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EP1319751B1 - Working vehicle and method for operating without driver - Google Patents

Working vehicle and method for operating without driver Download PDF

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Publication number
EP1319751B1
EP1319751B1 EP02450254A EP02450254A EP1319751B1 EP 1319751 B1 EP1319751 B1 EP 1319751B1 EP 02450254 A EP02450254 A EP 02450254A EP 02450254 A EP02450254 A EP 02450254A EP 1319751 B1 EP1319751 B1 EP 1319751B1
Authority
EP
European Patent Office
Prior art keywords
track
working vehicle
scanning
distance measuring
measuring apparatus
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.)
Expired - Lifetime
Application number
EP02450254A
Other languages
German (de)
French (fr)
Other versions
EP1319751A3 (en
EP1319751A2 (en
Inventor
Josef Theurer
Leopold Gruber
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Franz Plasser Bahnbaumaschinen Industrie GmbH
Original Assignee
Franz Plasser Bahnbaumaschinen Industrie GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Franz Plasser Bahnbaumaschinen Industrie GmbH filed Critical Franz Plasser Bahnbaumaschinen Industrie GmbH
Priority to AT02450254T priority Critical patent/ATE318343T1/en
Publication of EP1319751A2 publication Critical patent/EP1319751A2/en
Publication of EP1319751A3 publication Critical patent/EP1319751A3/en
Application granted granted Critical
Publication of EP1319751B1 publication Critical patent/EP1319751B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
    • B61L23/041—Obstacle detection

Definitions

  • the invention relates to a work vehicle with a supported by rail undercarriages on a track, a height-adjustable platform with a control device for commissioning a traction drive having vehicle frame, and a method for driverless operation of a track-traveling work vehicle.
  • the problem is that the workers located on the platform can not see a track section located directly in front of the vehicle. Apart from that, the workers are distracted by their activities and also exposed to a change in position of the platform a different view of the track. For these reasons, controlling the vehicle from the work platform is very dangerous and is also prohibited on different tracks.
  • the object of the present invention is now to provide a work vehicle of the generic type, with a problem-free control of the work vehicle from the working platform is possible.
  • this object is achieved with a work vehicle of the type mentioned above in that on a front side of the vehicle a non-contact distance measuring device with a - with respect to a track formed by the track - an inclination angle enclosing button plane to produce a track and button level formed across is arranged to the track longitudinal direction extending scanning line.
  • a working vehicle 1 shown in FIGS. 1 and 2 can be moved by rail carriages 2 on a track 3 in a working direction 4.
  • a height adjustable by drives 7 working platform 8 is attached on a cabs 5 having vehicle frame 6 .
  • a drive 9 can be acted upon by an energy unit 10.
  • a non-contact distance measuring device 12 is arranged at both end faces 11 of the vehicle frame 6, a non-contact distance measuring device 12 is arranged. This emits a pulsed laser beam 13, which in turn is registered in the Distanzmeß réelle 12 after reflection. The time between emission and reception of the laser beam 13 is directly proportional to the distance between the distance measuring device 12 and the object causing the reflection.
  • the laser beam 13 is deflected and fanned out to form a key plane 14. This includes an angle of inclination ⁇ with a track plane 15 formed by the track 3, with a common scanning line 16 running normal to the machine or track longitudinal direction being formed.
  • each with a different inclination angle ⁇ is provided.
  • the front button plane 14 with a front touch line 16 having a smaller inclination angle ⁇ is designed to activate an acoustic signal device 17 by a control device 19 as soon as an obstacle 18 located on the track 3 is registered by the distance measuring device 12. This is the case when, by reflection of the laser beam 13 at the obstacle 18, a minimum distance x between the distance measuring device 12 and the touch line 16 is exceeded. It is expedient to include a certain tolerance limit y for the undershoot, so that an obstacle is not already detected falsely at every smallest unevenness of the track plane 15.
  • each scanning line 16 running normal to the machine longitudinal direction corresponds to at least one width b of the working vehicle 1.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Description

