JPH0941900A - Position sensing method of moving truck in tunnel - Google Patents

Abstract

PURPOSE: To automate conveyance by providing a trackless truck adapted to self-travel by feeding from a trolley rail with a control device for calculating a traveling distance and displacement, and calculating the azimuth of the truck from a difference between a trolley arm angle and a shoe angle. CONSTITUTION: A self-traveling conveying truck 20 in a small bore diameter section tunnel is provided with a control device for calculating the traveling direction position of a truck from the rotation amount of an axle, inputting the absolute value at fixed interval, eliminating a cumulative error by resetting and calculating a traveling distance. Further, by the control device, lateral displacement is calculated from a rolling angle of the truck 20, and the azimuth αof the truck is obtained by a difference between the arm angle βa of a trolley arm 26 coming into contact with a trolley rail 25 and the shoe angle βs measured by a shoe angle sensor 36a. Then, the direction of the truck is controlled with good accuracy by the control device. Thus the conveyance in a tunnel can be automated.

Description

Detailed Description of the Invention

[0001]

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

[0002]

2. Description of the Related Art In such a carrier truck, an operator conventionally operates the truck, and it is not necessary to sense the position of the truck.

[0003]

However, particularly in the case of performing practical automatic traveling, it is necessary to sense the position / orientation, etc., which is easy to maintain and has few errors.

An object of the present invention is to provide a position sensing method for a carrier vehicle in a tunnel which enables automatic traveling.

[0005]

According to the present invention, during traveling of a bogie, the traveling direction position of the bogie is calculated from the amount of axle rotation,
Trolley arm of trolley arm that inputs absolute position at fixed intervals and resets to eliminate accumulated error to calculate traveling direction distance Y of truck, calculates lateral displacement X from rolling angle, and feeds power from trolley rail via shoe The feature is that the azimuth α of the trolley is obtained from the difference between the angle and the shoe angle.

Further in accordance with the present invention, the absolute position input is
The feature is that the barcode label provided in the tunnel is read by the barcode reader of the truck.

[0007]

According to the present invention, during traveling of the bogie, the traveling direction distance Y of the bogie is obtained from the wheel rotation amount, the lateral displacement X is obtained from the rolling angle, and the azimuth α of the bogie is obtained from the difference between the trolley arm angle and the shoe angle. Is automatically requested.

[0008]

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

1 to 4 show a moving vehicle in a tunnel, that is, a tire type carrier vehicle 20 for carrying out the present invention. A pair of large-diameter tires 22, a drive device 23, and a control device 24 are provided in front of and behind the low-floor vehicle body 21 of the tire-type carrier 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 in the center of the vehicle body 21, and also supplied at a sharp curve via the trolley arm 26. If not possible, the vehicle is driven by a battery (not shown) mounted.

A wireless modem 28 having a camera 27 and an antenna 28a is provided in front of the dolly 20 (on the left side in the drawing), and a wheel rotation amount sensor 29 and an absolute sensor each of which is composed of an incremental encoder is provided on each tire shaft. A steering angle sensor 30 composed of an encoder is provided. An inclinometer 31 is provided in each of the front and rear portions and the center portion of the vehicle body 21, and a gyro compass 32, a bar code reader 33, a sonar 34, and a bump sensor 35 are provided in the front portion. In addition, a trolley arm angle sensor 36 and a shoe angle sensor 36a, which are absolute encoders, are provided.

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

Next, the mode of position sensing will be described.

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

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

The traveling direction distance Y is obtained by measuring the rotation amount by the wheel rotation amount sensor 29 and correcting it by a Kalman filter or the like, and the accumulated error is eliminated by inputting and resetting the absolute position at regular intervals.

On the other hand, when the tunnel T has a circular cross section, the lateral displacement X is measured by three inclinometers 3 as shown in FIG.
By measuring the tilt of the carriage 20 by 1, the rolling angle θ is combined with the known inner radius R of the tunnel to obtain the displacement X from the lowest point of the tunnel, and the displacement is calculated from the formula 1 X = 2πR × θ / 360.

