Track-guided transport system and method for controlling cars of a track-guided transport system

The present invention relates to a tracked transport system, in particular a single rail vehicle comprising a lane network with at least one node at least two track sections of the lane network adjoining each other and a plurality of carriages which can be moved along the lane network and each comprise a control unit.

Furthermore, the present invention relates to a method for controlling carriages of such a tracked transport system.

Such a tracked transport system is, for example, shown in FIG <patcit id="pcit0001" dnum="DE19512107A1"><text>DE 195 12 107 A1</text></patcit> known.

If the tracked transport system comprises a large number of carriages which are simultaneously moved along the lane network, all of the carriages are controlled by means of a central control device of the transport system in the central control unit and a very extensive exchange of data between the carriages and Of the central control unit.

The <patcit id="pcit0002" dnum="DE19828878A1"><text>DE 198 28 878 A1</text></patcit> Discloses a tracked transport system comprising a lane network with nodes at least two track sections of the lane network adjoining each other and a plurality of carriages which are movable along the lane network and each comprise a control unit wherein a plurality of carriages are virtually coupled and during the coupling of the trackside devices Can be treated as a single vehicle cluster whose tip is determined by the top-of-the-line vehicle of the formerly preceding one and its conclusion by the ending vehicle of the formerly following vehicles, the extension-side devices communicating exclusively with a single car of the car body assembly.

It is an object of the present invention to provide a track-guided transport system of the type mentioned at the outset, which enables a simple and reliable control of the movements of these carriages even in the case of a large number of carriages.

This object is achieved by a track-guided transport system according to claim 1.

A "successor" is to be understood as a different car whose current position is behind the respective car in the direction of travel of the respective car. This successor can also be located on a different section of track than the respective vehicle.

Correspondingly, a "precursor" is to be understood as a different carriage whose current position is located in front of the respective carriage in the direction of travel of the respective carriage. Such a precursor can also be located on a different section of track than the respective carriage.

Since, according to the solution according to the invention, each of the carriages knows, at any given time, its successor and precursor (or knows that it has no successor or precursor to which it ought to pay attention), the traffic required for controlling the movement of the carriages The car on the one hand and a central control unit of the tracked transport system can be significantly reduced on the other hand. It is even possible that the movement of the carriages is controlled solely by the communication of the carriages with one another without a central control unit being necessary at all.

In particular, the control of the mutual distance of carriages traveling successively on a section of the track can be carried out without an intermediate circuit of a central control unit, for example, each car traveling continuously to its successor, the successor from the position of the forerun and its own position The distance between the two carriages is determined and if necessary the necessary measures (deceleration or acceleration) are carried out in order to regulate the mutual distance to a predetermined setpoint value.

Since the lane network of the tracked transport system also includes nodes where the successor and precursor relationships between the carriages change, the information concerning each successive car is updated as the car passes a node of the lane network.

Such a node of the lane network can, for example, be formed as a branch, at which a lane branches into several further lanes.

Furthermore, such a node of the lane network can be designed as a combination, on which several lanes form a further lane.

In a particular embodiment of the transport system according to the invention, it is provided that the information concerning the successor or the precursor of a carriage is updated by communication with at least one other carriage of the transport system.

Alternatively or additionally, it may be provided that the information concerning a successor or the precursor of a car is updated by communication with a node management unit arranged outside the car.

Such a node management unit may, in particular, comprise a programmable computer and the associated node management software.

It may also be provided that the node management unit comprises a plurality of node management software modules running on different computers. These computers can also be spatially separated from each other. In particular, at least one of these computers can be arranged in a stationary manner. Alternatively or additionally to this, it can also be provided that at least one of these computers is arranged in one of the carriages of the transport system.

In a preferred embodiment of the transport system, it is provided that at least one node management unit is arranged in a stationary manner.

Alternatively or additionally, it can also be provided that at least one node management unit is arranged in a central control device of the transport system.

In order to reduce the number of required node management units, it can be provided that at least one node management unit manages several nodes of the lane network. Alternatively, it may also be provided that each node of the lane network is assigned its own node management unit.

The updating of the information relating to the successor or the precursor can, for example, be achieved by the fact that, after passing a braking point assigned to a node, a vehicle transmits a message which comprises updating the one successor and / or a precursor of the respective car Information.

A "braking point" here is to be understood as a point of a section of the section which has a predetermined distance from the node, which may be a combination or a branch, which is determined as a function of the speed of the respective carriage, Vehicle can still be stopped in time before the node in order to avoid a collision with another car passing through the nodes.

The message sent by the car when the braking point is passed can be directed to another car or to a node management unit of the transport system.

Furthermore, it can be provided that a road car, after passing a braking point assigned to a node, transmits a message which triggers an update of the information concerning a successor and / or a precursor of at least one other road vehicle.

Particularly high operating safety is achieved if a carriage is provided, after passing a braking point assigned to a node, a message which triggers an update of the information concerning a successor and / or a precursor of at least one car, and subsequently Receives an acknowledgment message which has been triggered directly or indirectly by the transmission of the message. In this way, the car which has initiated an updating operation is given an acknowledgment that its message initiating the updating process has reached the receiver and that the updating process has been completed successfully.

