Current collector system for non-rail-bound vehicles

Abstract

Current collector system for non-rail-bound electrically powered vehicles, in particular trolleybuses, for automatic connection and disconnection to the contact wires of an overhead line system by means of current collectors arranged on the vehicle roof with current collector heads which are rotatably mounted at their attachment points about a vertical axis and simultaneously pivotable laterally about a horizontal axis, characterized in that in the area of ​​the linkage of the current collectors (7, 32) at the base on the roof of the vehicle (1) there is a single-acting pneumatic cylinder (4) with integrated displacement measuring system (5) for the exact positioning of the current collectors (7, 32) with the sliding shoes (14) arranged at their ends in the vertical direction (stroke movement) and a double-acting pneumatic cylinder (8) with integrated displacement measuring system (9),the rear mounting (10) of which is connected to the base arranged on the roof of the vehicle (1) and the front mounting (11) of which is connected to the pantographs (7, 32), for the exact positioning of the pantographs (7, 32) in a horizontal direction (swivel movement) and a spring system consisting of the tension springs (6) are arranged.

Description

The invention relates to a current collector system for non-rail-bound electrically driven vehicles for automatic wiring on and off to an overhead line which is arranged above but also next to the driving lane, in which the current collectors arranged on the vehicle roof in the form of spring-loaded rods are pressed with their current collector heads arranged at the end of the rods against the wires of the overhead lines.Non-rail-bound electrically driven vehicles, in particular electric buses, also referred to as O-buses, overhead line buses or trolley buses, were supplied with power primarily via two-pole line systems. Such vehicles have the advantage over those which are operated with internal combustion engines that they are operated with low noise and locally free of emissions.The line system (overhead line) is arranged at a defined height, generally centrally above the provided lane. The electrical contact between overhead line and vehicle is established via current collectors connected to the vehicle. For this purpose, the current collector must be raisable and lowerable for wiring on or off while maintaining specific tolerances for the contact pressure force between the contact strips and the contact wire.The current collector is usually a component of a current collector device, by means of which the latter is pressed against the overhead line with a contact force in order to produce an electrical contact with the overhead line via a current collector-spring-damper unit. The current collector must be movable relative to the vehicle in particular for transverse compensation and / or for compensating a difference in height, because the height position of the overhead line relative to the vehicle can change due to ground waves, striking holes, etc. in the driving surfaces.The aforementioned factors can have a negative influence on automatic wiring on or off.Known from DE 24 60 843 A1 is a current collector for trackless, electrically driven vehicles, which is pressed with its contact shoe by means of a spring-loaded rod linked to the vehicle roof in the direction of a contact wire and is pivotable about its vertical axis, wherein a pivotable guide bracket linked to the current collector is located protruding above the contact shoe. Since the guide bracket forms a surface parallel to the center axis of the contact shoe, the guide bracket and the contact shoe connected to it are aligned when the contact wire is touched such that the contact shoe can come into contact with the contact wire without tilting. When the contact is reached, the guide brackets are folded downward.The folding open of the guide brackets takes place only when the current collectors are moved into the parking position on the vehicle roof. This means that in the event of a fault, for example, if the current collector comes off the contact wire, the current collector must first be moved into the parking position before renewed wiring can take place with the aid of the guide brackets.From DE 100 12 039 A1 a contact wire and current collector system for electric buses is known, in which the parallel electric lines of the overhead line system are fixed at periodic intervals in holders, which permit a relative movement of the lines with respect to one another only to the extent desired by the selected elastic properties of the holders and lines as well as the selected prestress of the lines, and the current collector is shaped in a manner which centers it upon the action of a corresponding force between the two conductors and at the same time establishes electrical contact between the conductors and the