EP1208027B1 - Chemin de fer electrique suspendu - Google Patents

Chemin de fer electrique suspendu Download PDF

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Publication number
EP1208027B1
EP1208027B1 EP01962805A EP01962805A EP1208027B1 EP 1208027 B1 EP1208027 B1 EP 1208027B1 EP 01962805 A EP01962805 A EP 01962805A EP 01962805 A EP01962805 A EP 01962805A EP 1208027 B1 EP1208027 B1 EP 1208027B1
Authority
EP
European Patent Office
Prior art keywords
carriage
carriages
speed
car
group
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
EP01962805A
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German (de)
English (en)
Other versions
EP1208027A1 (fr
Inventor
Eugen Kaiser
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.)
Eisenmann Anlagenbau GmbH and Co KG
Original Assignee
Eisenmann Anlagenbau GmbH and Co KG
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 Eisenmann Anlagenbau GmbH and Co KG filed Critical Eisenmann Anlagenbau GmbH and Co KG
Publication of EP1208027A1 publication Critical patent/EP1208027A1/fr
Application granted granted Critical
Publication of EP1208027B1 publication Critical patent/EP1208027B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B3/00—Elevated railway systems with suspended vehicles
    • B61B3/02—Elevated railway systems with suspended vehicles with self-propelled vehicles
    • 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
    • B61L23/002—Control or safety means for heart-points and crossings of aerial railways, funicular rack-railway
    • B61L23/005—Automatic control or safety means for points for operator-less railway, e.g. transportation systems

