CN103707891B - Method and device for supervising a movement of a plurality of vehicles inside a station of an aerial cableway - Google Patents
Method and device for supervising a movement of a plurality of vehicles inside a station of an aerial cableway Download PDFInfo
- Publication number
- CN103707891B CN103707891B CN201310450079.3A CN201310450079A CN103707891B CN 103707891 B CN103707891 B CN 103707891B CN 201310450079 A CN201310450079 A CN 201310450079A CN 103707891 B CN103707891 B CN 103707891B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- region
- terminus
- distance
- pair
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B9/00—Kinds or types of lifts in, or associated with, buildings or other structures
- B66B9/16—Mobile or transportable lifts specially adapted to be shifted from one part of a building or other structure to another part or to another building or structure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B12/00—Component parts, details or accessories not provided for in groups B61B7/00 - B61B11/00
- B61B12/02—Suspension of the load; Guiding means, e.g. wheels; Attaching traction cables
- B61B12/022—Vehicle receiving and dispatching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B12/00—Component parts, details or accessories not provided for in groups B61B7/00 - B61B11/00
- B61B12/10—Cable traction drives
- B61B12/105—Acceleration devices or deceleration devices other than braking devices
Abstract
A device for supervising a movement of a plurality of vehicles (2 to 6) inside a station (7) of an aerial cableway (8) comprises a determining means (19) for determining, for each vehicle on an area of the station (Z1 to Z4), a position of the vehicle in said area, a calculating means (20) for calculating, for each pair of consecutive vehicles, a separation distance (D) between the pair of vehicle from the respective positions of the vehicle stopping distance (Da) according to the position of at least one carrier of the pair, and a residual distance (Dres) equal to the difference between the separation distance (D) and the stopping distance (Da), and a control means (21) to change a moving speed of the vehicle when at least a residual distance (Dres) of a pair of vehicles is less than a safety distance.
Description
Technical field
Motion the present invention relates to monitor the several vehicles in cable lift terminus, the lift is particularly and hangs
Chair form lift or van-hanging lift, and more particularly detachable cable lift.
Background technology
In cable lift terminus run vehicle have be adjusted so that passenger can completely safely from the car
The speed got on the bus and get off.In addition, according to the type of cable lift, in terminus, the vehicle of operation can have identical
Or different speed.For example, for non-dismountable cable lift, vehicle is attached to the pull-cord through terminus operation,
They have same speed, and cable lift must slow down hawser when passenger shifts and occurs.In contrast, it is right
In detachable cable lift, pull-cord is arranged between loading depot and discharge point and keeps constant speed.Vehicle is from leading
Pull-cord disengaging is then placed within the track in terminus.Then drive system moves it by promoting vehicle in orbit
.In detachable cable lift, vehicle can have different speed in terminus, therefore be there may be between vehicle
The risk of collision.
At present, the vehicle movement in cable lift terminus can be using for detecting in the terminus different zones
The device of the presence of middle vehicle is monitored, for example by two devices of inductosyn can determine vehicle whether position
Between two sensors.However, it is desirable to substantial amounts of sensor is to cover whole terminus, this causes that attended operation becomes tired
It is difficult.In addition, it is sensitive to thunder and lightning and surge voltage that such sensor is general.
The content of the invention
It is an object of the invention to make up disadvantages mentioned above, and particular in that provide for monitoring at cable lift end
The device of the Velicle motion velocity in point station, to prevent the collision between vehicle.
Another object of the present invention is to reduce the quantity of sensor.
A feature of the invention, it is proposed that the side of monitoring motion of several vehicles in cable lift terminus
Method, the cable lift particularly hanging chair-type elevator or van-hanging lift.
In the process：
- for each vehicle at least one region for appearing in terminus, determine the vehicle in this region
Position；
- for the continuous vehicle of each pair, separating distance determines from this pair of respective position of vehicle between this pair of vehicle, system
Dynamic distance determines according to the position of the vehicle of centering at least one, and determines to be equal to the surplus of the difference of separating distance and braking distance
Remaining distance；And
- when a pair of at least one Distance Remainings of vehicle are less than safe distance, change the movement velocity of vehicle.