The acknowledgment message may be sent by the receiver of the update initiating message or by another transmitter which has been incorporated into the update process by the recipient of the update initiating message.

In a preferred embodiment of the invention, it is further provided that, after passing a collision point associated with a node, a car transmits a message which triggers an update of the information concerning a successor and / or a precursor of the respective car.

A "collision point" is understood here to be a point of a section section which has such a distance from the associated node that a carriage which is located on the side of the collision point remote from the node has such a distance from the node that a Collision with another car which passes the same node on other route sections is excluded.

If the node is a merge, the collision point is in front of the node in the direction of travel.

If the node is a branch, the collision point is located behind the node in the direction of travel.

The determination of a collision point is usually - unlike the determination of the braking point - independent of the actual speed of the car.

The update initiating message may be sent to another car or to a node management unit.

Furthermore, it may be provided that, after passing a collision point assigned to a node, a car triggers a message which triggers an update of the information concerning a successor and / or a precursor of at least one other car.

The operational safety of the transport system according to the invention is further increased if it is provided that after a collision point associated with a node a car is sent a message which triggers an update of the information concerning a successor and / or a precursor of at least one car, And then an acknowledgment message which has been triggered directly or indirectly by the transmission of the message. In this way, the car which triggers an updating operation receives confirmation that its update initiating message has reached the receiver and the entire updating process has been completed successfully.

In the event that the acknowledgment message is omitted, suitable measures, for example an emergency stop of the carriages, can be provided.

The invention is based on the further object of providing a method for controlling carriages of a tracked transport system of the initially mentioned type, which enables a simple and reliable control of the movement of the carriages even in the case of a large number of carriages.

This object is achieved by a method according to claim 16.

Particular embodiments of the method according to the invention are the subject of dependent claims 17 to 30, the advantages of which have already been explained above in connection with particular embodiments of the transport system according to the invention.

Further features and advantages of the invention are the subject of the following description and the illustrative representation of exemplary embodiments.

In the drawings:<dl id="dl0001"><dt>FIG</dt><dd>A schematic cross-section through a running rail of a monorail suspension system with a schematic representation of the support and guide rollers, as well as an energy transmission unit and a data transmission unit of a carriage of the monorail suspension system;</dd><dt>FIG</dt><dd>2 a schematic side view of the running rail from FIG. 1, in the presence of a carriage of the rail; FIG.</dd><dt>FIGS. 3 to 5</dt><dd>4 is a schematic representation of the communication between a car and its successor in the case of a deceleration process of the precursor;</dd><dt>FIGS. 6 and 7</dt><dd>3 shows a schematic representation of the communication of a car with other carriages when passing through a combination;</dd><dt>FIGS. 8 and 9</dt><dd>4 is a schematic representation of the communication of a car with other carriages when passing through a branch;</dd><dt>10 and 11</dt><dd>13 is a schematic representation of the communication of a car with a node management unit when passing through a merge;</dd><dt>12 and 13</dt><dd>A schematic representation of the communication of carriages with a node management unit and with one another during a passing of a braking point and a collision point which are assigned to a combination; </dd><dt>Figs. 14 and 15</dt><dd>A schematic representation of the communication of carriages with a node management unit and with each other during the passage of a collision point and a braking point which are fed to a grouping;</dd><dt>FIG</dt><dd>7 shows a schematic representation of the communication of carriages with a node management unit and with one another in a situation modified in contrast to the situation of FIG. 15; FIG.</dd><dt>FIGS. 17 and 18</dt><dd>A schematic representation of the communication of a car with a node management unit when passing a braking point and a collision point of a branch;</dd><dt>FIG</dt><dd>A schematic representation of the communication of carriages with one another and with a node management unit when passing a collision point of a branch; and</dd><dt>FIGS. 20 to 26</dt><dd>A schematic representation of the communication of carriages with a node management unit and with one another, wherein several carriages successively pass through braking points and collision points of a branch.</dd></dl>

Identical or functionally equivalent elements are designated by the same reference symbols in all the figures.

A transport system, designated as a whole by 100, and configured as a single-rail suspension, comprises a running rail 102, shown in cross-section in FIG. 1 and a side rail 102, which has an upper, substantially planar running surface 106 and two lateral, Guide surfaces 108 and 110, and a lower belt 112 having a lower planar tread 114 and two lateral guide surfaces 116 and 118.

Both belts are connected to one another at their sides opposite the running surfaces by means of a vertical web 120, the walls of which are planar and extend parallel to the longitudinal direction of the running rail 121.

Between the two belts 104 and 112, a current supply line carrier 122, which is formed from an electrically insulating material, is supported on a side wall of the web 120 and carries a current supply line 124 on its end facing away from the web 120.

On the upper running surface 106 of the running rail 102, a supporting roller 126 of a carriage 128 of the rail-mounted suspension train 100 rolls off.

Apart from the carrier roller 126, only lateral guide rollers 132, 134, 136 and 138, which roll on the lateral guide surfaces 108, 110, 116 or 118, as well as an energy transmission unit 140 and a data transmission unit 146 are shown in the figures.