Die Erfindung betrifft ein Arbeitsfahrzeug mit einem durch Schienenfahrwerke auf einem Gleis abstützbaren, eine höhenverstellbare Arbeitsbühne mit einer Steuereinrichtung zur Inbetriebnahme eines Fahrantriebes aufweisenden Fahrzeugrahmen, sowie ein Verfahren zum führerlosen Betrieb eines gleisverfahrbaren Arbeitsfahrzeuges.The invention relates to a work vehicle with a supported by rail undercarriages on a track, a height-adjustable platform with a control device for commissioning a traction drive having vehicle frame, and a method for driverless operation of a track-traveling work vehicle.

Bei derartigen gleisverfahrbaren Arbeitsfahrzeugen besteht das Problem, daß die auf der Arbeitsbühne befindlichen Arbeitskräfte einen unmittelbar vor dem Fahrzeug befindlichen Gleisabschnitt nicht einsehen können. Abgesehen davon sind die Arbeitskräfte durch ihre Tätigkeit abgelenkt und mit einer Positionsänderung der Arbeitsbühne auch einer unterschiedlichen Sicht auf das Gleis ausgesetzt. Aus diesen Gründen ist eine Steuerung des Fahrzeuges von der Arbeitsbühne aus sehr gefährlich und bei verschiedenen Bahnen auch verboten.In such track-traveling work vehicles, the problem is that the workers located on the platform can not see a track section located directly in front of the vehicle. Apart from that, the workers are distracted by their activities and also exposed to a change in position of the platform a different view of the track. For these reasons, controlling the vehicle from the work platform is very dangerous and is also prohibited on different tracks.

Die Aufgabe der vorliegenden Erfindung liegt nun in der Schaffung eines Arbeitsfahrzeuges der gattungsgemäßen Art, mit dem eine problemlose Steuerung des Arbeitsfahrzeuges von der Arbeitsbühne aus möglich ist.The object of the present invention is now to provide a work vehicle of the generic type, with a problem-free control of the work vehicle from the working platform is possible.

Erfindungsgemäß wird diese Aufgabe mit einem Arbeitsfahrzeug der eingangs genannten Art dadurch gelöst, daß an einer Stirnseite des Fahrzeuges ein berührungslos wirksames Distanzmeßgerät mit einer - bezüglich einer durch das Gleis gebildeten Gleisebene - einen Neigungswinkel einschließenden Tastebene zur Erzeugung einer durch Gleis- und Tastebene gebildeten, quer zur Gleislängsrichtung verlaufenden Tastlinie angeordnet ist.According to the invention, this object is achieved with a work vehicle of the type mentioned above in that on a front side of the vehicle a non-contact distance measuring device with a - with respect to a track formed by the track - an inclination angle enclosing button plane to produce a track and button level formed across is arranged to the track longitudinal direction extending scanning line.

Durch diese Ausbildung eines Arbeitsfahrzeuges ist zuverlässig sichergestellt, daß auch Hindernisse, die von den auf der Arbeitsbühne befindlichen Arbeitskräften uneinsehbar sind, nicht überfahren werden und das Fahrzeug auch rechtzeitig gestoppt wird. Damit besteht für die Arbeitskräfte auch der große Vorteil, sich uneingeschränkt auf ihre Arbeit konzentrieren zu können. Zweckmäßigerweise kann bei Unterschreiten eines dem Mindestabstand vorgeordneten Vorwarnbereiches ein Signalton die Arbeitskräfte auf die drohende Situation aufmerksam machen, so daß diese nicht durch einen plötzlichen Maschinenstopp gefährdet werden.This training of a work vehicle is reliably ensured that even obstacles that are hidden from the workers located on the platform, are not run over and the vehicle is stopped in good time. This gives the workforce the great advantage of being able to concentrate fully on their work. Appropriately, when falling below the minimum distance upstream Vorwarnbereiches a beep to alert the workforce to the imminent situation, so that they are not endangered by a sudden machine stop.