respective contact plates.For the hydraulic lifting and pivoting device for the current collectors, a master cylinder, a line and a slave cylinder are provided as force transmission element between the drive and the boom rod to be moved. A changeover valve is located in the line, so that the master cylinder as a power source can be switched off by an external signal and a pressure accumulator can be connected.This system cannot be used in existing overhead line systems, but it requires a reconstruction of the overhead line system.DE 10 2012 002 748 A1 discloses an apparatus and a method for the optional positioning of rod current collectors of an overhead line vehicle. The device consists of motor-driven cable winch with a controllable force and, if appropriate, an additional rotary actuator. The force of the contact spring of the rod current collector acts as a counterforce. The rotary actuator which is optionally present in the case of two jacks, obligatory in the case of a jack, is used in particular to be able to move to the positions of the bar current pickup which are located further outwards, in which the articulation point of the cable jacks on the bar current pickup is located outside the region between the cable jacks.DE 10 2012 002 749 A1 discloses a device for the automatic alignment of the grinding shoes parallel to the overhead line when the rod current collectors in overhead line vehicles are wired on. The device, which has an otherwise conventional current collector head, is supplemented in such a way that a parallel alignment of the contact shoe of the current collector head about its vertical axis of rotation takes place automatically as it approaches the overhead line. For this purpose, the device has a catching device consisting of wire structures, which forms a funnel groove in the initial position upwards, which automatically aligns itself after the overhead line when the overhead line is touched. During the wire-bonding, a pressure is exerted on the grinding shoe, whereby a vertically displaceable shaped piece is moved upward relative to the grinding shoe against a spring. By means of a lever construction, the movement is translated into a pivoting movement. This ensures that the catching device, which forms the funnel channel in the wired-off state, is pivoted downward or inward in the wired-on state and is therefore not in the collision region with the overhead line suspension and guide.DE 10 2010 053 528 A1 describes a system for automatic wiring on and off during the travel of an overhead line vehicle. The system consists of several components, so that the overhead line vehicle allows the current collectors to be automatically wired to and removed from the overhead line as needed during travel. A digital camera is used together with dynamic stereo-optical pattern recognition with dynamic target recognition. Further components and methods belonging to the system are location determination on the basis of a global navigation satellite system, matching with geographical maps updated via digital radio interfaces, and digital car-to-car communication.By means of optical pattern recognition on the basis of the data obtained from the video cameras, the position of the contact wires in relation to the vehicle as well as the position of the contact shoes or current collector heads are determined and by means of the intelligent control on the basis of the calculations and the communication with other systems commands for the motor or hydraulic or pneumatic positioning of the rod current collectors for the required removal and wiring movements are generated.The use of an optical system-in this case a digital camera-for detecting the position of the contact wires is significantly reduced in its reliability on account of environmental influences such as rain, snowfall, dirt or counter light.The parallel alignment of the grinding shoes with respect to the contact wire is a decisive step in order to realize automated wiring. No solution approach is disclosed for this problem in the solution described above.DE 100 54 766 A1 shows a current collector system for non-rail-bound electrically driven vehicles, for automatic wiring to and off the contact wires of an overhead line system by means of current collectors arranged on the vehicle roof with current collector heads which are mounted rotatably about a vertical axis at their fastening points and at the same time are pivotable laterally about a horizontal axis, wherein in the region of the articulation of the current collectors on the base on the roof of the vehicle a single-acting pneumatic cylinder of the current collectors with the contact shoes arranged at their end is arranged in the vertical direction (lifting movement).Although it solves the problem of unreliable parallel guidance of the two contact wires, it otherwise only reduces the control effort for the contact shoes to approach the overhead line, without