JP3037101B2 - Position Sensing Method of Mobile Truck in Tunnel - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position sensing method for a carriage in a tunnel, and more particularly to a position sensing method suitable for transporting a tunnel having a small diameter section.

[0002]

2. Description of the Related Art In such a transport trolley, an operator has conventionally operated the trolley, and it was not necessary to particularly sense the position of the trolley.

[0003]

However, especially in the case of practical automatic traveling, it is necessary to perform sensing of the position / posture, etc., which is easy to maintain and has few errors.

[0004] It is an object of the present invention to provide a method for sensing the position of a transport vehicle in a tunnel that enables automatic traveling.

[0005]

According to the present invention, a traveling direction position of a bogie is calculated from an axle rotation amount during running of the bogie,
A trolley arm of a trolley arm that inputs and resets absolute positions at regular intervals, eliminates accumulated errors, calculates the traveling direction distance Y of the bogie, calculates the lateral displacement X from the rolling angle, and supplies power from the trolley rail via the shoe. It is characterized in that the azimuth α of the bogie is determined from the difference between the angle and the shoe angle.

Further according to the invention, the input of the absolute position is
It is characterized in that a bar code label provided in the tunnel is read by a bar code reader of a cart.

[0007]

According to the present invention, while the truck is traveling, the traveling direction distance Y of the truck is determined from the wheel rotation amount, the lateral displacement X is determined from the rolling angle, and the azimuth α of the truck is determined from the difference between the trolley arm angle and the shoe angle. Automatically ask for.

[0008]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 to FIG. 4 show a traveling vehicle in a tunnel, that is, a tire-type transportation vehicle 20 embodying the present invention. A pair of large-diameter tires 22, a driving device 23, and a control device 24 are provided before and after the low-floor type vehicle body 21 of the tire-type transport vehicle 20, respectively. And
Electric power is supplied from a power supply rail 25 laid along the peripheral wall of the tunnel T via a shoe 26a of a trolley arm 26 projecting from the center of the vehicle body 21, and power is supplied via the trolley arm 26 at a sharp curve. When it is not possible, the vehicle is driven by a loaded battery (not shown).

A radio modem 28 having a camera 27 and an antenna 28a is provided in front of the truck 20 (left side in the figure), and a wheel rotation amount sensor 29 and an absolute sensor each constituted by an incremental encoder are provided on each tire shaft. A steering angle sensor 30 constituted by an encoder is provided. An inclinometer 31 is provided at each of the front and rear portions and the center portion of the vehicle body 21, and a gyrocompass 32, a barcode reader 33, a sonar 34, and a bump sensor 35 are provided at a front portion. Further, a trolley arm angle sensor 36 and a shoe angle sensor 36a constituted by an absolute encoder are provided.

Further, as shown in FIG. 5, in the tunnel T, bar code labels 37 are provided at a constant pitch. As shown in FIG. 6, a bar code label 37 is provided at a fine pitch at a start point and an end point of the tunnel T, and a mechanical guide MG is provided.

Next, the mode of position sensing will be described.

As shown in FIG. 7, the truck 2 in the tunnel T
As the position sensing of 0, the coordinate system is the distance Y in the axial direction of the tunnel, the lateral displacement X from the center of the tunnel (in the case of a circular cross section, the distance along the arc of the inner wall of the tunnel with 0 ° below the vertical line of the center of the tunnel), the bogie 20 Is measured as the direction α.

FIG. 8 shows a block diagram of sensing. That is, the azimuth α of the bogie is determined from the traveling direction distance Y of the bogie 20 and the lateral position B of the bogie 20.

The traveling direction distance Y is obtained by measuring the amount of rotation by a wheel rotation amount sensor 29 and correcting it with a Kalman filter or the like, and eliminating absolute errors by inputting and resetting absolute positions at regular intervals.

On the other hand, when the tunnel T has a circular cross section, the lateral displacement X is measured by three inclinometers 3 as shown in FIG.
By measuring the inclination of the bogie 20, that is, the rolling angle θ, the displacement X from the lowest point of the tunnel is calculated by the equation 1 X = 2πR × θ / 360.

The direction α of the bogie 20 is determined by the gyro compass 3
2 and a known tunnel axis direction.

The moving speed is obtained by differentiating the traveling distance Y with the measured time.

When the vehicle travels by supplying power from the power supply rail 25 set at a known position, the lateral displacement X and the azimuth α can be obtained in the manner shown in FIGS. 10 and 11. The distance D between the lowest point of the tunnel and the rail 25 is calculated from the shoe angle βs from the angle sensor 36a and the known length L of the arm 26, and the displacement X1 is obtained as the difference between the known offset 25 and the rail FS. Can be When the distance from the rail 25 is small, when the diameter of the tunnel T is large, or when the running surface is flat, the displacement can be approximated to X = X1. Also,
When the distance from the rail 25 is large or the diameter of the tunnel T is small, the distance D, that is, the side D, is converted from the known tunnel diameter R into the arc d, and the offset (arc) fs
To calculate the displacement x (arc).

