EP2716516B1 - Procédé et dispositif de contrôle d'un déplacement de plusieurs véhicules au sein d'une station d'un téléphérique, notamment d'un télésiège ou télécabine - Google Patents

Procédé et dispositif de contrôle d'un déplacement de plusieurs véhicules au sein d'une station d'un téléphérique, notamment d'un télésiège ou télécabine Download PDF

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Publication number
EP2716516B1
EP2716516B1 EP13354032.8A EP13354032A EP2716516B1 EP 2716516 B1 EP2716516 B1 EP 2716516B1 EP 13354032 A EP13354032 A EP 13354032A EP 2716516 B1 EP2716516 B1 EP 2716516B1
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EP
European Patent Office
Prior art keywords
vehicle
vehicles
zone
distance
pair
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Application number
EP13354032.8A
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German (de)
English (en)
French (fr)
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EP2716516A1 (fr
Inventor
Olivier Bertolami
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Poma SA
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Poma SA
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    • 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

Definitions

  • the invention relates to controlling a movement of several vehicles within a station of a cable car, including a chairlift or gondola, and more particularly of a disengageable cable car.
  • Vehicles traveling in a station of a cable car have a speed that is adapted so that passengers can get on and off vehicles safely.
  • the vehicles traveling in the station may have identical or different speeds.
  • the vehicles are mounted on a towing cable that travels through the station, they all have the same speed, and the cable car must slow down the cable during passenger transfers.
  • a traction cable is mounted between a boarding station and a landing station and maintains a constant speed. The vehicles are detached from the towing cable and then placed on a rail inside the station. Then a drive system moves the vehicles by pushing them on the rail.
  • disengageable cable cars vehicles may have different speeds in the station and there may be a risk of collision between vehicles.
  • the object of the invention is to overcome the aforementioned drawbacks, and in particular to provide a means for controlling the speed of vehicles in a station of a cable car to prevent collisions between vehicles.
  • Another object of the invention is to reduce the number of sensors.
  • a method of controlling a movement of several vehicles within a station of a cable car including a chairlift or gondola.
  • the distance between two vehicles can be determined in order to control the speed of movement of the vehicles to prevent the risk of collision of the vehicles with each other.
  • a method is provided to secure the movement of vehicles in the station. The distance between the vehicles is monitored to provide a more accurate displacement control method. We can then optimize the approximation of vehicles for trips at higher speeds, that is to say for stations that have a high speed. It also improves the tasks performed by a control automaton of the station that only needs to check the distance between two consecutive vehicles. In particular, for a detachable chairlift, it is possible to reduce the distance between the vehicles, for example by increasing the driving speed of the vehicles, while preventing collisions.
  • Safety distances associated with the zones of the station can be determined, a stopping distance is determined for each pair of consecutive vehicles as a function of the position of a first vehicle of the pair following a second vehicle of the same pair, and the speed of movement of the vehicles is changed when at least a residual distance of a pair of vehicles is less than the safety distance associated with the area in which the first vehicle of the pair is present.
  • the safety distances are adapted to the distance between the vehicles, the distance between two vehicles may vary depending on the areas of the station where the vehicles are located.
  • the safety distance can be greater in the curved areas because the angles of the vehicles can be touched.
  • Information on the speed of movement of the vehicles can also be measured, and each stopping distance of the vehicle pairs is determined as a function of the position and the information of the measured speed.
  • the station may comprise several digital image acquisition apparatuses respectively associated with several zones of the station, and each image acquisition apparatus produces at least one digital image representative of the zone with which it is associated, the step method for determining the positions of the vehicles comprising an image processing in which the position of each vehicle present in an area of the station is determined from at least one digital image representative of said area.
  • Such a method also makes it possible to reduce the number of sensors and increase the reliability of the drive of the vehicles.
  • Each zone of the station may comprise a zone marker, each image acquisition apparatus being configured to develop at least one digital image comprising the reference of the zone with which it is associated, each vehicle comprising a vehicle mark, the image processing step comprising determining the position of each vehicle present in an area of the station from a distance between the vehicle mark and the mark of said zone present in the digital image representative of said zone .
