this point, the reversing operation is completed, and the control circuit board of the right-angle reversing device reports the information that the reversing operation is completed to the system host. The system host determines whether to send a command to the side-wheel trolley based on whether there is a trolley in the elevator and whether the movable track support platform of the elevator has returned to its position: A. When the system host determines that there is no trolley in the elevator and the elevator's movable track support platform has returned to its original position, the system host sends a command to the lateral wheel trolley to exit the right-angle reversing device. The trolley exits the right-angle reversing device and enters the elevator's movable track support platform. When the lateral wheel trolley enters the movable track support platform, it reads the RFID card installed on the platform and immediately reports the status of entering the platform to the system host. The lateral wheel trolley continues to decelerate until it senses the Hall magnet in the middle of the platform and stops. It then reports to the system host that it has entered the elevator's movable track support platform and is in position. The system host then sends an elevator operation command to the elevator control circuit board, which then controls the elevator to start ascending or descending. B. When the system host determines that there is a trolley in the elevator or the movable track support platform of the elevator has not returned to its original position, the system host sends a parking command to the lateral wheel trolley, and the lateral wheel trolley stops in the right-angle reversing device and waits for the next operation command until the system host determines that there is no trolley in the elevator and the movable track support platform of the elevator has returned to its original position. The subsequent operation mode is as described in the above A; The second method is that if there is a car parked in the right-angle reversing device, the system host will reply with a command to let the car park and wait. The side wheel car will continue to move until it senses the Hall magnet and then park, waiting for the system host to send a command to enter the right-angle reversing device. The third method is that if the lateral wheel trolley does not receive any command from the system host when it moves to the Hall magnet, the lateral wheel trolley must stop at the Hall magnet position and wait for the system host to send a command to proceed to the next step. ②. Leaving the elevator: To facilitate identification and confirmation of the side-wheel trolley leaving the elevator, an RFID card is installed in the middle of the parking space one space away from the elevator on the departure side. When the movable track support platform of the elevator rises or falls into place, the side-wheel trolley moves out of the elevator. When it drives to the RFID card position and reads the RFID card, it indicates that the side-wheel trolley has completely left the elevator. The side-wheel trolley immediately reports the completion of leaving the elevator to the system host. The system host then sends an instruction to the elevator control circuit board to raise or lower the elevator movable track support platform back to its original position. The elevator control circuit board then controls the elevator to operate and return the movable track support platform to its original position by raising or lowering it. Wait for the next side-wheel trolley to drive in.

8. The operation control method of the trolley system according to claim 7, characterized in that: The power supply mode of the lateral wheel trolley is a hybrid power supply mode of on-track power supply and battery power supply; under normal circumstances, the lateral wheel trolley collects electricity through the conductive strips in the conductive lateral track and the V-shaped conductive wheels installed on the trolley in contact with it, and then supplies power to the control circuit board and the motor through the full-bridge rectifier and dual-power automatic switch in the trolley; when there is a breakpoint in the on-track power supply or the on-track power supply fails, the dual-power automatic switch installed on the lateral wheel trolley immediately switches to battery power supply to ensure the operation of the trolley.

9. The operation control method of the trolley system according to claim 8, characterized in that: A touch switch is provided under the loading tray in front of the movable card position on the top plate of the side-wheel trolley shell. When the loading tray is installed on the side-wheel trolley, the loading tray will press the touch switch, and the loading tray installation indicator light on the trolley will turn green, indicating that the loading tray is installed in place; when the loading tray is removed, the loading tray installation indicator light will turn red or yellow according to the operating status of the side-wheel trolley.

10. The operation control method of the trolley system according to claim 9, characterized in that: The fault warnings of the lateral wheel trolley mainly include operating status warnings and loading tray installation warnings; the operating status warnings mainly reflect the warnings of WIFI communication, motor operation and sensor failures when the lateral wheel trolley is in operation; the loading tray installation warnings mainly reflect the status warnings of whether the loading tray is loaded when the lateral wheel trolley is running; the lateral wheel trolley is also equipped with a battery inside and a charging port on the side of its body, and the trolley control circuit board is provided with a battery power monitoring function. When the battery power is lower than the set warning value, the trolley will alarm the upper computer system to remind the maintenance personnel to charge it. The maintenance personnel then remove the trolley and use the charger to insert it into the charging socket of the trolley for charging.

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