The distance between two vehicles can be thereby determined that and prevent vehicle from mutually colliding to monitor the movement velocity of vehicle
Risk.Method there is provided enabling the vehicle movement in terminus to be ensured.The distance between vehicle is supervised to carry
For the more accurate method for monitoring vehicle movement.The distance between vehicle then can be excellent for the motion under more speed
Change, i.e. in order to terminus has handling capacity higher.Because the latter only needs to check the distance between two continuous vehicles, by
The task of the monitoring terminus that logic controller is performed also is improved.Especially, for detachable hanging chair-type elevator, car
The distance between for example can be reduced by increasing the travel speed of vehicle, and collision free simultaneously.
It is determined that the safe distance for being respectively associated with terminus region is possible, for the continuous vehicle of each pair, braking
Apart from basis with determining in company with the position of the vehicle of centering first of the vehicle of centering second, and at a pair of at least the one of vehicle
When individual Distance Remaining is less than the safe distance that the region occurred with the vehicle of this pair first associates, the motion speed of the vehicle is changed
Degree.
Because safe distance is adjusted to the distance between vehicle, the distance between two vehicles can be located at eventually according to vehicle
Put the region at station and change, thus harmful shutdown is reduced.Because the corner of vehicle may contact with each other, safe distance is in bending
Can be bigger in region.
Can also measure the information of the movement velocity on vehicle, and this pair to each braking distance of vehicle according to position
The information of the movement velocity put and measure and determine.
Terminus can include the several digital image acquisition instruments for being associated with the several regions in the terminus respectively, and often
Individual IMAQ instrument produces at least one digital image representation in region associated with it, includes the step of determine vehicle location
Image procossing, appears in the position of each vehicle in terminus region from least one digital picture table in the region wherein
Show determination.
Such method also enables that the quantity of sensor is reduced and the traveling reliability of vehicle can be improved.
Each region of terminus can include zone marker, and each IMAQ instrument is configured to produce at least one bag
The digital picture of the mark in its associated region is included, each vehicle includes the marking of cars, image processing step is included from appearing in
The distance between the marking of cars in the digital image representation in the region and the mark in the region determine to appear in terminus
The position of each vehicle in region.
Terminus can include the identification instrument of at least three radio types, and include place the step of determine vehicle location
At least three position signallings from each vehicle that reason radio frequency identification instrument is received respectively, wherein appearing in terminus region
In each vehicle position from receive position signalling determine.
Terminus can also include several presence detectors for being associated with several regions of terminus respectively, and each is deposited
The presence signal of vehicle in detector produces its associated region, and include using in the area the step of determine vehicle location
The presence signal check of vehicle appears in the determination position of each vehicle in the region of terminus in domain.
Another feature of the invention, it is proposed that for monitoring setting in the cable lift motion of several vehicles
It is standby, the lift particularly hanging chair-type elevator or van-hanging lift.
The equipment includes determining device, computing device and supervising device, and the determining device is configured to appearing in end
Each vehicle at least one region of point station determines position of the vehicle in the region, and the computing device is configured to each pair
Continuous vehicle is calculated, from separating distance between this pair of this pair of vehicle of the respective position of vehicle, according to the centering at least one
The braking distance of the position of vehicle and the Distance Remaining equal to difference between separating distance and braking distance, the supervising device
It is configured to, when a pair of at least one Distance Remainings of vehicle are less than safe distance, change the movement velocity of vehicle.
Computing device can be structured as the safe distance for calculating and respectively being associated with terminus region, and be configured to every
To continuous vehicle according to the position with the vehicle of centering first in company with the vehicle of centering second calculated braking distance, Yi Jijian
Control device is configured to what is associated less than the region occurred with the first vehicle in this pair in a pair of at least one Distance Remainings of vehicle
During safe distance, the movement velocity of vehicle is changed.
The equipment can include the measurement apparatus of the information for being configured to measure Velicle motion velocity, and computing device structure
Make is to calculate this pair of each braking distance of vehicle according to the information of position and the movement velocity for measuring.
Device for determining vehicle location can include the several digital pictures for being associated with the several regions in terminus respectively
Acquisition instrument, each IMAQ instrument is configured to produce at least one digital image representation in region associated with it, and
Image processing apparatus be configured to from least one digital image representation in the region determine to appear in terminus region each
The position of vehicle.