giving a solution to the situation. Neither pneumatic cylinders with an integrated position measuring system, double-acting pneumatic cylinders, the rear receptacle of which is connected to the base arranged on the roof of the vehicle and the front receptacle of which is connected to the current collectors, nor a spring system consisting of tension springs are described here.Proceeding from the above-described prior art, the object of the invention is to further develop a current collector system for electrically driven vehicles which are not rail-bound, in such a way that automatic wiring on and off is made possible not only during the standstill of the vehicle but also during travel. This also includes the task of aligning the current collector head with the course of the contact wire. In addition, however, the contact pressure, spring and damping characteristics of the current collector system should also be improved substantially.The object of the invention is achieved according to the invention with the features of the main claim. Further preferred embodiments according to the invention can be taken from the dependent claims and from the following exemplary embodiment.The invention relates to a current collector system for the automatic wiring on and off of electrically operated non-rail-bound vehicles, having a conventional two-bar system arranged on the roof of the vehicle. The rods of the current collectors are rotatably mounted on the base at their fastening point about a vertical axis and can additionally be pivoted via a joint located on the base in order to be varied in a lateral position and in height relative to the vehicle. This is done by means of single or double acting pneumatic cylinders. In order that the grinding shoes and with them the grinding cabbages can be placed against the contact wire in any configuration, the grinding shoes are mounted in the current collector head such that they can be pivoted in the z and y directions via axes of rotation.For controlling the positioning of the current collectors by means of the rods in the horizontal and in the vertical direction, data from distance measuring sensors, among other things, which are arranged on the pneumatic cylinders of the lifting and pivoting system for the current collector rods, are used as input variables for the controllers. For contact wire detection, a laser scanner is used which has the advantage of reliably enabling contact wire detection even in poor lighting conditions, for example night driving.A substantial advantage when using single or double acting pneumatic cylinders in cooperation with corresponding pressure regulating valves for the lifting and pivoting movement of the current collector rods is the vibration-damping effect due to the rapid change in the internal energy of the pressure cylinders. In particular in the case of vibrational excitations of the current collector system due to external influences, such as unevenness in the road surface, the pneumatic drives are capable of compensating vibrations and thus of avoiding a vibration of the current collector rods.This also has an advantageous effect on the time duration of the wiring process.The parallel alignment of the grinding shoes with respect to the contact wire is a decisive point for realizing the automated wiring process. With the aid of guide plates and the associated drive unit, consisting of a pneumatic cylinder, a cable pull and a spring, the parallel alignment of the grinding shoes is possible. The baffle plate can be actively actuated by means of the separate drive unit. The time for the upward or downward pivoting of the guide plate can be freely selected during the wiring process. It is therefore no longer necessary to return the current collector rods to the parking position on the vehicle roof.The installation space available on the current collector head for the single-wire aid is very limited. In the automated current collector system according to the invention, the contact shoe and guide plate are mounted by combining a hollow shaft with a plug shaft. Thus, the grinding shoe and the single-wire aid-here a guide plate-have a common axis of rotation. This makes it possible to move the guide plate and grinding axis independently of one another about the axis of rotation (y axis).This structural embodiment makes optimum use of the available installation space without in this case impairing in particular the scope of function of both the current collector system as a whole and the wiring device.The automated current collector system according to the invention is capable of placing the contact shoes on existing overhead line networks when the vehicle is stationary, without structural changes having to be made to the overhead line network for this purpose. The system is thus fully compatible with existing overhead networks.In addition, wiring can also be used during the driving operation if a special