Weitere Vorteile und Ausbildungen der Erfindung ergeben sich aus den Unteransprüchen und der Zeichnung.Further advantages and embodiments of the invention will become apparent from the dependent claims and the drawings.

Im folgenden wird die Erfindung anhand eines in der Zeichnung dargestellten Ausführungsbeispieles näher beschrieben.In the following the invention will be described with reference to an embodiment shown in the drawing.

Es zeigen:

Fig. 1
eine Seitenansicht eines Arbeitsfahrzeuges und
Fig. 2
eine vereinfachte Draufsicht auf einen Teil des Arbeitsfahrzeuges.
Show it:
Fig. 1
a side view of a work vehicle and
Fig. 2
a simplified plan view of a part of the work vehicle.

Ein in Fig. 1 und 2 dargestelltes Arbeitsfahrzeug 1 ist durch Schienenfahrwerke 2 auf einem Gleis 3 in einer Arbeitsrichtung 4 verfahrbar. Auf einem Fahrkabinen 5 aufweisenden Fahrzeugrahmen 6 ist eine durch Antriebe 7 höhenverstellbare Arbeitsbühne 8 befestigt. Ein Fahrantieb 9 ist durch eine Energieeinheit 10 beaufschlagbar.A working vehicle 1 shown in FIGS. 1 and 2 can be moved by rail carriages 2 on a track 3 in a working direction 4. On a cabs 5 having vehicle frame 6 a height adjustable by drives 7 working platform 8 is attached. A drive 9 can be acted upon by an energy unit 10.

An beiden Stirnseiten 11 des Fahrzeugrahmens 6 ist ein berührungslos wirksames Distanzmeßgerät 12 angeordnet. Dieses sendet einen gepulsten Laserstrahl 13 aus, der nach Reflexion wiederum im Distanzmeßgerät 12 registriert wird. Die Zeit zwischen Aussenden und Empfang des Laserstrahles 13 ist direkt proportional zur Entfernung zwischen Distanzmeßgerät 12 und die Reflexion verursachendem Objekt. Durch einen nicht näher dargestellten Drehspiegel wird der Laserstrahl 13 abgelenkt und unter Bildung einer Tastebene 14 aufgefächert. Diese schließt mit einer durch das Gleis 3 gebildeten Gleisebene 15 einen Neigungswinkel α ein, wobei eine normal zur Maschinen- bzw. Gleislängsrichtung verlaufende, gemeinsame Tastlinie 16 gebildet wird.At both end faces 11 of the vehicle frame 6, a non-contact distance measuring device 12 is arranged. This emits a pulsed laser beam 13, which in turn is registered in the Distanzmeßgerät 12 after reflection. The time between emission and reception of the laser beam 13 is directly proportional to the distance between the distance measuring device 12 and the object causing the reflection. By a not shown Rotating mirror, the laser beam 13 is deflected and fanned out to form a key plane 14. This includes an angle of inclination α with a track plane 15 formed by the track 3, with a common scanning line 16 running normal to the machine or track longitudinal direction being formed.