The energy transfer unit 140 comprises, for example, a current collector 142 which is designed as a U-shaped ferrite core and on which is arranged a conductor winding 144 which is connected to a current collector electronics circuit (not shown) for converting an alternating current induced in the conductor winding into a DC voltage.

The current supply line 124 dips into the U-shaped current collector 142 of the energy transfer unit 140 without touching it.

The energy transmission of the current supply line 124 to the energy transmission unit 140 is effected by induction. For this purpose, a medium-frequency alternating current is fed into the current supply line 124 and the track 102 serving as the return conductor, which generates a correspondingly temporally varying magnetic flux in the current pickup 142 so that an alternating current is induced in the conductor winding 144 and a DC voltage for the drive And control purposes.

The carriage 128 is supported on the guide rail 102 by means of a plurality of support rollers 126 and is guided on the lateral guide surfaces of the guide rail 102 by means of the guide rollers 132, 134, 136 and 138.

Furthermore, the carriage 128 can be driven by means of a drive unit (not shown), which can be designed, for example, as a friction wheel drive.

The data transmission unit 146 of the trolley 128 comprises a near-field coupler 148 which is held on the trolley 128 above the power transmission unit 140 and is designed for bidirectional communication with a data transmission line 150 which extends along the rail 102 and is connected via brackets 152 (see FIG. Is held on the side wall of the web 120 of the running rail 102 facing the near-field coupler 148.

The data transmission line 150 is configured as a coaxial conductor 155 with a central copper conductor 156 and a jacket 158 ​​surrounding it, the jacket 158 ​​having, on its side facing the near-field coupler 148 of the carriage 128, an axial slot 159 extending in the longitudinal direction of the coaxial conductor 155 Frequency waves can emerge from the coaxial line 155 or enter the coaxial line 155.

The coaxial conductor 155 slotted in the longitudinal direction thus forms a leaky waveguide 154.

The leakage waveguide 154 is fed by a stationary central control device (not shown) of the transport system 100, stationary decentralized node management calculators and / or further carriages with high frequency signals which propagate along the leakage waveguide 154 and are received by the near field coupler 148 of the carriage 128 . An evaluation circuit (not shown) in the trolley 128 demodulates these high-frequency signals and converts the same into data that can be used by the control unit of the trolley 128.

Conversely, data accumulated in the control unit of the truck 128 are modulated by a modulation circuit to a high-frequency carrier signal and fed into the leak-waveguide 154 via the near-field coupler 148, where these signals extend to another car or to stationary (central or decentralized) control stations of the transport system 100.

In the control unit (comprising a freely programmable processor and a memory) of each mobile car 128, the information about at least one successor of the respective car is stored. A "successor" is to be understood as a different car whose current position is behind the respective car in the direction of travel of the respective car. The successor can be located on a different section of the route than the car in question. If no successor is assigned to the respective car 128 at a certain point in time, the information stored in the control unit of the car 132 is that the car has no successor.

Furthermore, the information about at least one precursor of the respective car is stored in the control unit of each carriage. A "precursor" is to be understood here as a different car, the current position of which is located in front of the respective car in the direction of travel of the respective car. The precursor can be located on a different section of track than the respective carriage. If no predecessor is assigned to the vehicle in question at a particular point in time, the information stored in the control unit of the vehicle is stored so that the carriage does not have a precursor.

The fact that each of the carriages 128 knows at any time its successor and precursor (or knows that it has no successor or precursor) allows the movement of the carriages to be controlled only by communication of the carriages among themselves, Without a central control unit having to be switched on for this purpose.

In particular, the regulation of the mutual distance between carriages traveling successively on a section of the track can be carried out without an intermediate circuit of a central control unit. This will be explained in more detail below with reference to FIGS. 3 to 5.

FIG. 3 shows by way of example three carriages which are designated by V 0, V 1 and V 2 and which move on a section 160 in the same direction of travel 162.

Here, the car V2 is the precursor of the car V1, which in turn is the precursor of the car V0. The car V2 has no current predecessor.

The car V0 is the successor of the car V1, which in turn is the successor of the car V2. The car V0 has no current successor.

Each follower continuously calculates the distance to its precursor. This can, for example, be effected directly by means of a distance measuring device, which is arranged on the vehicle (for example, V1) and measures the distance to the preceding vehicle (for example, V2).

As an alternative or in addition to this, provision can also be made for the car V1 to continuously determine its own position in the lane network, to continuously transmit the current position of the car V2 from the car V2 and to determine the distance between the two carriages V2 and V1 by forming the difference from the Positions of these two carriages.

The determination of the position of a carriage in the lane network of the transport system 100 can be effected, for example, by positioning position indicators along the lanes of the transport system 100, which are detected by means of a detection device on the respective carriage. The complete lane network is stored with all position indicators in the control unit of each carriage 128, so that the respective carriage can set its current position equal to the position of the position indicator when it is advanced on a position indicator. Positions between two position indicators following each other along the lane network can interpolate the control unit of the trolley by means of a distance measuring system arranged on the trolley which, for example, determines the distance traveled since the last position indicator on the basis of the number of revolutions of a carrier roll of the trolley.