  • the station may comprise at least three radio frequency identification devices, and the vehicle position determination step comprises processing of at least three position signals from each vehicle respectively received by the identification devices of the vehicle. radiofrequency type and in which the position of each vehicle present in an area of the station from the received position signals.
  • the station may also comprise several presence detectors associated with several zones of the station respectively, and each presence detector generates a presence signal of a vehicle in the zone to which the presence detector is associated, and the determining step vehicle positions comprises checking the determined position of each vehicle present in an area of the station with the presence signal of the vehicle in said area.
  • a device for controlling a movement of several vehicles within a station of a cable car including a chairlift or gondola.
  • the device comprises determination means configured to determine, for each vehicle present in at least one area of the station, a position of the vehicle in said area, calculation means configured to calculate, for each pair of consecutive vehicles, a distance of separating the vehicles of the pair from the respective positions of the vehicles of the pair, a stopping distance according to the position of at least one vehicle of the pair, and a residual distance equal to the difference between the distance of separation and stopping distance, and control means configured to change a vehicle traveling speed when at least a residual distance of a pair of vehicles is less than a safety distance.
  • the calculation means may be configured to calculate safety distances associated respectively with the zones of the station, and to calculate, for each pair of consecutive vehicles, a stopping distance as a function of the position of a first vehicle of the pair. who follows a second vehicle of the same pair, and the control means are configured to change the speed of movement of the vehicles when at least a residual distance of a pair of vehicles is less than the safety distance associated with the area in which the first vehicle of the pair is present.
  • the device may comprise measurement means configured to measure information of the speed of movement of the vehicles, and the calculation means are configured to calculate each stopping distance of the vehicle pairs as a function of the position and the information of the vehicle. the measured speed.
  • the means for determining the positions of the vehicles may comprise several digital image acquisition apparatuses respectively associated with several zones of the station, each image acquisition apparatus being configured to produce at least one digital image representative of the area to be scanned. which it is associated, and image processing means configured to determine the position of each vehicle present in an area of the station from at least one digital image representative of said area.
  • Each zone of the station may comprise a zone marker, each image acquisition device being configured to produce a digital image comprising the marker of the associated zone, each vehicle comprising a vehicle mark, the image processing means being configured to determine the position of each vehicle present in an area of the station from a distance between the vehicle mark and the mark of said area present in the digital image representative of said area.
  • the means for determining the positions of the vehicles may comprise at least three identification apparatus of the radiofrequency type configured to receive respectively three position signals from each vehicle, and signal processing means configured to determine the position of each vehicle present in an area of the station from the received position signals.
  • Each zone of the station may further comprise at least one presence detector configured to produce a presence signal of a vehicle in said zone, the determination means being configured to check the determined position of each vehicle present in an area of the station with the presence signal of the vehicle in said area.
  • a control device 1 of a displacement of several vehicles 2 to 6 (cabins, seats) within a station 7 of a cable car 8, including a chairlift or gondola, and in particular a cable car 8 disengageable.
  • Some vehicles 5, 6 are located outside the station 7, such as the vehicle 6 that will enter the station 7, and the vehicle 5 that came out.
  • the cable car 8 comprises a traction cable 9, to which are attached the vehicles 2 to 6, which is driven by a drive pulley 10 housed in the station 7 and set in motion by a drive motor 11 of the electric type.
  • the vehicles 2 to 6 move in a direction of movement indicated by an arrow having the reference 12.
  • the station 7 further comprises a horseshoe-shaped rail 13 and a displacement system 14 for moving the vehicles 2 to 6 on the rail 13.
  • the vehicles move on the rail 13 in single file, one to the rest of the others.
  • the displacement system 14 comprises drive rods 15 intended to push the vehicles 2 to 6 in the station 7, and a loop 16 on which the bars 15 are mounted.
  • the loop 16 is rotated by a second motor 17 according to the same direction of movement 12 as that of the towing cable 9.
  • the drive bars 15 are arranged substantially perpendicular to the loop 16.
  • each vehicle 2 to 6 has a jaw 18 which closes to hook the vehicle on the towing cable 9 when the vehicle exits the station 7, and which opens to pick up the vehicle when the vehicle enters the station 7.
  • the jaws 18 of the vehicles 2 to 6 are equipped with rollers to be able to move the vehicles on the rail 13 when the vehicles are unhooked from the towing cable 9.
