JP3109976B2 - 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 method for sensing the position of a truck in a tunnel.

[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, the turning center and the turning radius of the bogie are obtained from the steering angles of the front and rear wheels to obtain the turning angle of the front wheel center, and the locus and the movement amount of the bogie center are obtained. It is characterized in that the absolute position and the direction of the truck after the movement of the control distance are obtained, and the traveling direction distance Y, the lateral lateral displacement X and the direction α in the tunnel axis coordinates are obtained.

[0006]

In the position sensing method for a truck in a tunnel according to the present invention, the turning radius and the turning radius of the center of the truck are obtained from the rotation amount and the turning angle of the front and rear wheels to determine the trajectory and the moving amount of the truck center. Of the truck in the tunnel axis coordinate system, the lateral displacement X and the direction are obtained.

[0007]

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 wireless modem 28 provided with a camera 27 and an antenna 28a is provided in front of the cart 20 (left side in the figure), and a wheel rotation amount sensor 29 and an absolute sensor each comprising 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.

[0010] As shown in FIG. 5, bar code labels 37 are provided at a constant pitch in the tunnel T. 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 FIGS. 7 and 8, as the position sensing of the bogie 20 in the tunnel T, the coordinate system is defined as a distance Y in the axial direction of the tunnel, a lateral displacement X in the lateral direction from the center line of the tunnel (in the case of a circular cross section, The distance along the arc of the inner wall of the tunnel with the lower part of the center vertical line being 0 degrees) is measured as the direction α of the bogie 20.

FIG. 9 is a block diagram of sensing. That is, the lateral lateral displacement X and the axial distance Y are obtained from the rotation amount of the front and rear wheels and the turning angle (steering angle) of the front and rear wheels, and a barcode is input to reset without any accumulated error. The azimuth α of the cart is obtained from the gyro compass 32 or the cut angle and the traveling distance.

From the steering angle and the traveling distance,
In order to obtain the displacement X and the distance Y, as shown in FIG.
In consideration of the fact that f and Lr are different, the position of the center G of the bogie 20 is defined based on the following concept.

That is, in FIG. 11, the cut angle β of the front wheel
f, the rear wheel turning angle βr, and the distance W between the axle centers bf, br
From this, it is possible to define a triangle in which one side and both end angles are determined, so that the turning center C, the turning radius Rf of the both axis centers bf and br,
Rr and the turning radius Rg of the bogie center G are obtained.

Further, as shown in FIG.
Moves on an arc having a turning radius Rf, so that the moving distance A
The turning angle γ about the turning center C is obtained from f.

Therefore, since the turning angles of all points of the bogie 20 around the turning center C are γ, as shown in FIG.
By turning only, the moving distance Ag of the bogie center G can be calculated.

Since the position and angle of the truck before the control distance (interval) are known, the absolute position Gn and the direction α1 of the moved truck center G with respect to the reference origin SP and the reference direction SD can be obtained.

Further, as shown in FIG. 14, since the axis TA of the tunnel T is known, the bogie 2 in the tunnel axis coordinates is used.
0 lateral displacement X, axial distance Y and azimuth α
Is required.

When the front and rear cut angles βf and βr are equal, the center bf, G and br have moved by the same distance in the same direction as shown in FIG. The absolute position Gn can be obtained by moving the bogie center G by the same amount as the direction.

The azimuth α of the bogie 20 is also obtained from the difference between the absolute azimuth indicated by the gyrocompass 32 and the known tunnel axis azimuth.

The moving speed can also be obtained by differentiating the traveling distance.

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

At the starting point and the ending point of the 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 with the mechanical guide MG to perform positioning. to enable.

As described above, the cart 2 in the absolute coordinate system
Since the position / posture / moving speed of zero is calculated, the bogie 20 can be sensed in an area without an axis, and is particularly suitable for sensing the bogie 20 in a large space such as a large tunnel.

[0026]

As described above, according to the present invention, the traveling direction distance, lateral displacement and azimuth 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 transfer device 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 an end of a transport route.

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

FIG. 8 is a front view illustrating displacement from an axis.

FIG. 9 is a block diagram of sensing.

FIG. 10 is a plan view illustrating a relationship between a steering angle and displacements X and Y.

FIG. 11 is a plan view for explaining a method of obtaining a turning radius of a bogie center.

FIG. 12 is a plan view illustrating how to determine a turning angle around the turning center.

FIG. 13 is a plan view for explaining how to determine a moving distance of the center of the bogie.

FIG. 14 is a plan view for explaining how to determine the position X, Y and direction α of the bogie in the tunnel axis coordinates.

FIG. 15 is a plan view for explaining how to determine the absolute position of the center of the bogie.

[Explanation of symbols]

 Af: the moving distance of the center of the front shaft Ag: the moving distance of the center of the truck bf: the center of the front shaft br: the center of the rear shaft C: the turning center G: the center of the truck Gn: the truck Absolute position of the center LG: locus position of the bogie center Lf: locus of the front shaft center Lr: locus of the rear shaft center MG: mechanical guide Rf: turning radius of the front shaft center Rr・ ・ ・ Rotating radius around the center of the rear shaft RG ・ ・ ・ Rotating radius around the center of the bogie SP ・ ・ ・ Reference origin SD ・ ・ ・ Reference azimuth T ・ ・ ・ Tunnel TA ・ ・ ・ Tunnel axis W ・ ・ ・ Distance between center of front and rear axis α: azimuth βf: front wheel cutting angle βr: rear wheel cutting angle γ: turning angle around the front shaft 20: tire-type carrier 21: low-floor body 22: Large-diameter tire 23 ・ ・ ・ Drive device 23a ・ ・ ・ Steering drive device 23b ・ ・ ・ Tire drive device Reference numeral 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 sensor 37 ... Bar code label

──────────────────────────────────────────────────の Continuing from the front page (73) Patent holder 595052013 Eric Hoffman United States 15221 14 Wilkins Road, Pittsburgh, PA (72) Inventor Ryo Mizutani 1-7-2 Moto-Akasaka, Minato-ku, Tokyo Kashima Construction Co., Ltd. In-house (72) Inventor Yasuo Higuchi Kashima Construction Co., Ltd. 1-2-7 Moto-Akasaka, Minato-ku, Tokyo Kago Construction Co., Ltd. (72) Inventor Tatsuro Sato Kashima Construction Co., Ltd. 1-2-7 Moto-Akasaka, Minato-ku, Tokyo (72) Inventor Takeo Kanade United States 15208 Pennsylvania Pennsylvania 130 130 Penrose Dry Eve (72) Inventor Charles E Thorpe United States 15044 Pennsylvania No. 3025, Birdson Circle, Gibsonia, A. (72) Inventor Eric Hoffman 15212, Wilkins Road, Pittsburgh, PA, United States 152 (56) References JP-A-3-289512 (JP, A) JP-A-63-32089 (JP) , A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01C 15/00 E21F 13/00 G05D 1/00-1/02

Claims (1)

(57) [Claims] A turning center and a turning radius of a bogie are determined from steering angles of the front and rear wheels to determine a turning angle of a front wheel center;
The trajectory of the bogie center and the moving amount are obtained, the absolute position and the direction of the bogie after the control distance is moved are obtained, and the traveling direction distance Y, lateral lateral displacement X and direction α of the bogie in the tunnel axis coordinates are obtained. Sensing Method of a Moving Dolly in a Tunnel