Device for measuring the movement of a self-guided vehicle

Abstract

The invention relates to a device for measuring the movement of a self-guided vehicle, that comprises onboard thereof: at least one accelerometer provided with a measurement axis arranged in the longitudinal direction of a potential main rectilinear movement of the vehicle, a first tachometer provided on an axle upstream from the vehicle in the longitudinal direction, a second tachometer providedon a second axle downstream from the vehicle in the longitudinal direction, wherein measure signals from the accelerometer and from the first and second tachometers are supplied to a computing unit. Accordingly, it is advantageously possible to determine the speed and the position of the vehicle on a vehicle route while taking into account an adhesion loss of at least one of the axles as well as an exact slope and turn effect on a vehicle route that does not remain rectilinear and changes horizontally and / or vertically.

Description

technical field [0001] The invention relates to a device for measuring the displacement of an automated guided vehicle as stated in the preamble of claim 1 . Background technique [0002] Various methods or devices are known for measuring the displacement, velocity or acceleration of vehicles, especially for vehicles used in public transport, such as trains, subway car units, trolleybuses, trams, buses or for example any other A vehicle towed and driven by at least one guide rail. Especially in the case of vehicles guided automatically by traffic systems (railway signals, remote and / or on-board autopilots of vehicles, etc.), regardless of the nature of the vehicle's journey, for reliability (prevention of failures) and safety (for passengers or cargo) automatic guidance precautions are essential. In this sense, especially for situations where the vehicle is subject to an unavoidable loss of adhesion (perte d'adhérence), such as when the axle / wheel locks (when the vehicle i...

AI Technical Summary

Problems solved by technology

Since rail transport units most often have an elongated geometry, a single accelerometer and tachometer placed upstream of the vehicle along this elongated geometry does not provide insight into the effects acting on the vehicle as a whole (e.g. effects of curvature or lateral acceleration). measurement device, so although the gradient effects to which the vehicle is taken into account, other vehicle course-related effects that depend on the position of the accelerometer in the vehicle (and the arrangement of its two measurement axes) are unavoidable

[0010] Thus, all these devices allow to calculate the movement of a guided vehicle, which does not have an axle free from any braking and traction forces, and travels on a lane with an arbitrary profile, but since these devices cannot completely get rid of the attachment due to linear losses (slipping or locking due to traction / braking forces) and errors due to lateral or even vertical acceleration, the accuracy is much lower than that of an "ideal" system with free axles

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