Definitions

  • the invention relates to a monorail system.
  • Each cell which is made up of several carriages, becomes controlled by a stationary computer. It will proposed a control that ensures that as possible many cars are merged into one cell.
  • the speed of each car is on the speed adapted to a cell in which the car in one Inlet zone of the cell received a signal, causing the Carts run faster than the cell, and in the run-off zone the cell receive a signal through which they be braked accordingly. Again, the speed the individual car only with a time delay regulated, which goes at the expense of capacity.
  • Object of the present invention is an electric monorail system of the type mentioned above in such a way Because of this, their capacity is increased. This task is done by the features specified in claim 1 solved.
  • Pulks carriages that have certain sections of the route network together and in succession should, to so-called "Pulks" put together.
  • One Pulk is characterized by the fact that all belong to it Cart moving at the same speed.
  • everyone Car does not keep this speed as a result of control operations and distance measurements, which is a would take too long a period of time.
  • Each car learns about the data bus system of all other cars in the bunch, which maximum permissible speed have to keep the other cars of the crowd. signals even just a car in the crowd that in its place a lower than the speed previously shared not only does he reduce his Speed to the lower permissible value. Rather, all the other cars in the pack follow him without time delay and dubbing it actually according to the place where they are located, allowed higher Speed value. This without significant time delay adaptation of the speeds of all Carts in a bunch to the lowest permitted speed increases operating safety.
  • the greater speed in adjusting the speeds the car in the crowd to the uniform, lowest permissible speed allows the permissible Minimum distance of the carriages operated in burst mode are smaller than the minimum distance allowed the cars, which are operated in single travel mode.
  • a smaller minimum distance of the car means at otherwise the same parameters increase the production capacity.
  • the permissible local speed at least in areas of the route network for everyone Cart operating in burst mode is higher than for the cars, which are operated in the single travel mode. Again, this means otherwise unchanged parameters an increase in the production capacity of the entire system.
  • Each car has a distance sensor which determines the distance to the precursor wagon and to the respective car control outputs a signal when a has fallen below a certain minimum distance.
  • This Distance sensor comes a pure safety function because it only needs to be activated when for some reason the self-sufficient control of Cart via the code rail system and the data bus rail system should fail.
  • Figure 1 is a very simple route plan a Electric monorail shown in plan view. He embraces two semicircular portions 1a, 1b, through two rectilinear sections 1c, 1d connected to each other are and give such an oval. Parallel to the straight line Track section 1d is a straight-line branch line section 1e led, over turnouts 2, 3 with the Main network is connected. The route will be illustrated in Figure 1 by the following four rails, which are guided in parallel: a running rail 4, a bus bar 5, a data bus 6 and a Code rail 7.
  • the chassis the single car 8 of the monorail, which is a from the landing gear down extending hanger and optionally have a load carrier attached thereto.
  • Each carriage 8 has its own drive motor as well a carriage control, which enables the respective carriage 8, under the influence of a stored program and external commands his way on the route network 1 in Correlation with the other there driving car 8 too search and find.
  • the central controller 10 is at more complicated route plans, as explained below 3 is explained, constructed hierarchically and connected to the data bus 5.
  • the self-contained, independent control 11 includes each car a processor 12, a memory 13 and a controller 14, which acts on the drive motor 15 of the carriage 8.
  • the processor 12 receives data from a read head 16 supplied, which is guided along the code rail 7 and of this with an accuracy of better than 1 mm Information about the location of the car 8 receives.
  • the processor 12 also exchanges in bidirectional Transmit data to the data bus 6 via a grinding device 17 from. He is also with the memory 13 and a distance sensor 18 in connection, the front seen in the direction of movement End face of the respective carriage 8 is arranged and with a reflector 19 at the respective trailing end side of the preceding car 8 cooperates (see. FIG. 1).
  • the processor 12 controls the controller 14, the in turn via a grinding device 19 with the Busbar 5 is in communication and the drive motor 15 energized according to these signals.
  • the entire route network 1 is inclusive filed all so-called "special positions” .. Under “special positions” are all those jobs understood in the route network, at the passage of the car 8 a release signal from the central controller 10 is needed.
  • the special items are Weichen as the points 2, 3 of Figure 1, to fire doors, Lifting equipment, etc ..
  • the memory 13 also contains information about the each point of the route network 1 permissible maximum Speed as well as the permissible minimum distance to the precursor carriage 8, the latter as a function of current speed can be specified.
  • Each considered carriage 8 receives from the central control 10 via the data bus 6 and the grinding device 17 a driving task, which gives him the goal of each Ride indicates.
  • the processor 12 controls the controller 14 so on, that this the drive motor 15 of the respective car 8 energized so that at each point of the route network. 1 the maximum permissible speed is driven when there are no conflicting commands. Read this the reading head 16 the respective place where the car 8 is just from the code rail 7 from.
  • the processor 12, the table stored in memory 13 takes the maximum, permissible speed at the respective location and controls the drive motor 15 via the controller 14 accordingly.
  • Deviations may arise from disturbances that affect the Mechanics of the car act, e.g. from a slope, load or friction.
  • the central controller 10 receives from the car control 11 via the data bus bar 6 information continuously about the place where each car 8 is currently located. In time before reaching a special position, e.g. before reaching one of the points 2, 3 in FIG. 1, the central computer 10, the respective device at the special position, z. B. the switches 2, 3, so that the respective car 8 its destination in the route network 1 can reach. Is the passage of the car 8 through the special position is possible, e.g. through an appropriate Feedback of turnout 2 or 3, gives the central control 10 to the carriage controller 11 a corresponding Enable command.
  • the single-trip operation corresponds, as already mentioned, largely the above-described autonomous journey of the single car 8 from the starting point to the destination point.
  • the car control 11 of a considered carriage 8 supplied via the data bus 6, the information that the distance to the precursor carriage 8 under the im Memory 13 filed, the respective speed corresponding minimum has fallen, the processor controls 12 via the controller 14, the motor 15 so that the speed falls below the maximum allowable value and the required safety distance to the precursor carriage 8 is maintained.
  • This driving condition is now as long Maintain until the precursor wagon 8 stops within the minimum distance, for example, if this is in a branching section of the Route network 1 is retracted. Then accelerates the Car control 11 the considered carriage 8 back to the maximum speed at the respective, from Read head 16 of the code rail 7 taken place of the route network 1 after stored in the memory 13 Table value is allowed.
  • the central computer 10 determines which consecutive Car 8 are combined into a pulp and on which position of the crowd is the respective car 8 is located.
  • the control of the car 8 is now opposite the control described above in the single trip changed in the following way:
  • the first carriage 8a reports in bulk about the busschiene 6 to all other cars 8 in the bunch, that its permissible speed is reduced. All other cars 8 of this group react with a appropriate speed reduction, though they still in the straight section 1c where higher speed is allowed would. In this way, the speed change takes place all cars 8 in a cluster in exact temporal correlation.
  • the carriage 8 of the Pulkes now go through successively the semicircular section 1b of the route network 1 at reduced speed.
  • the distance between the carriages 8 in the To make Pulk speed-dependent For example the distance of the carriage 8 in the semicircular area 1b, in which a lower maximum speed is allowed is to be made smaller than the distance of the carriages 8 in the straight line section 1c, where a larger Maximum speed is allowed.
  • the reduction of Distance to areas where it is slower, can be done by the individual carriages 8 of the Pulkes the place where they reduce their speed, due to this reduced distance.
  • FIG. 3 shows, in the manner of a block diagram, like the central controller 10 in a more complicated one Route network 1 in different hierarchical levels is divided.
  • the entire route network 1 is in different Segments divided, each with a data bus rail section 6a to 6h corresponds.
  • the wagons 8, which are on the individual route network segments and each with a section 6a-6h the data bus 6 are connected, respectively controlled by segment controls 10a-10h.
  • segment controls 10a-10h which are common geometric Be assigned to areas of the route network 1, are via a fast CAN bus 30a, 30b with a Area controller (CEDIO) 40a, 40b, 40c connected.
  • CEDIO Area controller
  • At range limits are used to bridge the here resulting larger distances special coupling CPU's 50a-50d installs a continuous connection the segment controls 10a-10h over the entire plant produce.
  • These coupling CPU's 50a-50d allow by converting the baud rate a connection over larger Stretching between the individual areas.
  • the area controllers 40a, 40b, 40c are in turn connected to the central plant PLC 60.
  • the individual cars 8 on the route network 1 of Electrified monorail was based on the function of the distance sensor 18 not yet received. This one is on and for ideally not to operate the monorail required and provides a pure security measure
  • the distance sensor 18 measures in addition to the over the data bus 6 transmitted information about the location of the precursor wagon 8 the distance to these Precursor carriage 8 in the manner of a reflection light barrier. Normally, the distance sensor 18 does not need to be active already being the processor 12 of each car control 11 due to the measured actual position of the respective Car 8 and the transmitted via the data bus rail 6 Position of the precursor carriage 8 for the correct distance provides for the precursor carriage 8. Should, however, this control process fail for any reason, worries the distance sensor 18 by a corresponding, on the processor 12 acting signal that the car 8 comes to a standstill.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Control Of Conveyors (AREA)
  • Electric Cable Installation (AREA)
  • Chain Conveyers (AREA)
  • Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)
  • Non-Insulated Conductors (AREA)
  • Suspension Of Electric Lines Or Cables (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Claims (4)