Für eine zweifache Absicherung ist eine erste und eine zweite bzw. eine vordere und eine hintere Tastebene 14 mit jeweils unterschiedlichem Neigungswinkel α vorgesehen. Die einen kleineren Neigungswinkel α aufweisende vordere Tastebene 14 mit einer vorderen Tastlinie 16 ist zur Aktivierung einer akustischen Signaleinrichtung 17 durch eine Steuereinrichtung 19 ausgebildet, sobald durch das Distanzmeßgerät 12 ein auf dem Gleis 3 befindliches Hindernis 18 registriert wird. Dies ist dann der Fall, wenn durch Reflexion des Laserstrahles 13 am Hindernis 18 ein Mindestabstand x zwischen Distanzmeßgerät 12 und Tastlinie 16 unterschritten wird. Zweckmäßigerweise ist eine gewisse Toleranzgrenze y für die Unterschreitung einzubeziehen, so daß nicht bereits bei jeder kleinsten Unebenheit der Gleisebene 15 fälschlicherweise ein Hindernis detektiert wird.For a double hedging a first and a second or a front and a rear button level 14, each with a different inclination angle α is provided. The front button plane 14 with a front touch line 16 having a smaller inclination angle α is designed to activate an acoustic signal device 17 by a control device 19 as soon as an obstacle 18 located on the track 3 is registered by the distance measuring device 12. This is the case when, by reflection of the laser beam 13 at the obstacle 18, a minimum distance x between the distance measuring device 12 and the touch line 16 is exceeded. It is expedient to include a certain tolerance limit y for the undershoot, so that an obstacle is not already detected falsely at every smallest unevenness of the track plane 15.

Sobald das Hindernis 18 in die nachfolgende Tastebene 14 gerät und ein Mindestabstand x zum Distanzmeßgerät 12 unterschritten wird, erfolgt über die mit dem Distanzmeßgerät 12 verbundene Steuereinrichtung 19 eine automatische Aktivierung einer Bremseinrichtung 20 in Verbindung mit einer Unterbrechnung der Beaufschlagung des Fahrantriebes 9. Damit kommt es zu einem sofortigen sicherheitsbedingten Stillstand des Fahrzeuges 1.Once the obstacle 18 in the subsequent button level 14 and falls below a minimum distance x distance meter 12, takes place via the associated with the Distanzmeßgerät 12 control device 19, an automatic activation of a braking device 20 in conjunction with an interruption of the application of the traction drive 9. That's it for an immediate safety-related shutdown of the vehicle 1.

Wie in Fig. 2 ersichtlich, entspricht die normal zur Maschinenlängsrichtung verlaufende Länge jeder Tastlinie 16 wenigstens einer Breite b des Arbeitsfahrzeuges 1.As can be seen in FIG. 2, the length of each scanning line 16 running normal to the machine longitudinal direction corresponds to at least one width b of the working vehicle 1.

Claims (8)

  1. A working vehicle (1), including a vehicle frame (6) which is supportable by on-track undercarriages (2) on a track (3) and comprises a vertically adjustable work platform (8) having a control device (19) for actuation of a motive drive (9), characterized in that a non-contact distance measuring apparatus (12) is arranged at a front end (11) of the vehicle (1) and has a scanning plane (14), enclosing an angle of inclination (α) with regard to a track plane (15) formed by the track (3), for producing a scanning line (16) formed by the track- and scanning planes (15,14) and extending transversely to the longitudinal direction of the track.
  2. A working vehicle (1) according to claim 1, characterized in that the scanning plane (14) is formed by a fan-shaped laser beam (13), wherein the length of the scanning line (16) is configured to conform to at least a width (b) of the working vehicle (1).
  3. A working vehicle (1) according to claim 1 or 2, characterized in that the control device (19) connected to the distance measuring apparatus (12) is provided for activation of a signalling device (17) if the scanning line (16) is spaced less than a minimum distance (x) from the distance measuring apparatus (12).
  4. A working vehicle (1) according to claim 1, 2 or 3, characterized in that the control device (19) connected to the distance measuring apparatus (12) is provided for activation of a braking device (20) if the scanning line (16) is spaced less than a minimum distance (x) from the distance measuring apparatus (12).
  5. A machine according to one of claims 1 to 4, characterized in that a first and a second scanning plane (14) are provided, each having a different angle of inclination (α).
  6. A machine according to claim 5, characterized in that the first scanning plane (14), having a smaller angle of inclination (α), is designed for activation of the acoustic signalling device (17), and the second scanning plane (14) is designed for activation of the braking device (20).
  7. A machine according to one of claims 1 to 6, characterized in that a respective distance measuring apparatus (12) is arranged at either front end (11).
  8. A method of driver-less operation of a working vehicle (1), mobile on a track, which is controlled from a vertically adjustable work platform (8), characterized in that, during continuous non-contact scanning of a region of the track (3) situated ahead of the working vehicle (1) in the working direction (4), an automatic stoppage of the working vehicle (19) is effected as soon as an obstacle (18) situated on the track (3) is registered by the scanning operation and found to be spaced less than a minimum distance (x) from the working vehicle (1).
EP02450254A 2001-12-07 2002-11-06 Working vehicle and method for operating without driver Expired - Lifetime EP1319751B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT02450254T ATE318343T1 (en) 2001-12-07 2002-11-06 WORK VEHICLE AND METHOD FOR DRIVERLESS OPERATION

