HUE033396T2 - Rendszer felsõvezetékes jármû menet közbeni fel- és lecsatlakoztatására - Google Patents

Description

SYSTEM FOR AUfOMATíCíMJO CONNFCTÍNG ANB RLSCCSNNECTINC A CATENARY VFHÍCLITO/FBOM AN 0«8HEAS LINF BtiRINfi TRAVEL

Besciips'iöfs:

The invention peltains to & system consisting of a digital camera, actnaiors that set m me trolley pole current; collectors, and an electronic control module, the system enabling catenary vehicles employing an associated meiiod, in particular Os log stereoscopic palters recognition and dynamic target tracking, to aotomdtiealiy connect and disconnect their current collectors iodfom the overhead contact litres as «ceded during travel.

Elcciricslly pwsrnd vehicles offer saasy advantages as como&red to W energy loro cotlbtASion engines. Since fee efhciency of power storage or die elesst geaeratieo of powet using lsei cells Is comtuotriy conaidetetl in silli hc lnsolioicsA ptnversupply via overisead or otpr contact lines or via power rails provides an importas-t aiimmative. In raiibptmd vehicles such as trains or streetcars ihe prior art — knows for over one hundred yeses—is suiTicieody practical in {react ice and widespread. However,, its non-railboond vehicles, in particniar iroiieybnses. the limitations of the prior art are so sizable that is· many dies existing systems have been removed and replaced with diesel-powered buses. The key limitation of existing trolleybus methods lies to their msufsklent flexibility. i.a. their lacking capability or capability that can be achieved only will snbstaalml: el|Sm sad opense, to also operaié the trolleybus without power írom the overhead Inas for a brief period oi'iime.

Electric hoses, also refetred to as Iroiieybnses and catenary buses, are supplied wish power via Smiley poles primarily by way of dussEpoie Vide systsnw In tlie dbrits of overhead defined height, generally its:the center above the designated dans. 1« so doing, the. Itat id «mother on aceosmi of the manner la which they ere affixed, i.e. she distance between the lines, typically ca. 60 em, may vary within a range often centimeters or mere, Ute h«|glst:^'-»hkÉ:::Ílfey'8t«· aü*«d is?«fea-:at#jgpi to a sizable tolerance, ranging: feetsveen 5 and 6 meters, Aft even larger tolerance ssprssenf wifferegard to their pEset iarelatipp to the middle of fee lane, which ínay Sroeunt to :-ss much as 4,S ;to for bJundostg poles. Ah Of these factors pose m Impedliotent to automatic connection to; the overhead hoe, which isa prerequisite for a series of other application scenarios that would advance the desired electrical mobility essentially enabled with a trelieybos, particularly in tnper-chy areas.

The cnrrentcoiiactosv are usually ieatmed as iJ-'Sitaped ts>lleetor shoss wifh swivel aeloo aronnd a vertical and a horizontal &kl&dhd located at the tfiy of eachi OLthe t\%o pose current collectors, The collector shoes am pressed· via tlie poles against the overhead lines by way of a vertically actistg npsvsrd force so that electrical comacs is continuous during She connection phase.

The existing systems Are designed so that ofe& MmsSt «digetors .retan connected over the entire distance toweled and are disnotmeeted or at my rale are coapected only when the vehicle is stepped. Since the construction of she line networks required for the continuous supply of power during the entire journey is not only expensive but Iteir fonintenanee as welt, in parrienko· when they feature overhep switches;IP double or multiple lioea along rosps with bidirectional and msdldaoe traffic, and sistee the )toe stetworks also involve other disadvantages: such as esthetic restrictions, preventing them; from being installed its historical -own centers ötkSi repmsntetfomf «ρ&8' !&· paadetÉsr, It is; desirable ;tö operate 5¾¾ Thiels ©IFwhu over more pr less short: distances;

Thfe mot only moans that an addiionaf mimsmsm&amp;Muy$tf of energy Is required Isdhe vü| e.g. fy wftf Mpá^mpwiioK. a d&amp;m&amp;estHifc 0ί*ρ&amp;&amp; 0¾ % gvmMM*. Ml cells or a%wheet hu? ^bs'«i^KT^s©tefer sp&amp;m» required that h able to auiqmábeady ákcqbaeet:#<an a;?ds wires qpMdv and reliably. Various developments exist thai address the question of the provision of power in the vehicle, e.g. dlsaf-mode vehicles that teamre a diesel generátor on Imifol or tbs flywheel energy device described in DE 30 15 754 € enabling the generation of power for autonomous operation.