Each region of terminus can include zone marker, and each IMAQ instrument is configured to produce includes that it is closed
Join the digital picture of the mark in region, each vehicle includes the marking of cars, and image processing apparatus are configured to from appearing in the area
The distance between the marking of cars in the digital image representation in domain and the mark in the region determine to appear in the region of terminus
Each vehicle position.
Device for determining vehicle location can include being configured to receive the three positions letter from each vehicle
Number at least three radio types identification instrument, and signal processing apparatus be configured to from receive position signalling determine occur
The position of each vehicle in the region of terminus.
Each region of terminus may further include at least one and be configured to produce depositing for vehicle in this region
In the presence detector of signal, determining device is configured to appear in terminal using the presence signal check of vehicle in this region
Stand the determination position of each vehicle in region.
Brief description of the drawings
The specific examples below of the invention for being given from the purpose only for non-limitative example and being described in the accompanying drawings
With the description of implementation method, other advantages and features will be apparent, in the accompanying drawings：
- Fig. 1 schematically shows the equipment for monitoring vehicle movement according to the present invention；And
- Fig. 2 schematically shows the key step of the method for being used to monitor vehicle movement according to the present invention.
Specific embodiment
In Fig. 1, depicted for monitor cable lift 8 terminus 7 in several vehicles 2 to 6（Suspended carriage, hang
Chair）Motion monitoring device 1, the lift particularly hanging chair-type elevator or van-hanging lift and particularly removable
Unload cable lift 8.Some vehicles 5,6 are located at outside terminus 7, and such as vehicle 6 will enter terminus 7, and vehicle 5
Left from terminus.In general mode, cable lift 8 includes the pull-cord 9 accompanying by vehicle 2 to 6, described
Hawser is by the bull wheel in terminus 7（bull-wheel）10 drive and are moved by power type motor 11.In Fig. 1,
Vehicle 2 to 6 is moved in the direction of motion indicated by the arrow with mark 12.
Terminus 7 further includes horseshoe-shaped track 13, and for the kinetic system of the mobile vehicle 2 to 6 on track 13
System 14.Vehicle is one in front and one in back moved on track 13 into single file.Kinematic system 14 includes being designed as being promoted in terminus 7
The drive rod 15 of vehicle 2 to 6, and the ring 16 mounted thereto of bar 15.Ring 16 is transported with the direction of motion identical of same pull-cord 9
Dynamic direction 12 drives rotation by the second motor 17.Especially, drive rod 15 is arranged as substantially vertical with ring 16.Each vehicle 2
Also include handgrip 18 to 6, it close with fixed vehicle to pull-cord 9 when vehicle leaves terminus 7, and in vehicle entrance
Open to discharge vehicle during terminus 7.The handgrip 18 of vehicle 2 to 6 is equipped with can be in-orbit when vehicle discharges from pull-cord 9
The roller of mobile vehicle on road 13.By this way, when it is moved on track 13, vehicle has difference in terminus 7
Speed, speed particularly slower than the speed of pull-cord 9.Especially, the vehicle for being run in terminus 7 is located at two
Between drive rod 15, and there can be the speed changed between two bars 15 when the motion of the vehicle occurs.
Monitoring device 1 includes the determining device 19 of the position for determining the vehicle 2 to 6 in terminus 7, in terminus 7
The computing device 20 and supervising device 21 of the movement velocity Vs of vehicle.For example, computing device 20 and supervising device 21 can be integrated
Enter electronic control unit ECU.
Terminus 7 further includes several preferably continuous region Z1 to Z4 that vehicle 2 to 6 runs wherein.Especially
Ground, the region Z1 to Z4 of terminus can have the common part for overlapping to ensure the presence of the vehicle at least one region.