At the time shown in FIG. 4, the car V1 determines that its distance from the precursor V2 has become too small. In response, the car V1 reduces its speed and transmits to its successor V0 the information that the car V1 decreases its speed.

The transmission of this information is symbolized by the arrow 164 in FIG.

On the basis of this notification by the precursor V1, the successor V0 is informed of the deceleration of the car V1 before it determines this from the measurement of the distance between the carriages V1 and V0. Consequently, the car V0 can already adjust its own speed very early to the reduced speed of the preceding car V1.

In this way, all carriages can be braked without jerks until they come to a sufficient distance from each other at the time shown in FIG. 5, when the car V2 has reached the position P2 and the car V1 has reached the position P1.

Since the lane network of the transport system 100 also includes assemblies and branches where the successor and precursor relationships between the carriages change, the information stored in the car has to be updated via the respective successor and the respective precursor when such a lane of the lane network is passed.

This updating of the successor and precursor information can be accomplished, for example, by direct communication between three participating carriages.

Here, a first car which approaches a combination of two route sections sends a message to its predecessor (second car) that it claims the right to pass the merge. The second road car, which is located on the line section leading away from the assembly, has two successors: one successor each on the route sections leading to the assembly. If this predecessor receives from one of his successors the communication that this successor claims the right to pass the merger, he sends to the other successor (third carriage) the communication that the merger is blocked by the first successor The second successor from the list of his successors.

The third car which has received from the second car the message of the blockage of the assembly by the first car saves the first car as its new precursor and sends an acknowledgment message from the first car which has triggered the updating operation That the third car is now a successor of the first car.

After receipt of this acknowledgment message, the first car saves the third car as an additional successor and passes the collation.

After passing the assembly, the first car sends the third car the message that the assembly is released again.

This previously described updating process of passing a merge is explained below by way of example with reference to FIGS.

As can be seen from FIG. 6, two section sections 166 and 168 leading to a combination 164 join at the assembly 164 to a section section 170 leading away from the assembly 164.

The direction of travel in each of the sections is indicated by an arrow labeled 162, respectively. The carriages V0, V1 and V2 move toward the assembly 164 in the section 166. The carriages V3 and V5 move away from the assembly 164 in the track section 170. The carriages V4 and V6 move toward the assembly 164 in the stretching section 168.

The road car V2 is assigned the car V1 as the successor and the car V3 as the forerunner.

Carriages V2 and V4 are assigned to the car V3 as the successor and the car V5 as the forerunner.

The vehicle V4 is assigned the car V6 as the successor and the car V3 as the forerunner.

At the time shown in FIG. 6, the car V2 has reached a distance (braking point) (as a function of the speed of the car) from the assembly 164 and then initiates an updating process by sending a message to its precursor V3 (arrow 172 ) In such a way that it enters the region of the assembly 164 and thus blocks the assembly 164.

The car V3 then sends to its second successor, the car V4, a message (arrow 174) that the assembly 164 is blocked and the car V2 is the new precursor of the car V4. Furthermore, the car V3 clears the car V4 from the list of its successors.

The car V4 replaces the car V3 in the list of its precursors with the new precursor V2 and sends to the car V2 an acknowledgment message (arrow 176 in FIG. 6) from which the car V2 extracts that the updating process is completed and the car V4 His new successor. Consequently, the car V2 carries the car V4 as a further successor in the list of its successors.

Subsequently, the car V2 passes the assembly 164 and releases the assembly 164 again so that the state shown in FIG. 7 is reached.

Now either the car V1 or the car V4 can initiate a new updating process depending on which of these carriages first falls below the predetermined distance from the assembly 164, which triggers the above-described updating process.

The updating process which is triggered when a carriage approaches a branch of the lane network of the transport system 100 is described below.

A first carriage which is located on the branch section leading to the branch has two precursors, namely a precursor on each branch section leading away from the branch.

If the first car which approaches the branch falls a distance (depending on the speed of the car) from the branch, it sends it to that of its precursors, which is in the section in which the first carriage is not retracted , A message with which the first car is logged off as the successor of this second car and at the same time communicates to the second car which is the successor of the first car.

The second car then removes the first car from the list of its successors and takes the successor of the first car as the new successor.

In addition, the second car transmits to a third car, namely the previous successor of the first car and the new successor of the second car, that the second car is now a further precursor of the third car.

Thereupon, the third car which moves on the track section leading to the branch behind the first carriage receives the second carriage as an additional precursor in the list of its precursors.

Further, the third car transmits an acknowledgment message to the first car which the first car draws from the fact that the updating process is completed.

Thereupon, the first car passes the branch, and a next updating operation is started as soon as the third car following it falls below the predetermined distance from the branch.

This updating operation is explained below with reference to FIGS. 8 and 9.

In the situation shown in FIG. 8, the carriages V2, V1 and V0 move on the branch section 180 leading to the branch 178 along the direction of travel 162 to the branch 178, while the carriages V3 and V4 are arranged on a first branching branch 178 Away route section 182 away from branch 178, and carriages V5 and V6 move away from branch 178 on a second track section 184 leading away from branch 178.