spacer device is used in the region of the wiring. The spacer device ensures a sufficiently large distance v between the upper edge of the guide plate and the lower edge of the contact wire suspension on the jib rod. A further feature is a special geometric shape in the y-z plane in order to ensure a sufficient horizontal distance h between the guide plate and the contact wire suspension in the event of an inclination of the current collector head and / or the contact wire suspension (angle ρ). By using the spacer device as a contact wire suspension between contact wire and extension rod, a collision of the guide plate of the current collector head with the extension rod of the contact wire suspension during the wiring process can be reliably avoided, preferably with a straight line course.The invention will be explained in more detail with reference to an exemplary embodiment. The following are shown: FIG. 1 : current collector system as a plan view FIG. 2 : current collector system as a side view FIG. 3 : detailed side view of the current collector head FIG. 4 : Detailed rear view of the current collector head FIG. 5 shows a pneumatic partial circuit diagram for the swivel movement FIG. 6 : Pneumatic partial circuit diagram for the lifting movement FIG. 7 : current collector head with respect to the contact wire on the right FIG. 8 : Current collector head on the left with respect to the contact wire FIG. 9 : Sliding shoe oriented parallel to the contact wire by means of a guide plate FIG. 10 : contact between grinding carbon and contact wire FIG. 11 : Guide plate lowered and wiring process completed FIG. 12 : Sectional illustration of current collector headFIG. 1 shows the current collector system 2 according to the invention, which is arranged on the roof of a vehicle 1, preferably a overhead line bus. The current collector system 2 is essentially composed of two current collectors 7, 32 which are pivotably and rotatably fastened on the base plate, each current collector 7, 32 being formed from a current collector rod 3, a current collector head 22, a drive unit for the lifting and pivoting movement of the current collectors 7, 32. The current collector heads 22 consist of contact shoes 14, on which guide plates 15 are provided laterally to facilitate the wiring of the current collector rods 3 to the contact wires 18. At the same time, a laser sensor 16 is arranged on the roof of the vehicle 1. The drive unit for the current collectors 7, 32 consists of the pneumatic cylinders 4, 8 with the integrated position measuring systems 5, 9.Each of the current collector rods 3 has a pneumatic cylinder 12 with two air chambers for moving the baffle plates 15. At the lower end of each current collector rod 3, a pneumatic cylinder 4 with an integrated displacement measuring system 5, the tension springs 6 and the front receptacle 11 for the pneumatic cylinder 8 with two air chambers for the pivoting movement and the integrated displacement measuring system 9 are arranged. On the other hand, the pneumatic cylinder 8 is connected to the rear receptacle 10. The pneumatic cylinders 4, 8 and 12 are controlled via valves in the valve control unit 17.FIG. 2 shows the current collector system 2 in a side view during driving operation. The current collectors 7, 32 are connected to the overhead line system wires 18 via the current collector heads 22. The current collectors 7, 32 are rotatable (lifting movement) on the one hand via the axis of rotation 36 and pivotable (pivoting movement) on the other hand via the axis of rotation 35. The overhead line system consists of the contact wires 18 which are fastened to the extension rod 19 via the contact wire suspension 25 with the contact wire clamp 20 and the clamp holder 21.FIG. 3 shows a detailed side view of the current collector head 22, which is arranged at the end of the current collector rod 3. In the vicinity of the current collector head 22, the pneumatic cylinder 12 is arranged on the current collector rod 3, to the piston rod receptacle of which a cable pull 13 is fastened. At the other end of the cable 13 is a spring-loaded lever 24 which is connected to the guide plate via a plug-in shaft 29. A spring 28 is provided on the lever 24 itself. In order to detect a specific region above the current collector head 22, an ultrasonic sensor 23 with sound deflection angle is arranged on the current collector head 22.FIG. 4 shows a detailed rear view of the current collector head 22, which is to be taken as an example of a re-tensioned overhead line suspension with cantilever rods 19. The suspension of the contact wires 18 is effected with the aid of a contact wire suspension 25 which is designed as a spacer device between the fastening on the boom rod 19 and the contact wire clamp 20.The spacer device (contact wire suspension 25) is characterized in that it offers a sufficiently large distance v between the upper edge of the guide plate 