In general mode, vehicle 2 to 6 enters terminus 7 one by one by the entrance with mark E.Then, vehicle is in terminus 7
In move to another area operation from a region, and left from terminus 7 by the outlet with mark S.Determining device
19 can include digital image acquisition instrument 22 to 25, and its region Z1 to Z4's for being configured to generate terminus 7 is one or more
Digital picture.Especially, IMAQ instrument 22 to 25 associates to generate and the area associated by it with each region Z1 to Z4
One or more image in domain.IMAQ instrument 22 to 25 can in this way be arranged such that the normal fortune in vehicle
Under row, single unit vehicle appears in a region, but several vehicles can appear in the same area.Instrument 22 to 25 is by connection
Device 26 to 29 is respectively connected to ECU.Determining device 19 also includes the image processing apparatus 30 being for example integrated in ECU, its structure
Make to determine the position that vehicle occurs in the picture.In common mode, when vehicle runs in the zone, closed with the region
The instrument of connection generates the image in this region, and therefore the image of vehicle occurs in this region.Then image processing apparatus 30 divide
The image of generation is analysed to determine position of the vehicle in its region for occurring.Thus, there is provided vehicle is in the region of terminus 7
Exact position is possible.For example, each region Z1 to Z4 of terminus 7 can include zone marker Rep1 to Rep4, and it is every
Individual vehicle 2 to 6 can include marking of cars Rev2 to Rev6.Zone marker Rep1 to Rep4 is preferably fixation, and separates
Two zone markers are constant apart from Dp.When vehicle occurs in the zone, the figure of the equipment generation associated with the region
Mark as including zone marker and the vehicle for appearing in the region.Zone marker Rep1 to Rep4 is also used for calibrating IMAQ
Instrument 22 to 25.It is also contemplated that being already present on the zone marker of the fixation of terminus using some to calibrate image capture instrument
Device 22 to 25, and determine the position of vehicle.For example, three marks can be used for each region, such as the second motor 17, tracting cable
The motor 11 and track 13 of rope 9.Image processing apparatus 30 and then the marking of cars and zone marker from image is come across
The distance between Dref determine the position of vehicle in the picture.In other words, position of the vehicle in the image in region corresponds to
Vehicle position in the zone.The marking of cars for example can be reflector to improve the identification of digital image acquisition instrument 22 to 25
Power.Digital image acquisition instrument 22 to 25 preferably generates continuous image stream, and image processing apparatus 30 are from image pattern
Determine the position of vehicle.
Determining device 19 can also include at least three radio frequency identification instruments, in order to reduce the number of the sensor in terminus
Amount, terminus includes three radio frequency identification instruments.Each vehicle also includes RFID tag, and it is configured to receive radio frequency instrument
The signal of transmitting simultaneously launches position signalling.Each radio frequency instrument receives the position signalling of the vehicle emissions run in terminus.
ECU also includes signal processing apparatus, and it is configured to determine that each vehicle appears in the region of terminus from the position signalling for receiving
In position.
The presence detector 31 to 34 of inductive type or capacitor type can also add to check vehicle location and determined by position
The uniformity of the position that device 19 is given.There is the position that detector 31 to 34 is positioned at restriction.For example, detector 31 to 34 can
With positioned at the entrance of each region Z1 to Z4 of terminus 7.Each detector 31 to 34 is configured to produce vehicle in the region
Presence signal.Determining device 19 is also configured to the defined position from each vehicle of the presence signal check of generation.In region
Each change, the position of vehicle is checked by there is detector 31 to 34.When vehicle exist detector previously by when, exist
Detector 31 to 34 can be used for the generation of one or more images of toggle area.
Computing device 20 be each pair continuous vehicle P1, the P2 appeared in the region Z1 to Z4 of terminus 7 calculate separate away from
From D, braking distance Da and Distance Remaining Dres.The vehicle operated in terminus 7 is followed and the company of being formed each other along track 13
Continuous vehicle is to P1, P2.In Fig. 1 in shown example, the first vehicle 2 appears in first area Z1 and the second vehicle 3 is appeared in
Second area Z2 and leading first vehicle 2.First and second vehicles 2,3 are continuous, and they form the first vehicle to P1.Second
Vehicle includes the second vehicle 3 and appears in the 3rd vehicle 4 of the 4th region Z4 for itself to P2.
Separating distance D correspond to two separate distances of continuous vehicle.Each separating distance D is from this pair of vehicle
Relative position determine.For example, when using digital image acquisition instrument 22 to 25 when, separating distance D from terminus each
Reference distance determined by vehicle and determine.Reference distance Dref of mark Rep1 of the opposing first regions Z1 of first vehicle 2 etc.
In Dref1, and the reference distance of the mark Rep2 of the relative second area Z2 of the second vehicle 3 is equal to Dref2.First pair the two of P1
Vehicle 2, the distance between 3 D determine according to relation D=Dp1+Dref2-Dref1, wherein Dp1 be separate two mark Rep1 and
The distance of Rep2.In common mode, the distance between a pair two vehicles D is calculated according to the following equation：
D=Dp+Drefj–Drefi
Wherein
-Dp：With to vehicle appear in two of two regions therein each the distance between marks.