The road car V1 is assigned the car V0 as a successor and the road car V2 as a precursor.

The car V1 is successor to the car V2, and the carriages V3 and V5 are assigned as precursors.

The car V 2 is assigned the car V2 as the successor and the car V 4 as the forerunner.

The car V5 is assigned the car V2 as a successor and the car V6 as the forerunner.

At the time shown in FIG. 8, the car V2 drops below a minimum distance (dependent on the speed of the car) from the branch 178, which triggers an updating process.

This updating process involves first sending the car V2 a message (arrow 186) to the car V5 in which the car V2 is logged off as the successor of the car V5 and at the same time logs the successor of the car V2 as the new successor of the car V5.

In the list of its successors, the car V5 replaces the previous successor V2 with the new successor V1.

Subsequently, the car V5 sends a message (arrow 188) to the car V1, in which the car V5 is registered as a new, additional precursor of the car V1.

The car V1 then receives the car V5 as an additional precursor in the list of its predecessors.

Further, the car V1 sends an acknowledgment message (arrow 190) to the car V2 from which the car V2 extracts that the updating process has been completed successfully.

The car V2 then passes through the branch 178 (see FIG. 9), and a new updating process initiated by the car V1 begins as soon as the car V1 drops below the predetermined minimum distance from the branch 178.

In the above-described merging and branching operations, the successor and precursor relationships between the carriages were updated with each other only by communicating the carriages among each other when passing the respective node. As an alternative or in addition to this, provision can also be made for the updating of the successor and precursor relationships when a node is passed by means of a node management unit assigned to the respective node.

Such a node management unit, which comprises a programmable computer and the associated node management software, can be arranged outside the carriages, in particular in a stationary node management computer. Alternatively or additionally, however, it is also possible that the node management unit forms part of the control unit of one of the carriages.

An updating process of passing a merge, including the node management unit of the merge, may proceed as follows:

A vehicle which is to be moved to the combination sends a message to the node management unit, with which the car enters its area of ​​the node management unit, when a so-called braking point, which has a predefined distance from the assembly depending on the speed of the car .

The node management unit maintains a list of the carriages which have previously entered the area of ​​the assembly.

If this list is empty, the node management unit only sends an acknowledgment message to the entering car, and the precursor and successor relationships of the car remain unchanged.

If, however, a car is registered in this list of the node management unit, the node management unit sends to the car registered in the list the message that this second car is to receive the first car as a so-called "next successor".

In this embodiment of the invention, two successors, a "current successor" and a "next successor" are assigned to each car.

Accordingly, two precursors, namely a "current precursor" and a "next precursor", are also assigned to each vehicle.

The second car therefore enters the first car as its "next successor" and transmits to the first car an acknowledgment message from which the first car draws the second car is its "next precursor". Accordingly, the first car carries the second car as its "next forerunner".

Thus, the first updating process initiated by the passage of the braking point through the first car is completed.

A second updating operation is initiated by the first vehicle when it reaches a so-called "collision point" before the assembly. The distance of the collision point from the assembly is determined (independent of the speed) in such a way that a carriage located in front of the collision point can not collide with another carriage which is to be moved on another stretch section for the same combination.

If the car which reaches the collision point does not have a current successor, the car transmits a message to the node management unit from which the node management unit deduces that the respective car travels over the assembly into the route section leading away from the assembly.

Thereafter, the node management unit sends an acknowledgment message to the respective car from which the car draws that the node management unit has registered its passage of the collation and which causes the car to make its next successor, if present, its current successor.

If the car has a current successor upon reaching the collision point, this first car transmits a message to this current successor, ie, a second car which causes the second car to sweep the first car as its current precursor, and its "next Precursors "instead of his" current predecessor ".

If no next precursor is assigned to the second car at this time, only the current precursor is deleted.

Further, the second car transmits a notification to the node management unit with which the node management unit is informed that the first car passes the collation.

The node management unit then sends an acknowledgment message to the first car which causes the first car to sweep its current successor and, if present, its next successor to its new current successor.

This completes the second update process, which is triggered by reaching the collision point.

The above-described procedure of passing a merge is explained below by way of examples with reference to FIGS. 10 to 16.

In FIG. 10, the car V1 moves on the section 166 on the assembly 164.

There is no current successor assigned to the car V1. The precursor list of the node management unit 192 associated with the assembly 164 is empty.

When the braking point BP is reached, the car V1 sends a message (arrow 194) to the node management unit 192, with which the car V1 is registered with the node management unit 192.

The node management unit 192 returns an acknowledgment message (arrow 196) to the car V1.

When the collision point (CP) is reached, the car V1 sends a message (arrow 198) to the node management unit 192, which is used to indicate to the node management unit 192 the passage of the assembly 164 by the caravan V1 (FIG.

The node management unit 192 sends an acknowledgment message (arrow 200) to the mobile car V1.

Subsequently, the car V1 changes from the section section 166 via the assembly 164 into the section section 170 leading away from the assembly 164. A change in the successor or precursor relationships of the vehicle V1 has not taken place.