Suggested solutions have also been published on the problem of automatic reconnection, i.e, the controlled guidance of the current coileetor So the stores. In 1>E 24 40843 It is suggested that an engagement aid, or 'lug”, be vertieaHy installed on either side of the collector shoes running parade I to the direction of travel that is designed to facilitate enggsoment mi upon the contact being established is tdided away: hi a dosenivest-ds direction. The disadvantages of this system are ihat automatic conneedbo 'uslh|.iüs; -iöftly bit inadé when foe: vehicle is stopped because tire lug, when flipped out, p^!^.'ia|.p' J&amp;b· w&amp;fc suspensitm iutd guiding l tb the overhead wire always requires nwmuai latgraébofo

Tim propose! road© is PSfi 5fee 234: bolls down ^ΐη ηροΐΐρΐίΐο automate the process sad in so doing: reduce Μ measurement nrtd conmil effort by arising: both ofidta nurtehl soilector shoes to a common suppoil dlöwwver, the implementation fails: already ·— as ipa&amp;gfod #pv0:·-“% |>y virtue of the principle, the overhead wires ere never positioned in art exact predictable distance Írom one another.

Although the subrnitted solution of DE HXS5<1 766 solves the probiern of the nnrdiabie parallel positioning of the: two overhead wires. It otherwise only reduces the centre! elforf lor guiding the collector shoes to the overhead Sine without providing a sohnion for the situation in which the overhead line Is not precisely positioned in the middle of the lane or in a narrow corridor above the vehicle or for the situation In which the overhead line begins or ends while the vehicle Is traveling.

The related,: invention:o f STS 1:1X1 12 ö3Sffö puses She additional disadvantage that it gtesapisoses:M entirely new and: more complex technology and condgumtion nf the overhead wire positioning and snspension, :

Whitt: ail of the. aforementioned systems of propulsion haveln common: la .that it is assumed that tile position of the: obi lector poles can: be esplssred in telafion to the vehicle and the overhead coated line and fostf this: cári be transformed into mo vement control without: hstvlog provided eonerete suggestions for tins.

As a consequence, none of these systems has succeeded in being developed lot use in practice: Either the entire length of lie line fe supplied by a eontinuons overhead wire, or the vehicles tra vel purely on electric power over specific sections, e.g. In tnmtcis, and: are otherwise diesel-powered, and the enrrertt edilptor shoes are engaged in stationary devices, mforted as ^ΜηΡίΤ\ either manually or, in the best case, seun-autcnoaticaiiy. Conceptual: designé s'l£éÖ% continuous sections only a. lew meters long consistently quits jntsrseebpnig

Uttdsrpasscs, ttaffic turning left, steep downhill gradients etc, and consequently are depended: m aTeliqbfe ar?d Ip: particular quick autornetie :reconneetion of thC: Current collectors also while the vehicle is apt motion,: and: are potto be found in the literature or in· real: hfo. I I 3 I 1 III I i Ϊ 1 I 1 I ? Ill I 1 S I I Ϊ I 11 I IΪ II I lit s f ο " 1 I % § » I- 's s § s· a ”ö * «: g 8 8 ft $ sr § « f i «· a* § « ^ g % g § I. Ifi* 2 % f §· £· -P 2 3 !2 M w $ - I £ 2 I a I I &amp; - * % 8 ; I ·3 n r i

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a 8 ί 3 i 1 11 ι Is? 11 ι ί I ι ί 0 11 ι Ϊ j ι i IS ! ? I IffίI I - I fΐ I I S I it? i l ? f I I i I I * I f S € a ί ι a - 1' I g 3 la f t: 4 % % l I a - f Z s= t <z i. i r r &amp; >a a s r s, t a r f I i 1. f I ? I I % f s a I f a r&amp;smíree iCOöÉi«fe {mvöhópgIM same overhead Ide) m sí is decided wibehtríthe involved: vehicles is i» rem&amp;in: söaseciéd ató which vdPsia (or vdücles · is (arol Só .(Íkeöbílsspt, fialni: statistical m&amp;rmatibO: (pined borti past »§e) or öiber m&amp;isspíö», in particibat an Uphill: and: ioWnhllí psdlem profile $$má si tie card, the upper lével is alap able: to Issgs eöMMi hód disconnect opímnaísdy to the sower level:fe the putpöso offesma-ee conservation, re. optimldpgpwer tístp and unnirnidng wear,

The: fe«»í|Q» is besedbed m befall on tbc hasis Of an emlmffintpb

Figure I shows dm relevant; nweiynncal síStnposWnís sSSöuiaieh with &amp; y#«# :Őt» :*Μηψί$ of &amp; tpSeyb®» in a side view.