On the other hand, the direction α of the carriage 20 is obtained from α = βs−βa as a difference between the arm angle βa measured by the trolley arm angle sensor 36 and the shoe angle βs measured by the shoe angle sensor 36a. .

In addition, since errors accumulate only with the rotation amount of the tire 22, as shown in FIG.
7, the address is input by scanning, and the position data corresponding to the address is obtained and reset from a table created by measuring the position in advance.

At the starting point and the ending point of traveling, positioning,
Position detection is required for acceleration and deceleration. In response to this, a bar code label 37 provided at a fine pitch as shown in FIG. 6 accurately captures the position in the traveling direction, and forcibly restricts the position in the lateral direction by the mechanical guide MG to determine the positioning. to enable.

[0023]

As described above, according to the present invention, the traveling distance of the bogie, the lateral displacement and the direction of the bogie can be automatically calculated, and the conveyance can be automated.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a tire-type transport vehicle embodying the present invention.

FIG. 2 is a side view of FIG. 1;

FIG. 3 is a top view of FIG. 1;

FIG. 4 is a front view of FIG. 1;

FIG. 5 is a perspective view of the inside of the tunnel showing a bar code label.

FIG. 6 is a perspective view showing a transport section of a transport route.

FIG. 7 is a plan view illustrating a tunnel axial distance and an azimuth.

FIG. 8 is a block diagram of sensing.

FIG. 9 is a front view illustrating displacement from an axis.

FIG. 10 is a plan view illustrating calculation of an azimuth.

FIG. 11 is a front view illustrating calculation of a lateral displacement.

[Explanation of symbols]

 MG: mechanical guide T: tunnel 20: tire-type carriage 21: low-floor-type vehicle body 22: large-diameter tire 23: drive device 23a: steering drive device 23b ...・ Tire drive device 24 ・ ・ ・ Control device 24a ・ ・ ・ Position / posture / speed calculation circuit 24b ・ ・ ・ Steering control circuit 24c ・ ・ ・ Speed control circuit 25 ・ ・ ・ Power supply rail 26 ・ ・ ・ Trolley arm 26a ・ ・・ Shoe 27 ・ ・ ・ Camera 28 ・ ・ ・ Wireless Modem 28a ・ ・ ・ Antenna 29 ・ ・ ・ Wheel Rotation Sensor 30 ・ ・ ・ Steering Angle Sensor 31 ・ ・ ・ Inclinometer 32 ・ ・ ・ Gyro Compass 33 ・ ・ ・ Bar Code reader 34 ・ ・ ・ Sonar 35 ・ ・ ・ Bump sensor 36 ・ ・ ・ Trolley arm angle sensor 36a ・ ・ ・ Shoe angle Capacitors 37 ... bar code label

Continuing from the front page (73) Patent holder 595052013 Eric Hoffman United States 15221 14 Pittsburgh Wilkins Road, Pennsylvania (72) Inventor Tatsuro Sato 1-2-7 Moto-Akasaka, Minato-ku, Tokyo Kashima Corporation ( 72) Inventor Yasuo Higuchi Kashima Construction Co., Ltd., 1-2-7 Moto Akasaka, Minato-ku, Tokyo (72) Inventor Yoshinori Matsunaga Kashima Construction Co., Ltd. 1-2-7 Moto-Akasaka, Minato-ku, Tokyo Inventor Ryo Mizutani Kashima Construction Co., Ltd., Kashima Construction Co., Ltd., 1-2-7 Moto-Akasaka, Minato-ku, Tokyo (72) Inventor Takeo Kanade United States 15208 130 Pittsburgh, Pennsylvania Penrose Draive Eve (72) Inventor Charles E. Thorpe United States of America 15044 Eric Hoffman United States 15212 Pis, Pennsylvania Gibsonia, Pennsylvania 3025 Birdna Circle No. 14 of Zberg Wilkins Road (58) Field surveyed (Int. Cl. ⁷ , DB name) E21F 13/02

Claims (2)

(57) [Claims] 1. While traveling on a bogie, a traveling direction position of the bogie is calculated from an axle rotation amount, an absolute position is input at regular intervals and reset to eliminate a cumulative error to calculate a traveling direction distance Y of the bogie. A lateral displacement X is calculated from the angle, and the azimuth α of the trolley is obtained from the difference between the trolley arm angle and the shoe angle of the trolley arm to which power is supplied from the trolley rail via the shoe. . 2. The method according to claim 1, wherein the input of the absolute position is performed by reading a bar code label provided in the tunnel with a bar code reader of the truck.