In the situation shown in FIG. 12, the carriages V1 and V2 move on the track section 168 onto the assembly 164. The car V3 moves toward the assembly 164 on the section 166. Carriage V4 moves away from assembly 164 on track section 170.

The car V1 is assigned as the current successor to the car V2. The car V2 does not have a next successor.

There is neither a current precursor nor a next precursor assigned to the car V3.

The car V2 is assigned to the car V1 as the current precursor. The car V1 has no further precursor.

In the predecessor list of the node management unit 192, the car V2 is registered, which has last registered with the node management unit 192 when the braking point in the route section 168 passes through the node management unit 192.

When the braking point (BP) is reached in the section section 166, the car V3 transmits a message (arrow 202) with which the car V3 is registered with the node management unit 192 (FIG. 12).

Then, the node management unit 192 sends a message (arrow 204) to the car V2, with which the car V3 is displayed to the car V2 as the next successor.

The car V2 carries the car V3 as its next successor and sends an acknowledgment message (arrow 206) to the car V3, which causes the car V3 to enter the car V2 as its next precursor.

Thus, the updating process initiated by the passing of the braking point by the car V3 is completed.

At the time shown in FIG. 13, the car V2 reaches the collision point (CP) and therefore sends to its current successor, the car V1, a message (arrow 208) which causes the car V1 to recognize the car V2 as its current precursor And replace it with the next forerunner. However, since no next precursor is assigned to the car V1, the car V1 does not receive a new current precursor.

Further, the car V1 sends to the node management unit 192 a message (arrow 210) with which the node management unit 192 is informed that the car V2 now changes to the route section 170.

The node management unit 192 sends an acknowledgment message (arrow 212) to the car V2, which thereupon strokes the car V1 as its current successor and instead enters its next successor, the car V3, as its current successor and strokes the car V3 as its next successor . The updating process triggered by reaching the collision point by the car V2 is thus completed.

In the situation shown in FIG. 14, the car V1 moves on the track section 168 onto the assembly 164. The carriages V3 and V4 move toward the assembly 164 on the section 166. The car V2 moves on the track section 170 away from the assembly 164.

The car V4 is assigned to the car V3 as the current successor. A next successor is not assigned to the car V3. The car V2 is assigned to the car V3 as the current precursor. A next precursor is not assigned to the car V3.

The car V3 is assigned to the car V4 as the current precursor. A next precursor is not assigned to the car V4.

In the situation shown in FIG. 14, the car V3 reaches the collision point in the section 166 and then sends a message (arrow 214) to the car V4, its current successor, which causes the car V4 to supply the car V3 as its current precursor To brush. Since the car V4 has no next precursor, it does not get a new current predecessor.

The car V4 sends a message (arrow 216) to the node management unit 192, which indicates to the node management unit 192 that the car V3 now passes the assembly 164.

The node management unit 192 sends an acknowledgment message (arrow 218) to the car V3, which causes the car V3 to eject the car V4 as its current successor. Since the car V3 has no next successor, he does not get a new current successor.

15, the car V4 reaches the braking point BP and then sends a message (arrow 220) to the node management unit 192 with which the car V4 for the passage of the combination 164 logs.

In the predecessor list of the node management unit 192, the car V3 is entered.

The node management unit 192 therefore sends a message (arrow 222) to the car V3 with which the car V4 is displayed as the new next successor to the car V3.

The car V3 carries the car V4 as its new next successor and sends an acknowledgment message (arrow 224) to the car V4, which then enters the car V3 as its next forerunner.

Thus, the updating process initiated by the reaching of the braking point by the car V4 is completed.

In the variant of the situation shown in FIG. 16, the car V4 reaches the braking point before the car V3 has reached the collision point. Therefore, in the situation shown in FIG. 16, the car V3 is entered as the current precursor of the car V4 and the car V4 as the current successor of the car V3.

When the braking point is reached, the car V4 transmits a message (arrow 226) to the node management unit 192, with which the car V4 registers for the passage of the combination 164.

In the predecessor list of the node management unit 192, the car V3 is registered, and the node management unit 192 sends to the car V3 a message (arrow 228) with which the car V4 is displayed to the car V3 as a new next successor.

The car V3 carries the car V4 as its next successor and sends an acknowledgment message (arrow 230) to the car V4, which causes the car V4 to enter the car V3 as its new next precursor.

Thus, the updating process initiated by the reaching of the braking point by the car V4 is completed.

The updating processes which take place with the inclusion of a node management unit when a branching of the lane network of the transport system 100 is passed correspond to the updating processes which occur during a merging of a merging operation, with the difference that the collision points (CP) are not arranged in the direction of travel but behind the node in the direction of travel , That is, behind the branch, that the node management unit has its own predecessor list for each of the branch sections leading away from the branch, and that the carriages of the node management unit 192, when registering for the passage of the branch 178, Of the branch 178, they want to retract them.

If, therefore, a car reaches the braking point before the branching, it sends a message to the node management unit assigned to the branch, with which the car is registered for the passage of the branch and the journey continues on one of the further route sections.