  1. Convoyeur électrique suspendu avec
    a) un système de voies (1) formant un réseau de lignes ;
    b) une pluralité de chariots (8) qui présentent chacun :
    ba) au moins un châssis qui circule dans le système de voies (1) ;
    bb) au moins un porte-charge suspendu au châssis ;
    bc) au moins un moteur d'entraínement (15) ;
    bd) une commande de chariot (11) autonome qui comprend elle-même :
    bda) un processeur (12) ;
    bdb) une mémoire (13) dans laquelle on peut enregistrer le réseau de lignes (1) complet, la vitesse maximale autorisée en tout point du réseau de lignes (1) et la distance minimale autorisée par rapport au chariot (8) précédent ;
    bdc) un régulateur (14) commandé par le processeur (12) qui alimente le moteur d'entraínement (15) ;
    c) une commande centrale (10) qui délivre aux différents chariots (8) les ordres de marche et valide les parcours sur le réseau de lignes (1) ;
    d) un système de voies codé (7) qui s'étend le long du réseau de lignes (1) et porte un code lisible par chaque chariot (8), pour l'endroit où se trouve le chariot (8) concerné ;
    e) un système de voies à bus de données (6) qui s'étend le long du réseau de lignes (1) et via lequel les chariots (8) communiquent entre eux et avec la commande centrale (10) ;
    dans lequel
    f) la commande de chariot (11) de chaque chariot (8) interroge pendant la marche le système de voies codé (7) sur la position courante du chariot (8), consulte dans la mémoire (13) la vitesse maximale pour cette position sur le réseau de lignes (1) et, en l'absence d'autres informations, cherche à amener le chariot (8) à la vitesse maximale ;
    g) la commande centrale (10) peut au choix faire fonctionner chaque chariot (8) dans un mode individuel ou rassembler dans un mode groupé plusieurs chariots (8) qui parcourent certaines sections du réseau de lignes (1) les uns derrière les autres, en groupes dans lesquels tous les chariots (8) présentent essentiellement la même vitesse et pour le reste se déplacent librement et indépendamment les uns des autres, et transmettre aux différents chariots (8) des informations sur l'appartenance à un groupe ;
    h) dans le mode groupé, la commande de chariot (11) de chaque chariot (8) interroge pendant la marche le système de voies codé (7) sur la position courante du chariot (8), échange via le système de voies à bus de données (5) des informations sur la vitesse actuellement autorisée dans chaque chariot (8) du groupe et commande le moteur d'entraínement (15) du chariot (8) correspondant de façon que le chariot (8) circule à la plus basse vitesse autorisée de tous les chariots (8) du groupe, de sorte que sa vitesse fixe la vitesse maximale autorisée des chariots (8) du groupe
  2. Convoyeur électrique suspendu selon la revendication 1, caractérisé par le fait que la distance minimale autorisée des chariots (8) qui fonctionnent en mode groupé est plus petite que la distance minimale autorisée des chariots (8) qui fonctionnent en mode individuel.
  3. Convoyeur électrique suspendu selon la revendication 1 ou 2, caractérisé par le fait que la vitesse locale autorisée est, au moins dans certaines parties du réseau de lignes (1), plus élevée pour chaque chariot (8) qui fonctionne en mode groupé que pour les chariots (8) qui fonctionnent en mode individuel.
  4. Convoyeur électrique suspendu selon l'une des revendications précédentes, caractérisé par le fait que chaque chariot (8) présente un capteur de distance (18) qui mesure la distance par rapport au chariot (8) précédent et délivre un signal à la commande de chariot (11) concernée lorsque cette distance devient inférieure à une certaine distance minimale.
EP01962805A 2000-08-16 2001-06-30 Chemin de fer electrique suspendu Expired - Lifetime EP1208027B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10039946 2000-08-16
DE10039946A DE10039946C1 (de) 2000-08-16 2000-08-16 Elektrohängebahn
PCT/EP2001/007503 WO2002014133A1 (fr) 2000-08-16 2001-06-30 Chemin de fer electrique suspendu