-Drefi：A pair of the first vehicle appears in the reference distance of the mark in region therein with respect to the first vehicle.
-Drefj：It is leading with to the second vehicle of the first vehicle appear in the mark in region therein with respect to the second vehicle
Reference distance.
For example, when the vehicle of this pair appears at the same area, with to vehicle appear in two regions therein can
Being identical.When using radio-frequency apparatus, separating distance D determines from the position of identified vehicle.
Computing device 20 be also configured to appear in terminus 7 region in each vehicle calculated braking distance Da.System
Dynamic is that position according to vehicle in the zone calculates apart from Da.Monitoring device 1 can also include being configured to measure the fortune of vehicle
The velocity measuring device of the information of dynamic speed Vs, and computing device 20 is from the position of vehicle in the zone and the motion for measuring
Velocity information calculates each braking distance of vehicle in the region for appearing in terminus 7.Motion velocity information is preferably vehicle
The movement velocity Vs of itself.The movement velocity Vs of vehicle corresponds to the speed of the ring 16 of kinematic system 14.Because there is no need to survey
The movement velocity of the vehicle run in terminus is measured, the calculating of braking distance Da is so as to facilitate.As modification, tachometric survey
Device can measure each movement velocity for the vehicle run in terminus 7, and computing device 20 from vehicle in the zone
Position and the Velicle motion velocity that measures calculate each braking distance of vehicle.
According to formula Dres=D-Da, then computing device 20 is counted to appear in each vehicle in terminus 7 to P1, P2
Calculate Distance Remaining Dres, the separating distance D of its two vehicle for being equal to this pair and this pair with companion to the first of the second vehicle
Difference between the braking distance of vehicle.
Supervising device 21 is further configured in a pair of at least one Distance Remainings of vehicle less than the first car with this pair
When appearing in the safe distance DsZi of Z1 to Z4 associations in region therein, the movement velocity Vs of the vehicle is changed.Monitoring dress
The motor 17 of 21 motors 11 that bull wheel 10 is connected to separately by connector 35,36 and ring 16 is put, and can
Controlled motor 11,17 is changing the speed of pull-cord 9 and ring 16.Supervising device 21 is with further reference to safe distance DsZi's
Table, each safe distance DsZi is with the value limited according to its associated region Z1 to Z4 wherein.For example, second area Z2
In the knee of track 13, the value of associated safe distance DsZ2 is more than the safe distance DsZ1's that is associated with first area Z1
Value, the first area corresponds to region of the track 13 in straight part.Especially, safe distance DsZi can be filled by calculating
Put 20 calculating.Advantageously, safe distance DsZi is calculated according to the type of vehicle in the region for appearing in its association.For example, working as
When vehicle in the region of present terminus is maintenance vehicle, size of its size less than the safe distance of other vehicles.
In this case, the safe distance for being associated with maintenance vehicle region can have be only used for the higher of this type of vehicle
Value.When a pair of at least one Distance Remaining Dres of vehicle are more than safe distance DsZi, first vehicle distances of this pair are leading
At the enough distances of its second vehicle, therefore the risk do not collided.In this case, the travel speed Vs of vehicle can be with
Increase so that they are closer to each other, so as to increase the handling capacity of terminus.In contrast, when a pair of at least one residues of vehicle
When being less than safe distance DsZi apart from Dres, first vehicle of this pair is too near to leading its second vehicle, therefore has collision
Risk.In this case, according to the value of Distance Remaining Dres, supervising device 21 can reduce the travel speed Vs of vehicle, or
Stop motor 11,17.
In fig. 2, schematically depict the master of the method for monitoring vehicle movement in cable lift terminus
Want step.Methods described can be implemented by the monitoring device 1 for just having described in Fig. 1.Methods described can be in embedded ECU
Implement in microprocessor or logic circuit, or implement in a software form.