15 and the lower edge of the contact wire suspension 25 on the cantilever rod 19. A further feature is a special geometric shape in the y-z plane in order to ensure a sufficient horizontal distance h between guide plate 15 and contact wire suspension 25 in the event of an oblique position of current collector head 22 and / or contact wire suspension 25 (angle ρ). The angle ρ denotes the inclination between the central axis 26 of the current collector head 22 with respect to the central axis 27 of the contact wire suspension 25.With reference to FIGS. 1 to 12, the operation of the wiring on and off is described below.First, the system must recognize whether the contact wire 18 is within reach of the current collector system 2. For detecting the overhead line, a laser sensor 16, for example the laser volume flow sensor bulk scan 16, is used. The laser sensor 16 scans the environment above the vehicle with the aid of an optical transit time measurement. The data sets thereby generated are filtered on the basis of known criteria with respect to overhead lines and processed using a specifically developed algorithm. If at least one overhead line pair could be determined, the line position data are transferred to subsequent control units. The contact wire detection alone is not sufficient, however, to enable a wiring process.Furthermore, the current positions of both current collector heads 22 with respect to the vehicle 1 must be known. For this purpose, a displacement measuring system 5, 9 is used on the pneumatic cylinders for lifting and pivoting movement 4, 8. The displacement measuring sensors of the displacement measuring systems 5, 9 on the pneumatic cylinders 4, 8 measure the exact position of the piston rod and thus provide information about the piston stroke, i.e. the displacement covered by the piston rod. Since the geometric relationships on the current collector system are known, the position of the current collector heads 22 in the horizontal and vertical directions may be calculated based on the piston stroke. This topic is discussed in more detail in the following sections.The position control of the current collectors 7, 32 of the current collector system is realized with four directional valves per current collector 7, 32. Two valves are required per cylinder chamber. One valve serves for supplying and one for discharging air mass. In the 3 / 2-way valves used, the vent opening is closed. The venting switching position is the preferred position. By means of the valve control unit 17, a control of the valves can be influenced by means of a pulse width modulated signal of the ground current.The software control is implemented in a microcontroller. The duty cycle of the pulse width modulation is the output variable of the regulator. The control device of the laser sensor 16 specifies the reference variables or else setpoint values of the horizontal and vertical movement of the current collectors 7, 32 in the form of coordinates. The actual coordinates of the current collector head 22 are calculated by evaluating the signals of the displacement measurement sensors of the displacement measurement systems 5, 9 at the pneumatic cylinders 4, 8 with the aid of the microcontroller. By means of trigonometric functions it is possible to calculate the coordinates. The desired and actual coordinates are the input variables of the controller.In the pivoting movement, a constant pressure is required on the piston crown side of the pneumatic cylinder 8. This is kept constant by a pressure regulating valve. The control of the piston ring side enables any desired movement about the pivot point of the current collectors 7, 32.In the stroke movement, only the regulation of the piston crown side is necessary, since a counterforce acts by the tension springs 6 installed on the current collectors 7, 32. The pneumatic partial circuit diagram for the lifting movement is shown in FIG. 6.The wiring takes place in a defined movement sequence of the current collectors 7, 32 and of the wiring mechanism on the current collector heads 22, which is explained in the following section. For a better understanding of the wiring process, reference is made to FIGS. 7 to 11. For further simplification, the following functional description is made for only one of the two current collectors 7, 32.The wiring operation is initiated by pressurizing the air chamber of the pneumatic cylinder 4, thereby retracting the piston rod. As a result, the current collector 7 performs a movement in the vertical direction (stroke movement) and is stopped at a defined height. It is decisive here that the current collector head 22 comes to a standstill below the height level of the contact wires 18 (FIG. 7 ). This information is obtained from the wire position data of the laser sensor 16 and the piston rod position based on the displacement measurement data.In the next step, the current collector 7 is moved in the