Publications (2)

Publication Number Publication Date
EP1208027A1 EP1208027A1 (fr) 2002-05-29
EP1208027B1 true EP1208027B1 (fr) 2005-05-18

Family

ID=7652562

Family Applications (1)

Application Number Title Priority Date Filing Date
EP01962805A Expired - Lifetime EP1208027B1 (fr) 2000-08-16 2001-06-30 Chemin de fer electrique suspendu

Country Status (11)

Country Link
US (1) US6679459B2 (fr)
EP (1) EP1208027B1 (fr)
AT (1) ATE295793T1 (fr)
AU (1) AU2001283908A1 (fr)
BR (1) BR0107119A (fr)
CA (1) CA2387670A1 (fr)
CZ (1) CZ303902B6 (fr)
DE (2) DE10039946C1 (fr)
ES (1) ES2240500T3 (fr)
PL (1) PL198474B1 (fr)
WO (1) WO2002014133A1 (fr)

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DE102009058659A1 (de) * 2009-12-16 2011-06-22 EISENMANN Anlagenbau GmbH & Co. KG, 71032 Fördersysstem
WO2019201798A1 (fr) * 2018-04-20 2019-10-24 Eisenmann Se Système de transport et procédé de commande d'un tel système

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JP2018535744A (ja) 2015-11-11 2018-12-06 バイオネス インコーポレイテッド 体重支持システムの支持軌道および電力レール切替えのための装置および方法
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JP7486313B2 (ja) 2017-02-14 2024-05-17 バイオネス インコーポレイテッド 部分免荷システムの方法及び装置
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WO2019201798A1 (fr) * 2018-04-20 2019-10-24 Eisenmann Se Système de transport et procédé de commande d'un tel système

Also Published As

Publication number Publication date
US20030146069A1 (en) 2003-08-07
ES2240500T3 (es) 2005-10-16
CZ20021264A3 (cs) 2002-09-11
AU2001283908A1 (en) 2002-02-25
CA2387670A1 (fr) 2002-02-21
PL353737A1 (en) 2003-12-01
ATE295793T1 (de) 2005-06-15
EP1208027A1 (fr) 2002-05-29
CZ303902B6 (cs) 2013-06-19
DE50106252D1 (de) 2005-06-23
WO2002014133A1 (fr) 2002-02-21
BR0107119A (pt) 2002-06-11
DE10039946C1 (de) 2002-04-11
US6679459B2 (en) 2004-01-20
PL198474B1 (pl) 2008-06-30

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