Methods described includes that first determines step S1, determines to appear in the position of each vehicle in the region of terminus wherein
Put.Then in second step S3, separating distance D between two continuous vehicles of vehicle pair is from this pair of the two of vehicle vehicles
Respective position determines.In third step S4, system is determined to the position of the first vehicle of the second vehicle with companion according to centering
Dynamic distance.Then, in four steps S5, each pair vehicle to appearing in terminus different zones, equal to separating distance D and system
The Distance Remaining Dres of the dynamic difference between Da is determined.In the 5th step S7, the Distance Remaining difference of each pair vehicle
The safe distance DsZi that ground is associated with region Z1 to the Z4 for respectively occurring with the vehicle of each pair first compares.If at least one remains
Remaining distance is changed less than related safe distance, the movement velocity of the vehicle in the 6th step S8, if it is not, repeating described
The step of method.The step of the method may further include the information of the movement velocity Vs of measuring vehicle S2, and the 3rd
In step S4, each braking distance determines from the information of the speed Vs for measuring.The method can be further comprised determining that advantageously
The step of safe distance DsZi S6, in the region that each safe distance DsZi is associated from the safe distance wherein occur vehicle
Type determines.
Detachable cable lift is particularly suitable in previously described method and system, to ensure that passenger high handles up
Measure and prevent simultaneously the risk collided.
Claims (14)
1. the method for being used to monitor the motion of several vehicles in cable lift terminus, it is characterised in that：
- for each vehicle at least one region for appearing in terminus, vehicle position in this region is true
Fixed (S1)；
- for the continuous vehicle of each pair, separating distance determines (S3) from this pair of respective position of vehicle between this pair of vehicle, braking
Distance determines (S4) according to the position of the vehicle of centering at least one, and determines the difference equal to separating distance and braking distance
Distance Remaining (S5)；And
- when a pair of at least one Distance Remainings of vehicle are less than safe distance, change the movement velocity (S8) of vehicle.
2. method according to claim 1, wherein, the safe distance for being associated with terminus region respectively is determined (S6),
For the continuous vehicle of each pair, braking distance according to companion to the second vehicle, this pair of continuous vehicle in continuous vehicle
In the first vehicle position and determine, and in a pair of at least one Distance Remainings of vehicle less than going out with the first vehicle in this pair
During the safe distance of existing region association, the movement velocity (S8) of the vehicle is changed.
3. method according to claim 1, wherein, the information of Velicle motion velocity is measured (S2), and this pair of vehicle
Each braking distance (S4) is determined according to position and the velocity information that measures.
4. method according to claim 1, wherein, terminus includes several with what the several regions in the terminus associated respectively
Digital image acquisition instrument, and each IMAQ instrument produces at least one digital picture table in region associated with it
Show, (S1) includes image procossing the step of determine vehicle location, and the position of each vehicle in terminus region is appeared in wherein
Determine from least one digital image representation in the region.
5. method according to claim 4, wherein, each region of terminus includes zone marker, each IMAQ
Instrument structure is the digital picture for producing at least one mark for including its associated region, and each vehicle includes the marking of cars,
Image processing step is included between the marking of cars and the mark in the region from the zone digit graphical representation is appeared in
Distance determine to appear in the position (S1) of each vehicle in the region of terminus.
6. method according to claim 1, wherein, terminus includes at least three radio frequency identification instruments, and determines car
The step of position (S1), includes that at least three positions from each vehicle that treatment is received by radio frequency identification instrument respectively are believed
Number, and wherein appear in the position of each vehicle in the region of terminus and determine from the position signalling for receiving.
7. method according to claim 1, wherein, terminus includes several being associated with several regions of terminus respectively
There is detector, and there is the presence signal that detector produces vehicle in its associated region in each, and vehicle location is really
Determining step (S1) includes appearing in each vehicle in the region of terminus using the presence signal check of vehicle in this region
Determine position.
8. the equipment for monitoring the motion of several vehicles (2 to 6) in the terminus (7) of cable lift (8) is used for, and its feature exists
In：The equipment includes determining device (19), computing device (20) and supervising device (21), determining device (19) construction
It is that position of the vehicle in the region, institute are determined to each vehicle for appearing at least one region (Z1 to Z4) of terminus
State computing device (20) be configured to calculate the continuous vehicle of each pair between this pair of vehicle each this pair of vehicle of position point
Separation is from (D), the braking distance (Da) according to the position of the vehicle of centering at least one and equal to separating distance (D) and braking
Distance (Da) difference Distance Remaining (Dres), the supervising device (21) be configured to a pair of at least one residues of vehicle away from
When being less than safe distance (DsZi) from (Dres), the movement velocity of vehicle is changed.