If no precursor is contained in the precursor list of the node management unit for the relevant section section, the node management unit returns an acknowledgment message to the respective car.

If, in the predecessor list of the node management unit for the desired route section, a carriage is included, the node management unit sends to this second carriage a message which causes this second carriage to enter the first carriage as its next successor and to send an acknowledgment message to the first carriage , Which causes the first car to enter the second car as its next forerunner.

If the second car has no current successor, the first car is registered as the current successor of the second car and is deleted as the next successor of the second car.

If the first carriage has no current forerunner, the second carriage is entered as the current forerunner of the first trolley and as the next forerunner of the first Fahrwag deleted ens.

As a result, the updating process triggered by the reaching of the braking point by the first car is completed.

When the carriage reaches the collision point (CP) on its new section, the first car sends a message to its current successor, which causes this second car to sweep the first car as its current precursor and, if present , To make its next precursor to its current predecessor.

Further, the second car transmits a message to the node management unit with which the node management unit is informed that the first car has passed the branch.

The node management unit then sends an acknowledgment message to the first carriage which causes the first carriage to sweep the second carriage as its current successor and, if present, its next successor to its current successor.

The updating process triggered by the reaching of the collision point by the first car is thus completed.

If no current successor is assigned to the car when the collision point is reached, the respective car transmits a message to the node management unit, with which the node management unit is informed that the respective car has passed the branch.

The node management unit sends an acknowledgment message to the respective car which causes these carriages to make its next successor, if present, its current successor.

Thus, the updating process initiated by the collision point by the car is completed.

The updating operations which occur when a branch 178 is passed are explained below with reference to FIGS. 17 to 26.

In the situation shown in FIG. 17, the car V6 moves on the section 180 on the branch 178, while the car V7 moves on the section 182 away from the branch 178.

At the time shown in FIG. 17, the car V6 reaches the braking point BP in the section 180 and then sends the node management unit 192 responsible for the branch 178 a message (arrow 232) with which the node management unit 192 is informed that the car V6 Passes the branch 178 and wants to change to the stretch section 184.

Since the car V7 is on the other route section 182 and thus the precursor list of the node management unit 192 is empty for the route section 184, the node management unit 192 sends an acknowledgment message (arrow 234) directly to the car V6.

At the time shown in FIG. 18, the car V6 has passed the branch 178, has switched to the track section 184 and has exceeded the collision point (CP) there.

At this time, the car V6, since it has no current successor, sends a message (arrow 236) to the node management unit 192, which indicates to the node management unit 192 that the car V6 has left the area of ​​the branch 178.

The node management unit 192 sends an acknowledgment message (arrow 238) to the car V6, which causes the car V6 to make its next successor, if present, the current successor.

Thus, the updating operation initiated by the passing of the collision point by the car V6 is completed.

In the situation shown in FIG. 19, the car V4 moves on the section 180 on the branch 178, while the car V5 moves on the section 184 from the branch 178.

The car V5 is assigned to the car V4 as the current precursor. The car V4 is assigned to the car V5 as the current successor.

At the time shown in FIG. 19, the car V5 has exceeded the collision point (CP) in the stretching section 184 and therefore sends to its current successor, the car V4, a message (arrow 240) which causes the car V4 to drive the car V5 as its current predecessor and to enter its next predecessor as its current predecessor. However, since no next precursor is assigned to the car V4, it does not receive a new current precursor.

The car V4 sends to the node management unit 192 a message (arrow 242) with which the node management unit 192 is informed that the car V5 has left the area of ​​the branch 178.

The node management unit 192 sends an acknowledgment message (arrow 244) to the car V5, which causes the car V5 to sweep the car V4 as its current successor and, if present, to enter its next successor as its current successor. However, since no next successor is assigned to the car V5, the car V5 does not receive a new current successor.

This completes the update process, which has been resolved by passing the collision point through the car V5.

In the situation shown in FIG. 20, the car V2 moves on the branch section 180 to the branch 178 while the car V4 on the section 182 moves away from the branch 178 and the car V3 on the section 184 from the branch 178 Away.

The car V3 is assigned to the car V2 as the current precursor, but no car is assigned as the next forerunner. Furthermore, a car V1, which is not shown in FIG. 20, is assigned to the car V2 as the current successor, but no car is assigned as the next successor.

The car V3 is assigned to the car V2 as the current successor, but no car as the next successor.

There is neither a current successor nor a next successor assigned to the car V4.

At the time shown in FIG. 20, the car V2 reaches the braking point in the section 180 and then transmits to the node management unit 192 a message (arrow 246) with which the car V2 passes through the branch 178 and continues on the route section 182.

Since the caravan V4 is entered in the predecessor list of the node management unit 192 for the route section 182, the node management unit 192 sends to the car V4 a message (arrow 248) which causes the car V4 to enter the car V2 as its next successor.

Since the car V4 has no current successor, the car V2 is registered as the current successor of the car V4 and is painted as the next successor of the car V4.

The car V4 sends an acknowledgment message (arrow 250) to the car V2, which causes the car V2 to enter the car V4 as its next forerunner.