horizontal direction toward the contact wire 18 (pivoting movement) by the pneumatic cylinder 8 being pressurized. At this point, both the current collectors 7 and 32 are considered separately from each other because the plunger running direction and the resultant moving direction of the current collectors 7 and 32 are different. This relationship is explained in the two following sections.If the current collector head 22 of the current collector 7 is to be moved in the positive y direction starting from the coordinate origin, the piston rod of the pneumatic cylinder 8 must retract. For a movement of the current collector head 22 in the negative y direction (starting from the coordinate origin), the piston rod of the pneumatic cylinder 8 must extend.The kinematic relationship for the current collector 32 is exactly reversed: if the current collector head 22 of the current collector 32 is to be moved in the positive y direction starting from the coordinate origin, the piston rod of the pneumatic cylinder 8 must extend. For a movement of the current collector head 22 in the negative y direction (starting from the coordinate origin), the piston rod of the pneumatic cylinder 8 must retract.For the description of the further movement sequences, it is necessary to make a case distinction: if the current collector head 22 is located on the right side of the contact wire 18 (FIG. 7 ) starting from the positive x direction, the current collector head 22 must be moved under the contact wire 18 and come to a standstill on the left side of the contact wire 18 (FIG. 8 ). If the current collector head 22 is already on the left side of the contact wire 18, it only has to be moved towards the contact wire 18 with a pivoting movement of the current collector rod 3 and come to a standstill at a defined distance in front of the contact wire 18 (FIG. 8 ).In the next step, the ultrasonic sensor 23 integrated in the current collector head 22 is activated. The current collector 7 then carries out a further pivoting movement in the direction of the contact wire 18. At the same time, the guide plate 15 on the grinding shoe 14 is pivoted upwards by a range of approximately 90° about the axis of rotation 34 of the grinding shoe 14 (y axis). For this purpose, the pneumatic cylinder 12 is pressurized on the current collector rod 3, whereupon the latter retracts and sets in motion a cable pull 13, which is fastened to the piston rod receptacle of the pneumatic cylinder 12. The other end of the cable 13 is connected to a spring-loaded lever 24 which, via a plug-in shaft 29, sets the guide plate 15 in rotary motion. The spring 28 of the lever 24 is thereby tensioned (FIGS. 9, 12 ).As soon as the guide plate 15 comes into contact with the contact wire 18, a torque about the axis of rotation 33 of the grinding shoe (z-axis) arises due to the point of application of force on the guide plate 15, as a result of which the latter aligns itself parallel to the contact wire 18 (so-called alignment function of the guide plate 15) (FIG. 9 ).With the aid of the sound deflection angle, the ultrasonic sensor 23 can record a specific region above the current collector head 22. As soon as the contact wire 18 enters the sound beam region of the ultrasonic sensor 23, a command is generated and the current collector 7 is stopped in its pivoting movement with a defined temporal offset. This ensures that the guide plate 15 lies flat against the contact wire 18 and that a transverse force is produced between guide plate 15 and contact wire 18.The use of the ultrasonic sensor 23 is optional, i.e. given sufficient positioning accuracy by means of laser 16 and displacement measuring sensors of the displacement measuring systems 5, it can be dispensed with.If the contact shoe 14 is oriented parallel to the contact wire 18, a further lifting movement of the current collector 7 takes place in the positive z direction. Due to the above-mentioned transverse force between the guide plate 15 and the contact wire 18, the line slides along the guide plate 15 during the lifting movement of the current collector head 22, whereby the contact shoe 14 remains guided in parallel (so-called guiding function of the guide plate 15). As soon as the grinding carbon 31 comes into contact with the contact wire 18, a rotational movement of the grinding shoe 14 about its rotational axis 34 (y-axis) takes place. The lifting movement of the current collector 7 is stopped when a flat contact is established between the grinding carbon 31 and the contact wire 18. The contact condition is thus fulfilled (FIG. 10 ).In the last step of the wire-bonding process, the guide plate 15 on the grinding shoe 14 is pivoted downward by an angle of approximately 90° about the axis of rotation 34 of the grinding shoe (y axis). This is done by pressurizing the pneumatic cylinder 12 and consequently extending the piston rod. The spring 28 attached to the lever 24 relaxes and