  • the vehicles have a different speed in the station 7, in particular slower, when they are displaced on the rail 13, with respect to the speed of the towing cable 9.
  • the vehicles traveling in the station 7 are situated between two drive bars, and can have a speed that varies between the two bars. 15 when moving vehicles.
  • the control device 1 comprises means 19 for determining the position of the vehicles 2 to 6 in the station 7, calculation means 20 and means 21 for controlling a speed of movement Vs of the vehicles in the station 7.
  • the calculation means 20 and the means of control 21 can be integrated into an electronic control unit UCE.
  • the station 7 comprises several zones Z1 to Z4, preferably contiguous, in which the vehicles 2 to 6 circulate.
  • the zones of the station Z1 to Z4 may have common overlapping parts in order to guarantee the presence of a vehicle in at least one area.
  • the vehicles 2 to 6 enter one by one in the station 7 by an entry having the reference E. Then the vehicles circulate in the station 7 by passing from one zone to another, and leave the station 7 by an output having the reference S.
  • the determination means 19 may comprise digital image acquisition apparatuses 22 to 25 configured to produce one or more digital images of a zone Z1 to Z4 of the station 7.
  • each zone Z1 to Z4 is associated with an image acquisition apparatus 22 to 25 for producing one or more images of the zone with which it is associated.
  • the image acquisition apparatuses 22 to 25 may be arranged so that in normal traffic of vehicles, only one vehicle is present in a zone. But several vehicles may be present in the same area.
  • the devices 22 to 25 are respectively coupled to the ECU by connections 26 to 29.
  • the determination means 19 also comprise image processing means 30, for example integrated in the ECU, which are configured to determine the position of a vehicle present in an image. In general, when a vehicle is traveling in an area, the device associated with the area produces an image of the area, and therefore an image of the vehicle present in the area. Then, the image processing means 30 analyzes the image developed to determine the position of the vehicle in the area where it is present. Thus, it is possible to provide a precise position of the vehicle in an area of the station 7.
  • each zone Z1 to Z4 of the station 7 may comprise a zone marker Rep1 to Rep4, and each vehicle 2 to 6 may comprise a marker of vehicle Rev2 to Rev6.
  • the area markers Rep1 to Rep4 are fixed, and the distance Dp between two area markers is constant.
  • the image developed by the device associated with the zone includes the zone marker and the vehicle marker present in the zone.
  • the zone markers Rep1 to Rep4 are also used to calibrate the image acquisition apparatuses 22 to 25. It is also possible to envisage using several fixed zone markers already present in the station to calibrate the acquisition apparatuses. images 22 to 25, and to determine the position of the vehicles.
  • the image processing means 30 determine a position of the vehicle in the vehicle. image from a distance Dref between the vehicle mark and the area mark that are present in the image. In other words, the position of the vehicle in the image of a zone corresponds to the position of the vehicle in the zone.
  • the vehicle markings may be, for example, reflectors to improve the discrimination of the digital image acquisition apparatuses 22 to 25.
  • the image acquisition apparatuses 22 to 25 develop a continuous stream of images.
  • the image processing means determines the positions of the vehicles from a sample of images.
  • the determining means 19 may further comprise at least three identification apparatus of the radio frequency type. In order to reduce the number of sensors in the station, it comprises three radio frequency identification devices. Each vehicle also has a radio frequency identification tag configured to receive a signal from a radio frequency apparatus, and to transmit a position signal. Each radiofrequency device receives the position signals emitted by the vehicles circulating in the station. In addition, the ECU includes signal processing means configured to determine the position of each vehicle present in an area of the station from the received position signals.
  • presence detectors 31 to 34 of the inductive or capacitive type, to check the positional coherence of a vehicle with that given by the position determination means 19.
  • the presence detectors 31 to 34 are positioned at specific locations. For example, the detectors 31 to 34 may be located at the entrance of each zone Z1 to Z4 of the station 7.
  • Each detector 31 to 34 is configured to develop a presence signal of a vehicle in said zone.
  • the determining means 19 are further configured to check the determined position of each vehicle from the developed presence signal. At each change of zone, the position of the vehicle is checked using the presence detectors 31 to 34. It is also possible to use the presence detectors 31 to 34 to trigger the elaboration of one or more images of the zone. , when a vehicle passes in front of the presence detector.
  • the calculation means 20 calculate, for each pair P1, P2 of consecutive vehicles present in the zones Z1 to Z4 of the station 7, a separation distance D, a stopping distance Da, and a residual distance Dres.
  • the vehicles traveling in the station 7 follow each other along the rail 13 and form pairs P1, P2 of consecutive vehicles.