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT0093701U AT5086U3 (en) 2001-12-07 2001-12-07 WORKING VEHICLE AND METHOD FOR LEADING OPERATION
AT93701U 2001-12-07

Publications (3)

Publication Number Publication Date
EP1319751A2 EP1319751A2 (en) 2003-06-18
EP1319751A3 EP1319751A3 (en) 2004-04-28
EP1319751B1 true EP1319751B1 (en) 2006-02-22

Family

ID=3503258

Family Applications (1)

Application Number Title Priority Date Filing Date
EP02450254A Expired - Lifetime EP1319751B1 (en) 2001-12-07 2002-11-06 Working vehicle and method for operating without driver

Country Status (6)

Country Link
EP (1) EP1319751B1 (en)
CN (1) CN1283487C (en)
AT (2) AT5086U3 (en)
DE (1) DE50205871D1 (en)
ES (1) ES2256439T3 (en)
RU (1) RU2240942C2 (en)

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DE10244127A1 (en) * 2002-09-27 2004-04-08 Siemens Ag Sensor system for route monitoring for an autonomous mobile unit, method and computer program with program code means and computer program product for monitoring a route for an autonomous mobile unit
SE0401957L (en) * 2004-07-30 2005-12-27 Safe Rail Scandinavia Ab Monitoring device
CN101430383B (en) * 2007-11-05 2012-09-05 保定市天河电子技术有限公司 Monitoring method and system for obstacles
EP2168839A1 (en) * 2008-09-25 2010-03-31 Nederlandse Organisatie voor toegepast- natuurwetenschappelijk onderzoek TNO A railway obstacle detecting system, a method of detecting a railway obstacle and a computer program product
US9327743B2 (en) 2013-12-19 2016-05-03 Thales Canada Inc Guideway mounted vehicle localization system
US9387867B2 (en) 2013-12-19 2016-07-12 Thales Canada Inc Fusion sensor arrangement for guideway mounted vehicle and method of using the same
RU2630859C1 (en) * 2016-09-21 2017-09-13 Акционерное общество Научно-исследовательский и конструкторско-технологический институт подвижного состава (АО "ВНИКТИ") Shunting locomotive and method of its operation without driver
CN108957482A (en) * 2018-05-18 2018-12-07 四川国软科技发展有限责任公司 A kind of detection method of laser radar to operation train obstacle
CN117302895A (en) * 2023-10-11 2023-12-29 浙江中烟工业有限责任公司 Electric monorail trolley
CN117228245A (en) * 2023-10-16 2023-12-15 浙江中烟工业有限责任公司 EMS trolley for wearing broken track and emergency stop and vehicle distance maintaining method thereof

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Also Published As

Publication number Publication date
CN1283487C (en) 2006-11-08
ATE318343T1 (en) 2006-03-15
EP1319751A3 (en) 2004-04-28
AT5086U2 (en) 2002-03-25
EP1319751A2 (en) 2003-06-18
CN1425577A (en) 2003-06-25
AT5086U3 (en) 2003-02-25
RU2240942C2 (en) 2004-11-27
DE50205871D1 (en) 2006-04-27
ES2256439T3 (en) 2006-07-16

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