Figure 3 Shows Ihe aanwnituabön ima tsar View, figure 3 lUostraM the nwthob for determining ihegpdtlöí? el the overhead line,

The ügúres show ifié use of the invenbon kt hf f iroiieybuts I» wigeh Ée pífye mpveprent öl the polc etifrettf collectors (3) Is efíeoteíi via aprestor cable motors (§} said the arrestor cables (4) ars tensioned ly way »1 the fore» generated by lisp comptesskm springs (5)- The stereoscopic video cameras (6) are affixed to the roof of she bus and iransrah their image dala to the control electronics, also mounted up the roof {?}, the control electronics transmitting control commands for the actuators, i.e. in this example the arrestor cable motors.

In so doing, the control electronics utilise the method of the invention described below 1st order to, as needed, position the pole e«sth8&amp;f«ötehí^'#d^j'W.sai::^ cornet shoes (2 ) ax close as possible ösásmeaift the overhead line: (I), svheie ipresehis so that electrical: pmaetk masfe, Conversely, the relevast eetirol «otmnamis % the aeiuatpm are generated isr disetmocetisg orposslbly anchoring the pole current colieetofs ln the: loehhig device: :(S| in amas in which it Is dlsadv;mtagegss or deieierious m towel while connected setmffiiog to the ggeraiing: conditions computed by the control deoironios dr where there is no ioopreny overhead line within Ihetcaeh of the pole cmvent collectors.

In so: doing, the positions of the jw overitpad wires are identified as two essentially shmight hues In a twp~ dimensional picture: of the v ideo images of the nferensentioned cameras, employ ing pattern recognition meffiods, ;he wires corresponding to a “left" and: awlghtc wire, The two wires each establish a plane (M) :ln mi&amp;tiog to the: vehisla by w%· of i»y*t$<g projection in threcffilmensional space. By performing computations: m that the left and right: planes of the two images of the two mxmrn intersect: In threwdhneosisnal space, i,e. the left planes Intersecting mid the right |tiaoes intersecting, a let line anti a: right line (11) are obtained hr three-dimensional space, always relative to the position of the vehicle . This two: entretn collectors most be positioned, ip pte from below along these two hites for emmevtiptc To ék end, the position of «be coutaet shöes ön the pole ctsnPht coliectors is eiso: deiermirtcd aiercoscopicdiy Itt space in an analogous tnsaoeö cotrospoudtng emves eompulationaliy esisbiished its space via winch the contact"shoes ace guided to the ovefed: wte. and:ie pole meohamsso coníröüéd in a m»mm. such thst the contset: shoes approach: the overhead wires piVKeedingatlong tbc computed curves Since ail of this takes plsee while tlte vehicle is travding, I.e. the ptsliioo ef tbo swerbead whes In rotation Us she vehloie ciiattgirsg \n partlealar, tbs cument rnsd target positions and the control connsands detiveil from these thpst be constantly recalculated anew. IIS method dlscímnéetlbn is: stmlogoos, hstly Itat, depending on the embodiment, tbc iföáifcm of tik»" «vedtead wtenö Itmgervjdsys arofe. k.-^áitteafee e^ábai:mö#«1« msífeagösly moftltes öté overhead whwáad»g the connected and disconnected state so ss íö answer íhe following raaumoos: - Do the: overhead wires .pegged outside of the corridor in relation to the vehicle, thecorridor within macit of ill© contact shoes, he, does the vahieleleave the lene area? .. Or do the overhead wires retom to this corridor? .. Or do the overhead wires come ;<:· an end?

Or do -hey resume0 «· Is there ah obstruction otsdetnesth the overhead wires, e,gt the contact shoes: of smother vehicle ta particular, andean the orientation and speed of movement of the ohstfyottoti he: dete»iaed in relation to the vehicle?

Is the vshkhe currently In a connected or disconnected state?

Hie: advantages achieved with the fovenitort are that a significant simplification of the has routing can he achieved, however Site time during which: the vehicle draws power trom the overhead line is maximized, in addition, prove®: standard conrponents ean he tised idr the tnechanicai part.

Mother advantage: is that now to: the first time connection and disconnection can be provided h>r within the sgace of a few seconds, this: also enabling Sequent changes of journeys: with and without contact to the overhead: line and a flexible rsaciion. to: unioreseen operating: conditions, e,g, driving around an. obstacle: that: has just arisen, e,g, after an accident.