  • the first vehicle 2 is present in the first zone Z1 and the second vehicle 3 is present in the second zone Z2 and precedes the first vehicle 2.
  • the first and second vehicles 2, 3 being consecutive, they form the first pair P1 of vehicles .
  • the second pair P2 of vehicles comprises, in turn, the second vehicle 3 and the third vehicle 4 which is present in the fourth zone Z4.
  • the two zones in which the vehicles of the same pair are present may be identical when the vehicles of the pair are both present in the same zone.
  • the separation distance D is determined from the determined positions of the vehicles.
  • the calculation means 20 are further configured to calculate, for each vehicle present in an area of the station 7, a stopping distance Da.
  • the stopping distance Da is calculated according to the position of the vehicle in an area.
  • the control device 1 may comprise speed measuring means configured to measure an information of the speed Vs of movement of the vehicles, and the calculation means 20 calculate each stopping distance of a vehicle present in a zone. from station 7 from the position of the vehicle in the zone and from the information of the measured movement speed.
  • the information of the speed of displacement is the speed Vs of displacement of the vehicles itself.
  • the speed Vs of movement of the vehicles corresponds to the speed of the loop 16 of the displacement system 14.
  • the speed measuring means can measure each speed of the vehicles traveling in the station 7 and the calculation means 20 calculate each stopping distance of a vehicle from the position of the vehicle in a zone and the speed measured vehicle.
  • the control means 21 are furthermore configured to modify the speed of movement Vs of the vehicles when at least a residual distance of a pair of vehicles is less than a safety distance DsZi associated with the zone Z1 to Z4 in which the first vehicle of the pair is present.
  • the control means 21 are coupled to the drive motor 11 of the pulley 10 and to the drive motor 17 of the loop 16, respectively by connections 35, 36 and can control the motors 11, 17 so as to change the speeds of the traction cable 9 and the loop 16.
  • the control means 21 refer to a distance table of safety DsZi, wherein each safety distance DsZi has a value determined according to a zone Z1 to Z4 with which it is associated.
  • the safety distances DsZi can be calculated by the calculation means 20.
  • the safety distances DsZi are calculated according to the type of vehicle present in the zones with which they are associated. For example, when the vehicle that is present in one area of the station is a maintenance vehicle, its size is smaller than that of the other vehicles. In this case, the safety distance, associated with the area where the maintenance vehicle is present, may have a greater value, only for this type of vehicle.
  • the control means 21 can reduce the driving speed Vs of the vehicles, or stop the motors 11, 17 as a function of the value of the residual distance Dres.
  • FIG. 2 schematically shows the main steps of a method of controlling a movement of vehicles within a station a cable car.
  • the method can be implemented by the control device 1 which has just been described in FIG. figure 1 .
  • the method can be implemented within microprocessors embedded in the ECU, or logic circuits, or implemented in software form.
  • the method comprises a first determination step S1 in which the position of each vehicle present in an area of the station is determined. Then, at a second step S3, a separation distance D between two consecutive vehicles of a pair of vehicles is determined from the respective positions of the two vehicles of the pair. During a third step S4, a stopping distance is determined as a function of the position of the first vehicle of the pair following the second vehicle of the same pair. Then, during a fourth step S5, for each pair of vehicles present in the various zones of the station, a residual distance Dres equal to the difference between the separation distance D and the stopping distance Da is determined.
  • the residual distance of each pair of vehicles is compared with respective safety distances DsZi respectively associated with zones Z1 to Z4 where the first vehicles of each pair are present. If at least a residual distance is less than the associated safety distance, during a sixth step S8, the speed of movement of the vehicles is modified, and the steps of the method are repeated.
  • the method may further comprise a step S2 of measuring an information of the traveling speed Vs of the vehicles, and in the third step S4, each stopping distance is determined from the information of the measured speed Vs.
  • the method may further comprise a step S6 for determining the safety distances DsZi in which each safety distance DsZi is determined from the type of vehicle present in the zone to which the safety distance is associated.
  • the method and system just described are particularly suitable for disengageable cable cars so as to ensure a high flow of people while preventing the risk of collision.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
EP13354032.8A 2012-10-04 2013-09-10 Procédé et dispositif de contrôle d'un déplacement de plusieurs véhicules au sein d'une station d'un téléphérique, notamment d'un télésiège ou télécabine Active EP2716516B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1202660A FR2996514B1 (fr) 2012-10-04 2012-10-04 Procede et dispositif de controle d'un deplacement de plusieurs vehicules au sein d'une station d'un telepherique, notamment d'un telesiege ou telecabine