creates a torque about the axis of rotation 34 of the shoe 14 (y-axis) causing the baffle 15 to pivot downward (FIG. 11 ).At the same time, the pressure chambers of the pneumatic drives for lifting and pivoting movement 4, 8 are emptied via the valves by an air mass flow into the atmosphere taking place. This ensures that the guidance of the grinding shoe 14 by the contact wire 18 is not impaired by the pneumatic cylinders 4, 8. A contact pressure of the contact shoe 14 on the contact wire 18 of approximately 120 N is generated via the tension springs 6, whereby a secure contact is provided even during travel. Thus, the wiring operation is completed.The wire-off process is initiated by the pneumatic cylinder 4 being pressurized and as a result the piston rod extending. The current collector 7 thus lowers and the contact between the grinding carbon 31 and the contact wire 18 is interrupted. As soon as a defined safety distance between the current collector head 22 and contact wire 18 is set in the z-direction, the pneumatic cylinder 8 is pressurized for the pivoting movement and the current collector 7 pivots back in the direction of the vehicle center.When the current collector 7 is oriented parallel to the vehicle, it is lowered to the parking position. Once the current collector 7 has reached the parking position, the pressure chambers of the pneumatic drives for lifting and pivoting movement 4, 8 are emptied via the valves by an air mass flow into the atmosphere taking place. The wiring-off process is thus completed.The above-described applies analogously to the wiring on and off of the other current collector 32.

Claims

Current collector system for electrically driven vehicles which are not rail-bound, in particular overhead line buses, for automatic connection and disconnection to the overhead wires of an overhead line system by means of current collectors which are arranged on the vehicle roof and have current collector heads which are mounted rotatably about a vertical axis at their fastening points and at the same time can be pivoted laterally about a horizontal axis, characterized in that, in the region of the articulation of the current collectors (7, 32) on the base on the roof of the vehicle (1), a single-acting pneumatic cylinder (4) with an integrated position measuring system (5) for the exact positioning of the current collectors (7, 32) with the contact shoes (14) arranged at their end in the vertical direction (lifting movement) and a double-acting pneumatic cylinder (8) with an integrated position measuring system (9) in each case, its rear receptacle (10) is connected to the base arranged on the roof of the vehicle (1) and its front receptacle (11) is connected to the current collectors (7, 32), for the exact positioning of the current collectors (7, 32) in the horizontal direction (pivoting movement) and a spring system consisting of the tension springs (6) are arranged.Current collector system according to claim 1 characterised in that a double-acting pneumatic cylinder (12) is arranged on the current collectors (7, 32), preferably in the vicinity of the current collector head (22), which pneumatic cylinder is arranged via a cable pull (13) and a spring-loaded lever device, consisting of the lever (24) and the spring (28), with the guide plate (15) on the contact shoe (14) of the current collector head (22) for pivoting the guide plate (14) into a defined angular range about the axis of rotation (34) of the contact shoe (14).Current collector system according to Claims 1 and 2, characterized in that the lever (24) and the baffle plate (15) are connected to one another via a plug-in shaft (29), the plug-in shaft (29) being mounted rotatably about its y-axis in a hollow shaft (30), and the hollow shaft (30) serving for mounting the contact shoe (14).Current collector system according to Claims 1 to 3, characterized in that a laser sensor (16) for detecting the contact wires (18) of the overhead line system is arranged on the roof of the vehicle (1).Current collector system according to Claims 1 to 4, characterized in that each of the current collector heads (22) is assigned an ultrasonic sensor (23) with sound deflection angle for the detection of the individual contact wires (18).Current collector system according to Claims 1 to 5, characterized in that the current collectors (7, 32) can be positioned continuously both in the vertical direction (lifting movement) and in the horizontal direction (pivoting movement) with the aid of the pneumatic cylinders (4, 8).Current collector system according to Claims 1 to 6, characterized in that, for wiring the current collectors (7, 32) during wiring during the driving operation, the contact wire (18) is spaced apart from the cantilever rod (19) or a contact wire suspension of a different type by means of a spacer device as contact wire suspension (25).

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