The azimuth α of the carriage 20 is the gyro compass 3
The absolute position of the trolley obtained by using 2 and the known azimuth of the tunnel axis are obtained.

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

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

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

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

At the start point and the end point of traveling, positioning,
Position detection is required for acceleration and deceleration. On the other hand, as shown in FIG. 6, the bar code labels 37 provided with a fine pitch accurately capture the position in the traveling direction, and the mechanical guide MG forcibly restrains the lateral position for positioning. enable.

[0023]

As described above, according to the present invention, it is possible to automatically calculate the traveling direction distance of the carriage, the lateral displacement and the direction of the carriage, and automate the transportation.

[Brief description of drawings]

FIG. 1 is a perspective view showing a tire-type carrier truck for carrying out 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 a tunnel showing a barcode label.

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

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

FIG. 8 is a block diagram of sensing.

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

FIG. 10 is a plan view for explaining calculation of azimuth.

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

[Explanation of symbols]

 MG ... Mechanical guide T ... Tunnel 20 ... Tire type carriage 21 ... Low floor type vehicle 22 ... Large diameter tire 23 ... Driving device 23a ... Steering drive device 23b ... -Tire driving device 24 ... Control device 24a ... Position / posture / speed calculation circuit 24b ... Steering control circuit 24c ... Speed control circuit 25 ... Power supply rail 26 ... Trolley arm 26a ...・ Shoe 27 ・ ・ ・ Camera 28 ・ ・ ・ Wireless modem 28a ・ ・ ・ Antenna 29 ・ ・ ・ Wheel rotation amount sensor 30 ・ ・ ・ Steering angle sensor 31 ・ ・ ・ Inclinometer 32 ・ ・ ・ Gyro compass 33 ・ ・ ・ Bar Code reader 34 ... Sonar 35 ... Bump sensor 36 ... Trolley arm angle sensor 36a ... Shoe angle Capacitors 37 ... bar code label

Front Page Continuation (71) Applicant 595052013 Eric Hoffman, USA 15221 14 Pittsburgh Wilkins Road, Pennsylvania (72) Inventor Tatsuro Sato 1-2-7 Moto-Akasaka, Minato-ku, Tokyo Kashima Construction Co., Ltd. (72) Invention Person Yasuo Higuchi 1-2-7 Moto-Akasaka, Minato-ku, Tokyo Kashima Construction Co., Ltd. (72) Inventor Yoshinori Matsunaga 1-2-7 Moto-Akasaka, Minato-ku, Tokyo Kashima Construction (72) Invention Ryo Mizutani 1-2-7 Moto-Akasaka, Minato-ku, Tokyo Kashima Construction Co., Ltd. (72) Inventor Takeo Kanade United States 15208 Pennsylvania Drive, Pittsburgh Penrose Drive 130 (72) Inventor Charles Esorpe United States 15044 Pennsylvania Jibsonia Birdna Circle 3025 (72) Inventor Eric Hoffman United States 15212 Pitts, Pennsylvania Hague Wilkins Road 14 address

Claims (2)

[Claims] 1. A traveling direction distance Y of a bogie is calculated by calculating a traveling direction position of the bogie from a rotation amount of an axle while the bogie is traveling, inputting absolute positions at fixed intervals and resetting to eliminate accumulated errors, and calculating a traveling direction distance Y of the bogie. Position sensing method for a truck in a tunnel, characterized in that the lateral displacement X is calculated from the angle and the azimuth α of the truck is obtained from the difference between the trolley arm angle of the trolley arm fed from the trolley rail through the shoe and the shoe angle. . 2. The method for sensing the position of a mobile truck in a tunnel according to claim 1, wherein the absolute position is input by reading a barcode label provided in the tunnel with a barcode reader of the truck.