Thanks to the fully stsiomails operation enabled,: ail this can take place without posing a burden Sr the: driver m rcs<?n ing to manual intervention,

The nfotenmnfiOned optical tűntem, recognition utilises in parritmlár the method of tracking s sluggishly moving: target i»- which- .the· ftoam·. &amp;®get: om?· he ifttengd Írom ih© movemeat so for, so dun In the «vaut of difficult visibility conditions, e,g, ptstring: rain: or snow, milhhle recognition of the overhead wires can he: ensured, In order to ensure reliable function: in darkness, small lamps suffice, e,g, itrimreti LEDs as are frequently integrated! in surveillance cameras. 1l5e aidrcmesnioncdh«;pttraekihg :method ntiiihes the following pdneipie:

The dynamic positions of the overhetsd wires mom or less expected on the basis of previous re#golsmns by evtrapoiating ihetr past: tno vetnem widti:n: a:isvovlln:ieriaiOnai vitleo image am evidenced in the cotnpttfohoo of the subsequent situation with a (significantly;!: higher probability in that the pattern being.sought is encounteredi (sggin|, in adbiildigJh a emmeemd: stats: the position of thepole current: collector or contact shoe computed1 and: possibly delebuincdifey sensors can: be used for determining Ilia position of the overhead wires. F-c-r vedtkatloo purposes the 'fess driver can sslso be provided with she image espied by she cameras in the dashboard, the images showing the osefhessheoiiSset lines and pole current collectors. if dö;nv«rhesd:eín5»t Jim? Istceogplsted, stoconnection takes place nr disoonuection takes place automaticaly.

Entry Into areas In which xaihMe:operation Is tobe dotteixsa coxuxseted gate, k&amp;.itee «an in which; overhead wires are installed in principle, is recognised by &amp; gioh&amp;i navigation ssilellifo synth-rs, o.g, GPS (becftetAmerii^m. global posamomg system). or its ;fam® lutopm eoustierpart Galileo, and aw intogtsted card. fxltittg these areas, o.g. at end Ob the stótwodí:, nodarpasses end tnnneis with insufficient clearance for overhead wires, or censtiaetion sites Ibrciag the vehicle to: depart;fdsg its mxnrnai lane, is detected In: an anabgnas manner and residi.s In scheduled disconnection The same applies to tarn-offs, which consequexdiy no ivnsgex require (overlteadl switches ss such and which axe cosdy and sahiesf to wear and tear:: tic line branching off resumes at a somewhat extended dishmee kora the tstn-nli veifihies: turning off dlsetmnOG isrtcfly In fits area and: then tsconnect to titc new line, The 'ptmanapplibs; U dmor$##08Uw«th: other overhead lines and those; of trams and Pains at which the intersecting pair of overhead contact lines or one of the twodnlersactingi psirs of overhead contact linas; is interrupted hrieiy. Also areas in which overhead wires would ;be intrusive lor esthetic or of ter reasons eouldbe omitted using this approach.

In a discomtecled state she vehicle would drew power fom a: storage device (sly wheel, batiety or capacitors) ittidibr fetn a soppietncniery combastion engine ( Afll (auxiliary power xpifh hybrid oporadotr or inai célig

Ite: storage device,, where: preseng is recharged: using recuperation energy and/or tons the overhead^ wire, or ;gossl!% from the AMI ernployistg islelllgeni heuristics sh: the control: module perhdning the expected subsequent use of the storage device, ilk route yet to ho traveled by tha vehicle and its eswrgy requimmetst; profié being: known.

Provision: can heanssde s© updat®: the integrated card as needed via: digital: radio(GSM: / TlM'Ti or trunked radio) also while the vehicle: Is ffsveilng.

The: otkical: control module enables:a: eondtantna con-parison to: he made between the card: tturgeti and the actual: situation as-ds. Whem ©discrepancy occurs, e.g. “overhead wire unexpectedly missing:'') feedback is given to the: driwtr and transmitted: via digital radio to an operations center;

The optically cspturedldnts ls: costimiously reeoxded In a fing bufíer (silicon disk); (video as: log): and easrhe used: lor subsequent problem analysis.

Scheduled: disconnection in (extended) sections in which little open-ting power is mqaired or hide recuperation energy is: recovered (eg, extended section wish a slight gradient) caw he used: m reduce wear to the current collector and the overhead contact wires.

Sectionsioffhis bind may he featured ontSreiy wimont stty pvedkdd wire.

In areas with two-way tralfls^a coutmois overhead line: can ba used tor bosk tbreckoiss oftmves, loctd ccatdhiotts permitting, When two buses meet, the two vehicle control modules automatically negotiate via thguai radio which of the two buses will disconnect briefly antii they have passed one another toas-to-ear eommunrcaoosxy· Priority rules: can be sloredoo the aflrrementioncd card so that tae bus disconnects, that cats be expected to ctraw Isss power dints tite network. Tbc oircantstanee that two buses will meet van be detected vta digstai radio