Device for measuring the movement of a self-guiding vehicle

Abstract

A device for measuring the movement of a self-guiding vehicle, that has an enhanced measuring reliability, in particular during an adhesion loss and independently from the travel profile of the vehicle in terms of slope, turn and slant. To this end, the device for measuring the movement of a self-guiding vehicle includes on board thereof two accelerometers coupled to a movement calculator, wherein each accelerometer includes two measurement axes on which are measured projections of a vehicle acceleration resultant. The four measurement axes of the accelerometers are adjusted so that the calculator provides, from the four projection measures, at least one very accurate longitudinal acceleration value of the vehicle at each point of a route including both slopes and turns.

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 Vehicle traction driven by at least one running track or rail such as a 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 in situations where the vehicle is subject to an unavoidable loss of adhesion (perte d'adhérence), such as when the free or ...

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 that although the gradient effects to which the vehicle is subjected are 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 acceleration (curvature, roll (dévers)) or even vertical acceleration (slope), so its accuracy is much lower than that with a free axis The accuracy of the "ideal" system of

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