Publications (2)

Publication Number Publication Date
EP2716516A1 EP2716516A1 (fr) 2014-04-09
EP2716516B1 true EP2716516B1 (fr) 2016-11-02

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EP13354032.8A Active EP2716516B1 (fr) 2012-10-04 2013-09-10 Procédé et dispositif de contrôle d'un déplacement de plusieurs véhicules au sein d'une station d'un téléphérique, notamment d'un télésiège ou télécabine

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EP (1) EP2716516B1 (ko)
KR (1) KR102088061B1 (ko)
CN (1) CN103707891B (ko)
FR (1) FR2996514B1 (ko)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3044995B1 (fr) * 2015-12-11 2018-01-05 Poma Installation de transport par cable
AT520445B1 (de) * 2017-10-19 2019-04-15 Innova Patent Gmbh Reifenförderer für Transportmittel
JP7286156B2 (ja) * 2019-09-10 2023-06-05 日本ケーブル株式会社 索条牽引式輸送設備における保安装置の診断装置
FR3111315B1 (fr) 2020-06-10 2022-08-12 Poma Procédé et dispositif de contrôle d’une installation de transport par câble et installation comprenant un tel dispositif de contrôle
KR102220776B1 (ko) 2020-12-14 2021-03-02 한화시스템(주) 항공기 타겟용 레이저 송수신장치

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DE50300157D1 (de) * 2002-07-04 2004-12-23 Innova Patent Gmbh Wolfurt Vorrichtung zur Überwachung der Verriegelung des Schliessbügels der Sessel einer Seilbahnanlage
JP4086821B2 (ja) * 2004-08-17 2008-05-14 泉陽興業株式会社 都市交通システム
US20070034105A1 (en) * 2005-08-09 2007-02-15 Jean-Francois Mugnier Aerial ropeway transport methods
DE102007018470A1 (de) * 2007-04-19 2008-10-23 Robert Bosch Gmbh Fahrerassistenzsystem und Verfahren zur Objektplausibilisierung
ITMI20071131A1 (it) * 2007-06-01 2008-12-02 Rolic Invest Sarl Impianto di trasporto a fune e metodo di movimentazione dell'impianto di trasporto a fune
FR2941206B1 (fr) * 2009-01-22 2011-03-25 Pomagalski Sa Procede de controle du cheminement de vehicule dans une installation de transport par cable
CN102514601B (zh) * 2011-12-22 2014-05-28 北京交通大学 基于ctc的列车追踪间隔实时预警系统及预警方法

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Publication number Publication date
CN103707891A (zh) 2014-04-09
KR20140044273A (ko) 2014-04-14
FR2996514A1 (fr) 2014-04-11
FR2996514B1 (fr) 2014-11-28
KR102088061B1 (ko) 2020-03-11
CN103707891B (zh) 2017-05-24
EP2716516A1 (fr) 2014-04-09

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