9. equipment according to claim 8, wherein, computing device (20) be configured to calculate respectively with terminus region (Z1
To Z4) association safe distance (DsZi), and to the continuous vehicle of each pair according to companion to the second car in continuous vehicle
, in this pair of continuous vehicle the position of the first vehicle and calculated braking distance (Da), and supervising device (21) is configured to
A pair of at least one Distance Remainings (Dres) of vehicle less than the region occurred with the vehicle of centering first associate safely away from
During from (DsZi), the movement velocity of vehicle is changed.
10. equipment according to claim 8, including the measurement apparatus of the information of Velicle motion velocity are configured to measure, and
Computing device (20) is configured to calculate this pair of each braking distance (Da) of vehicle according to position and the velocity information for measuring.
11. equipment according to claim 8, wherein, the determining device (19) of vehicle location is including several with terminus respectively
Several digital image acquisition instruments (22 to 25) of individual region (Z1 to Z4) association, each IMAQ instrument be configured to produce with
At least one digital image representation of its associated area, and image processing apparatus (30) are configured to from the region at least
One digital image representation determines the position of each vehicle for appearing in terminus region.
12. equipment according to claim 11, wherein, each region (Z1 to Z4) of terminus includes zone marker
(Rep1 to Rep4), each IMAQ instrument (22 to 25) is configured to produce includes the digital picture of the mark of associated region,
Each vehicle (2 to 6) includes the marking of cars (Rev2 to Rev6), and image processing apparatus (30) are configured to from appearing in the region
Digital image representation in the distance between the marking of cars and the mark in the region determine to appear in terminus region
The position of each vehicle.
13. equipment according to claim 8, wherein, the determining device (19) of vehicle location is received including being configured to
At least three radio frequency identification instruments of three position signallings from each vehicle, and signal processing apparatus are configured to from reception
Position signalling determine to appear in the position of each vehicle in the region of terminus.
14. equipment according to claim 8, wherein, each region (Z1 to Z4) of terminus includes at least one construction
To produce presence detector (31 to 34) of the presence signal of vehicle in the region, determining device (19) is configured to use in institute
The presence signal check for stating vehicle in region appears in the defined location of each vehicle in the region of terminus.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR12/02660 | 2012-10-04 | ||
| FR1202660A FR2996514B1 (en) | 2012-10-04 | 2012-10-04 | METHOD AND DEVICE FOR CONTROLLING A DISPLACEMENT OF SEVERAL VEHICLES WITHIN A STATION OF A TELEPHERIC, IN PARTICULAR A TELESIEGE OR TELECABINE |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103707891A CN103707891A (en) | 2014-04-09 |
| CN103707891B true CN103707891B (en) | 2017-05-24 |
Family
ID=47429854
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310450079.3A Active CN103707891B (en) | 2012-10-04 | 2013-09-27 | Method and device for supervising a movement of a plurality of vehicles inside a station of an aerial cableway |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP2716516B1 (en) |
| KR (1) | KR102088061B1 (en) |
| CN (1) | CN103707891B (en) |
| FR (1) | FR2996514B1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR3044995B1 (en) * | 2015-12-11 | 2018-01-05 | Poma | CABLE TRANSPORTATION INSTALLATION |
| AT520445B1 (en) | 2017-10-19 | 2019-04-15 | Innova Patent Gmbh | Tire conveyor for means of transport |
| FR3111315B1 (en) | 2020-06-10 | 2022-08-12 | Poma | Method and device for controlling a cable transport installation and installation comprising such a control device |
| KR102220776B1 (en) | 2020-12-14 | 2021-03-02 | 한화시스템(주) | laser transceiver of aircraft for target |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1482031A (en) * | 2002-07-04 | 2004-03-17 | ��ŵ��ר���������ι�˾ | Apparatus for monitoring the locking of the safety bar of a chair in a cableway system |
| EP1752352A2 (en) * | 2005-08-09 | 2007-02-14 | Pomagalski S.A. | Operating method for a disengageable aerial ropeway |