The updating operation triggered by the reaching of the braking point by the car V2 is thus completed.

At the time shown in FIG. 21, the car V1 following the car V2 in the road section 180 has reached the braking point in the section 180.

The car V2 is assigned to the car V1 as the current precursor.

When the braking point is reached, the car V1 transmits to the node management unit 192 a message (arrow 252) with which the car V1 for the passage of the branch 178 and the continuation on the route section 184 log on.

In the predecessor list of the node management unit 192 for the route section 184, the node management unit 192 sends to the car V3 a message (arrow 254) which causes the car V3 to enter the car V1 as its next successor.

Further, the car V3 sends an acknowledgment message (arrow 256) to the car V1, which causes the car V1 to enter the car V3 as its next precursor.

The updating process triggered by the reaching of the braking point by the car V1 is thus completed.

At the time shown in FIG. 22, the car V3 has exceeded the collision point (CP) on the stretching section 184, and the car V3 sends a message (arrow 258) to the present successor, the car V2, which causes the car V2 to do so , The car V3 as its current precursor and to enter its next forerun, the car V4, as its current precursor, whereby the car V4 is simultaneously painted as the next precursor of the car V2.

Further, the car V2 sends to the node management unit 192 a message (arrow 260) which indicates to the node management unit 192 that the car V3 has left the branch area.

The node management unit 192 sends an acknowledgment message (arrow 262) to the car V3, which causes the car V3 to sweep the car V2 as its current successor and to enter its next successor, the car V1 as its current successor, As the next successor.

Thus, the updating process initiated by the passing of the collision point by the car V3 is completed.

At the time shown in FIG. 23, another road vehicle V0, which moves on the track section 180 behind the road car V1, reaches the braking point on the track section 180.

The car V1 is assigned to the car V0 as the current precursor.

When the braking point is reached, the car V0 sends a message (arrow 264) to the node management unit 192 with which the car V0 for the passage of the branch 178 and the continuation on the route section 182 log on.

Since, in the predecessor list of the node management unit 192, the caravan V2 is entered for the route section 182, the node management unit 192 sends a message (arrow 266) to the car V2, which causes the car V2 to enter the car V0 as its next successor.

Further, the car V2 sends an acknowledgment message (arrow 268) to the car V0, which causes the car V0 to enter the car V2 as its next precursor.

The updating process triggered by the reaching of the braking point by the car V0 is thus completed.

At the time shown in FIG. 24, the car V2 has exceeded the collision point (CP) on the section section 182.

The car V2 therefore sends to its current successor, the car V1, a message (arrow 270) which causes the car V1 to sweep the car V2 as its current precursor, and its next precursor, the car V3, as its current predecessor , At the same time the car V3 being painted as the next precursor of the vehicle V1.

Further, the car V1 sends to the node management unit 192 a message (arrow 272) with which the node management unit 192 is informed that the car V2 has left the branch area.

The node management unit 192 sends an acknowledgment message (arrow 274) to the car V2, which causes the car V2 to sweep the car V1 as its current successor and instead to enter the next successor, the car V0, as its current successor The car V0 as the next successor of the car V2 is painted.

The updating operation triggered by the crossing of the collision point by the car V2 is thus completed.

At the time shown in FIG. 25, the car V1 has exceeded the collision point (CP) on the stretching section 184.

The car V1 therefore sends to its current successor, the car V0, a ​​message (arrow 276) which causes the car V0 to strike the car V1 as its current precursor and instead its next precursor, the car V2 as its own Current predecessor, at the same time the car V2 being painted as the next precursor of the car V0.

Further, the car V0 sends to the node management unit 192 a message (arrow 278) with which the node management unit 192 is informed that the car V1 has left the branch area.

The node management unit 192 sends an acknowledgment message (arrow 280) to the car V1, which causes the car V1 to sweep the car V0 as its current successor and to enter its next successor as a new current successor. However, since no next successor is assigned to the car V1, the car V1 does not receive a new current successor.

The updating process triggered by the crossing of the collision point by the car V1 is thus completed.

At the time shown in FIG. 26, the car V0 has exceeded the collision point (CP) on the route section 182.

No current successor is assigned to the car V0, and the car V0 sends directly to the node management unit 192 a message (arrow 282) which informs the node management unit 192 that the car V0 has left the branch area.

The node management unit 192 sends an acknowledgment message (arrow 284) to the car V0, which causes the car V0 to delete its current successor and to enter its next successor as a new current successor; The next successor being deleted at the same time.

However, since neither a current successor nor a next successor is assigned to the car V0, the successor relations of the car V0 remain unchanged.

The updating process triggered by the crossing of the collision point by the car V0 is thus completed.

The assemblies 164 and branches 178 of the lane network of the transport system 100 are realized by means of so-called "active points", whereby an "active switch" is to be understood as a switch with movable rail sections, in contrast to a "passive switch" And the rail section to be traveled by a carriage is selected by switching over a guide device present on the carriage. An active switch for a single-rail suspension is, for example, shown in FIG<patcit id="pcit0003" dnum="DE3302266C2"><text>DE 33 02 266 C2</text></patcit> known.