| EP1997706A1 (en) * | 2007-06-01 | 2008-12-03 | Rolic Invest Sarl | Cable transportation system and relative operating method |
| CN102325681A (en) * | 2009-01-22 | 2012-01-18 | 波马加尔斯基公司 | The method that vehicle is advanced in the control cable load transfer device |
| CN102514601A (en) * | 2011-12-22 | 2012-06-27 | 北京交通大学 | Train tracking interval real-time early warning system based on CTC (central traffic control) and early warning method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4086821B2 (en) * | 2004-08-17 | 2008-05-14 | 泉陽興業株式会社 | Urban transportation system |
| DE102007018470A1 (en) * | 2007-04-19 | 2008-10-23 | Robert Bosch Gmbh | Driver assistance system and method for object plausibility |
-
2012
- 2012-10-04 FR FR1202660A patent/FR2996514B1/en not_active Expired - Fee Related
-
2013
- 2013-09-10 EP EP13354032.8A patent/EP2716516B1/en active Active
- 2013-09-27 CN CN201310450079.3A patent/CN103707891B/en active Active
- 2013-10-02 KR KR1020130118052A patent/KR102088061B1/en active IP Right Grant
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1482031A (en) * | 2002-07-04 | 2004-03-17 | ��ŵ��ר���������ι�˾ | Apparatus for monitoring the locking of the safety bar of a chair in a cableway system |
| EP1752352A2 (en) * | 2005-08-09 | 2007-02-14 | Pomagalski S.A. | Operating method for a disengageable aerial ropeway |
| EP1997706A1 (en) * | 2007-06-01 | 2008-12-03 | Rolic Invest Sarl | Cable transportation system and relative operating method |
| CN102325681A (en) * | 2009-01-22 | 2012-01-18 | 波马加尔斯基公司 | The method that vehicle is advanced in the control cable load transfer device |
| CN102514601A (en) * | 2011-12-22 | 2012-06-27 | 北京交通大学 | Train tracking interval real-time early warning system based on CTC (central traffic control) and early warning method |
Also Published As
| Publication number | Publication date |
|---|---|
| EP2716516B1 (en) | 2016-11-02 |
| KR20140044273A (en) | 2014-04-14 |
| FR2996514B1 (en) | 2014-11-28 |
| KR102088061B1 (en) | 2020-03-11 |
| EP2716516A1 (en) | 2014-04-09 |
| CN103707891A (en) | 2014-04-09 |
| FR2996514A1 (en) | 2014-04-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103707891B (en) | Method and device for supervising a movement of a plurality of vehicles inside a station of an aerial cableway | |
| CN104021541B (en) | Vehicle-to-vehicle distance calculation apparatus and method | |
| CN104111654B (en) | Driving vehicle control system and driving vehicle control method | |
| CN103842236B (en) | Train control system | |
| CN103663033B (en) | The security system of elevator | |
| KR20150108909A (en) | Elevator device | |
| CN106741008B (en) | Railway line foreign matter identification method and system | |
| CN105423934A (en) | Train wheel diameter detection method | |
| EP3456606B1 (en) | Position determination method and system | |
| CN107792606A (en) | Article carrying apparatus | |
| ITMI20110562A1 (en) | PROCEDURE AND POSITION DETECTION DEVICE OF A TRANSPORTATION ORGAN. | |
| CN109360425A (en) | Truck statistical system in a kind of collection card test method and field based on geomagnetic sensor | |
| CN101644929B (en) | Mine locomotive running state detection method adopting railway vehicle axle counter | |
| KR20150085579A (en) | Measuring system for overloaded and acquired of information in truck for service of road traffic safety | |
| CN105675628A (en) | Camera based security inspection machine with labeling function | |
| CN112912297A (en) | Method and device for detecting a derailment condition of a rail vehicle | |
| CN104165676A (en) | Dynamic vehicle high-accuracy weighing method achieved in axle dynamic monitoring mode and axle set weighing mode | |
| CN108995674A (en) | Super leaning load detection method and device | |
| CN106311621A (en) | Sorting device and method for wheel types of different dimensions | |
| CN104019792B (en) | Car is to car apart from computing device and method | |
| CN105818838B (en) | A kind of axle count sensor and meter shaft detection method | |
| CN105774426A (en) | Localizable wireless tire pressure detection device, system and location method thereof | |
| CN106885700A (en) | The simulating test device and its method of a kind of blind area testing equipment | |
| CN110329968A (en) | A kind of forklift door frame anti-collision system and method based on UWB technology | |
| CN110167820A (en) | Aerial cableway for running the method for aerial cableway and for executing the operation method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |