Transportation equipment in which vehicles move and methods for controlling such vehicles

Abstract

The present invention relates to an installation (1) for transporting loads, comprising a support (10) with at least two extension cables (12) extending between at least two towers (14) to form a track along which a vehicle (20) moves. The vehicle (20) comprises a floor (22) cooperating with rollers (24) via a set of suspensions (26) controlled by at least one force setpoint, and a control command system (28) configured to drive the set of suspensions (26) by a control method. The present invention also relates to a control method comprising: a) collecting (Col3) a pitch parameter of the floor representing a pitch rotation acceleration of the floor; b) determining (Det1) a longitudinal correction command configured to modify the at least one force setpoint; and c) applying (Apl1) the longitudinal correction command to the suspension set (26).

Description

[Technical Field]

[0001] This invention relates to a transportation system that includes a track on which vehicles travel.

[0002] The present invention also relates to a method for controlling the said vehicle. [Background technology]

[0003] In the midst of the development of new modes of urban transportation, attention is being drawn to public transport using infrastructure including aerial cableways. This envisions the use of compact, roller-equipped vehicles to travel along tracks, typically consisting of cables.

[0004] Prior art has shown that aerial cableway systems, equipped with at least one transport cable, are satisfactory in that they enable the transport of people in urban environments, particularly in areas where available ground is saturated. In most cases, the vehicle is naturally positioned directly above the attachment point to the track. While the vehicle hanger may dampen the tilt, it is impossible to completely avoid the phenomenon of tilting, and even with damping, it can reduce passenger comfort. Furthermore, even with the use of a hanger, it is not possible to compensate for lateral vibrations as in a pendulum train. The path of the center of gravity of the crew compartment needs to be nearly parallel to the curve of the cable's deformation for that part, and it is not always possible to maintain it within the range of optimal comfort.

[0005] Some systems do not have hangars; they either follow the deformation of the cables or are positioned on their own along a straight path, with adjustments made to the vertical position of the cabin.

[0006] Therefore, none of these systems make it possible to set the partitioned passenger compartment on the track relatively independently of the track, and at the same time, they do not make it possible to maintain the acceleration felt on the floor of the partitioned passenger compartment at a predetermined value close to the acceleration due to gravity, and in a direction as perpendicular as possible to the floor.

[0007] Maintaining accelerations that affect passengers or cargo perpendicular to the floor surface and within permissible limits is necessary to ensure the integrity of the transported cargo and the greatest possible comfort, especially since the crew compartment depends on both extrinsic (wind, temperature, etc.) and intrinsic (passenger, other vehicle, etc.) phenomena.

[0008] Objective of the present invention The objective of this invention is to propose solutions that address all or part of the aforementioned problems.

[0009] The above objective can be achieved through the implementation of a method for controlling a vehicle moving on a track, and the vehicle is A roller configured to contact at least one support that defines the aforementioned track, Including a floor for transporting cargo, The floor cooperates with the rollers via a set of suspensions, The aforementioned suspension set includes at least one suspension, The at least one suspension is controlled by at least one force setting that defines the force applied to the floor by the at least one suspension. The control method described above is executed by a control command system. A step of collecting pitch parameters of the floor that represent the pitch rotational acceleration of the floor, A step of determining a longitudinal correction command for correcting at least one of the force setting values, The process includes applying longitudinal correction commands to the set of suspensions, The aforementioned longitudinal adjustment command represents the longitudinal difference of the force setting value. The aforementioned longitudinal difference is applied between two suspensions, each associated with two rollers positioned longitudinally with respect to the direction of movement of the vehicle. The aforementioned difference in the front-rear direction depends on the distance between the two rollers and the pitch parameter of the floor.

[0010] The aforementioned configuration allows for the control of the vehicle's tilt, enabling the cargo to remain in a so-called "comfortable state" in relation to the vehicle's acceleration or deceleration. For example, a "comfortable state" may correspond to a situation where the acceleration affecting the cargo is substantially perpendicular to the floor surface.

[0011] "Substantially perpendicular" means a direction that falls within an angular range of less than 5° relative to the direction of gravitational acceleration, and more specifically, a direction that falls within an angular range of less than 2.86° relative to the direction of gravitational acceleration.

[0012] Synergistically, the above configuration makes it possible to place the cargo in a comfortable condition inside the vehicle, especially when the vehicle is subjected to pitch rotation due to the action of a headwind.

[0013] In advantageous cases, the use of a floor pitch parameter, which represents the floor's pitch rotational acceleration, allows for adaptation to variations in the floor's pitch velocity and enables dynamic correction of the floor's inclination.

[0014] Furthermore, the control method may have one or more of the following characteristics, either individually or in combination.

[0015] According to one embodiment, the step of collecting the pitch parameters of the floor includes collecting the values ​​and signs of the pitch parameters of the floor. The control method includes a step of comparing the value of the floor pitch parameter with a predetermined comfort pitch value. The step of determining the forward / backward correction command is performed when the value of the floor pitch parameter is greater than the comfort pitch value.

[0016] The aforementioned configuration, in particular, makes it possible to reduce the pitch rotational acceleration to a value below the comfortable pitch acceleration.

[0017] According to one embodiment, the longitudinal difference applied between two suspensions respectively associated with two rollers arranged in the longitudinal direction with respect to the moving direction of the vehicle is determined so as to maintain the acceleration of the load substantially perpendicular to the floor surface.

[0018] Thus, advantageously, the longitudinal difference is configured to adapt to fluctuations in the speed of the vehicle, particularly when accelerating or decelerating on a track. Thus, it is well understood that the longitudinal difference can cause a tilt of the vehicle floor different from the horizontal tilt.

[0019] According to one embodiment, the force set value is applied by a command of the torque of the motor that controls the suspension.

[0020] According to one embodiment, the longitudinal correction command depends on the mass of the vehicle.

[0021] According to one embodiment, the control method includes a step of collecting an acceleration parameter on the track representing the acceleration of the floor in the longitudinal direction of the moving direction of the vehicle, and a step of correcting the longitudinal difference in consideration of the acceleration parameter on the track.

[0022] According to one embodiment, the step of collecting the acceleration parameter on the track includes collecting the value and sign of the acceleration parameter on the track, the control method includes a step of comparing the value of the acceleration parameter on the track with a predetermined comfortable floor acceleration value, and the step of correcting the longitudinal difference is executed when the value of the acceleration parameter on the track is greater than the value of the comfortable floor acceleration.

[0023] With the configuration described above, it becomes possible to predict the movement of the vehicle floor in the case of acceleration or braking.

[0024] ​Therefore, according to one embodiment, the floor of the vehicle tilts forward when the vehicle accelerates on the track.

[0025] Alternatively, or in conjunction with this, the vehicle's floor can be tilted backward when the vehicle slows down or brakes on the track.

[0026] According to one embodiment, the control method is: A step of collecting a load compression parameter that represents the acceleration of the floor along an axis substantially perpendicular to the floor, A step of determining a normal correction command for correcting at least one of the force setting values, The step includes applying a normal correction command to the set of suspensions, The normal correction command is configured to drive the suspension to return the load compression parameters to a direction and magnitude substantially close to that of gravitational acceleration.

[0027] "Effectively close size" refers to a value centered around the gravitational acceleration of 2.5 m / s². 2 Values ​​within the range, or especially around 1.6 m / s², which is the value of gravitational acceleration. 2 This refers to values ​​that fall within a certain range.

[0028] "Substantially close direction" means a direction that falls within an angular range of less than 5° relative to the direction of gravitational acceleration, and more specifically, a direction that falls within an angular range of less than 2.86° relative to the direction of gravitational acceleration.

[0029] According to one embodiment, the step of collecting the compression parameters of the cargo includes collecting the value and sign of the compression meter of the cargo, and the control method includes the step of comparing the value of the compression parameters of the cargo with a predetermined comfort normal acceleration value, and if the value of the compression parameters of the cargo is greater than the comfort normal acceleration value, the step of determining a normal correction command is performed.

[0030] According to one embodiment, the control method includes the steps of: collecting floor roll parameters indicating the roll rotational acceleration of the floor; determining a lateral correction command for modifying at least one force setting value; and applying the lateral correction command to the set of suspensions, wherein the lateral correction command represents a lateral difference of the force setting value, and the lateral difference is applied between two suspensions associated with the two rollers, each depending on the distance between the two rollers positioned laterally with respect to the direction of movement of the vehicle and the floor roll parameter.

[0031] According to one embodiment, the step of collecting the roll parameters of the floor includes collecting the values ​​and signs of the roll parameters of the floor, The control method includes a step of comparing the value of the floor's roll parameter with a predetermined comfort roll value. The step of determining the left-right direction correction command is performed when the value of the floor roll parameter is greater than the comfort roll value.

[0032] According to one embodiment, the control method is: A step of collecting yaw parameters, including collecting the value and sign of the yaw parameter of the floor that represents the yaw rotational acceleration of the floor, A step of comparing the value of the floor's yaw parameter with a predetermined comfort yaw value, If the value of the yaw parameter of the floor is greater than the comfort yaw value, the process includes determining a yaw correction command to modify at least one force setting value, This includes the process of applying yaw correction commands to the suspension setup, The aforementioned yaw correction command represents the difference in yaw force setpoints, The yaw force setpoint difference is applied to one or more of the suspensions in the suspension set.

[0033] According to one embodiment, the process of collecting floor pitch parameters, trajectory acceleration parameters, load compression parameters, floor roll parameters, or floor yaw parameters is performed by an inclinometer or through a kinematic measuring device, enabling the understanding of six kinematic characteristics, such as an inertial unit. The inclinometer or the kinematic measuring device may be included in the control command system.

[0034] According to one embodiment, the force setting value applied to each suspension is configured so as not to fall below the limit adhesion force. In this way, the control method makes it possible to avoid the roller slipping on the support, especially when the roller is unloaded.

[0035] According to one embodiment, the control method includes a step of measuring the mass and distribution of the cargo inside the vehicle, and the difference in the longitudinal direction and / or the difference in the lateral direction depends on the mass and distribution of the cargo inside the vehicle.

[0036] According to one embodiment, the process of measuring the mass of the load is carried out by measuring the force applied to the roller, particularly when it is stationary.

[0037] According to one embodiment, the process of measuring the mass of the cargo is carried out using strain gauges.

[0038] According to one embodiment, the control method includes the steps of: measuring the position of each roller relative to the vehicle; determining a return command configured to correct at least one force setting value if the position of the roller is outside a predetermined target range; and applying a return command to the suspension set that returns the position of each roller to the target range.

[0039] According to one embodiment, the step of determining the return command includes sending a speed reduction command to an external system to control the vehicle's speed so as to reduce the vehicle's speed.

[0040] The aforementioned provisions ensure vehicle deceleration when it is impossible to maintain the suspension stroke within a target range, such as a safety range. Therefore, in advantageous cases, the control method allows for limiting the vehicle's speed, particularly when exposed to unpredictable external (wind, temperature) or internal (passengers, other vehicles) phenomena.

[0041] According to one embodiment, the control method may include the step of stopping at least one suspension in a predetermined position, for example, when the vehicle is stationary or malfunctioning.

[0042] According to one embodiment, the track includes a plurality of track sections defined by a section type, the control command system includes a position sensor, and the control method includes the steps of: measuring the position of the vehicle on the track; determining the track section and section type corresponding to the position of the vehicle on the track; and correcting the comfort pitch value, comfort floor acceleration value, comfort normal acceleration value and target range according to the section type.

[0043] According to one embodiment, the support comprises at least two cables extending between at least two towers, and the vehicle is suspended by ground cables via rollers.

[0044] Generally, cables can be positioned at roughly the same altitude and exhibit substantially similar deformation profiles on both sides.

[0045] According to one embodiment, the comfortable pitch value, comfortable floor acceleration value, comfortable normal acceleration value, and target range change depending on the trajectory conditions.

[0046] According to one embodiment, the comfort pitch value, comfort floor acceleration value, comfort normal acceleration value, and target range are communicated by the operator or an external control unit.

[0047] According to one embodiment, the control method includes the steps of: collecting track shape data representing the shape of the travel track extending upstream; and correcting the comfort pitch value and / or comfort floor acceleration value and / or comfort normal acceleration value and / or target range according to the track shape data.

[0048] In particular, the process of collecting track shape data can be used to drive a set of suspensions according to a predetermined program, especially according to the collection of floor pitch parameters, acceleration parameters on the track, load compression parameters, floor roll parameters, floor yaw parameters, or the position and mass of the vehicle on the track.

[0049] Furthermore, an object of the present invention can be achieved by implementing a load transport installation that includes a support structure comprising at least two extension cables extending between at least two towers to form a track on which a vehicle moves. The vehicle comprises rollers configured to contact the support structure, a floor for transporting a load, and a control command system, wherein the floor cooperates with the rollers via a set of suspensions, the set of suspensions having a stroke and being controlled by at least one force setpoint defining the force acting by each of the rollers on the floor, and the control command system is configured to drive the set of suspensions by the control method described above.

[0050] The transport equipment may also have, individually or in combination, one or more of the following characteristics:

[0051] According to one embodiment, the support that the wheel or roller contacts is a rail or cable.

[0052] According to one embodiment, the vehicle is equipped with wheels that come into contact with a support.

[0053] According to one embodiment, each suspension in a set of suspensions may be equipped with a brake configured to allow its movement, or, instead, to slow down and / or stop its movement.

[0054] According to one embodiment, the cargo being transported includes people.

[0055] According to one embodiment, the control command system includes a kinematic measuring device (e.g., an inertia unit) configured to measure kinematic data of the vehicle floor.

[0056] According to one embodiment, the stroke of each suspension in the suspension system is 1.5m or more and 3.0m or less.

[0057] According to one embodiment, the vehicle is self-propelled. [Brief explanation of the drawing]

[0058] Other aspects, purposes, advantages, and features of the present invention will be better understood by reading the following detailed description of preferred embodiments and by referring to the drawings, which are given as non-limiting examples. [Figure 1] This is a cross-sectional view of a vehicle relating to one embodiment of the present invention. [Figure 2] Figure 1 is a schematic diagram showing the movement of the vehicle within the space it can travel. [Figure 3] This figure shows an implementation configuration of a control method according to one embodiment of the present invention. [Figure 4] This is a schematic diagram of a transport equipment according to the first embodiment of the present invention. [Figure 5] This is a schematic diagram of a transport equipment according to a second embodiment of the present invention. [Figure 6] This is a schematic diagram of a transport equipment according to a third embodiment of the present invention. [Figure 7] This is a schematic diagram of a transport equipment according to a fourth embodiment of the present invention. [Modes for carrying out the invention]

[0059] In the drawings and the remainder of the specification, the same reference numerals represent the same or similar elements. In addition, different elements are not shown to scale for the sake of clarity in the drawings. Furthermore, different embodiments and modifications are not mutually exclusive and may be combined with each other.

[0060] The present invention relates to a transport system 1 for transporting cargo, including a track on which a vehicle 20 moves.

[0061] As shown in Figure 1, the vehicle 20 comprises rollers 24 configured to contact a support 10 having at least one cable 12 of a transport facility 1 that defines a track, and a floor 22 for transporting cargo. The floor 22 cooperates with the rollers 24 via a set of suspensions 26 having a predetermined stroke. The set of suspensions 26 is controlled by at least one force setting that defines the force exerted by each of the rollers 24 on the floor 22.

[0062] The present invention also relates to a control method implemented by a control command system 28 included in the vehicle 20 to drive a set of suspensions 26.

[0063] The embodiments described below will be better understood by referring to Figure 2, which schematically illustrates the movement of the vehicle 20 through space. Therefore, it will be clearly understood that the spatial references described below represent non-limiting embodiments of the present invention. According to this embodiment, the floor 22 has its center located at the center of gravity of the floor 22, An axis labeled "X" extends in the longitudinal direction along the floor 22 and is oriented in the direction of travel of the vehicle 20, and the vehicle performs a roll movement labeled "Rx" around this axis, which is determined by the roll speed and roll acceleration. An axis extending horizontally within the plane of the floor 22 and perpendicular to axis X, indicated as "Y", around which the vehicle 20 performs a pitch movement indicated as "Ry", which is defined by the pitch velocity and pitch acceleration, An axis labeled "Z" extends horizontally relative to the floor 22, and around this axis, the vehicle 20 performs a yaw movement, indicated by "Rz," which is defined by the yaw velocity and yaw acceleration. This makes it possible to define an orthonormal reference frame that includes these three axes.

[0064] Figure 3 shows an embodiment of the control method implemented by the control command system 28.

[0065] According to this embodiment, the control command system 28 collects the comfort pitch value, comfort floor acceleration value, comfort normal acceleration value, and target range (Col1), which are communicated by the operator or an external system 27.

[0066] In non-limiting modifications, the moment of inertia of the vehicle 20, the mass of the vehicle 20, and the length of the floor 22 can be collected. Next, a step Mes1 may be performed to measure the mass and distribution of the cargo inside the vehicle 20. For example, the step Mes1 of measuring the mass of the cargo can be performed by measuring the force applied on the rollers 24, particularly when the vehicle 20 is stationary.

[0067] According to one embodiment, the process Mes1 for measuring the mass of the load is performed using a strain gauge.

[0068] The control method may further include step Mes2 of measuring the position of each roller 24 relative to the vehicle 20. Thus, if the position of the roller 24 is outside a predetermined target range, the control method may determine (Det5) a return command configured to modify at least one force setpoint. In this case, step Apl5 is performed to apply the return command to the set of suspensions 26 so that the position of each roller 24 is returned to the target range.

[0069] In a specific non-limiting configuration, step Det5, which determines the return command, includes step Trs1, which sends a speed reduction command to an external system 27 to control the speed of the vehicle 20 so as to reduce the speed of the vehicle 20.

[0070] The aforementioned configuration ensures deceleration of the vehicle 20 when it is impossible to maintain the stroke of the suspension 26 within the target range, for example, when the target range corresponds to the safety range. Therefore, in advantageous cases, the control method allows for limiting the speed of the vehicle 20, particularly when exposed to unpredictable external (wind, temperature) or internal (passengers, other vehicles) phenomena.

[0071] According to one embodiment, the control method may include the step of stopping at least one suspension in a predetermined position, for example, when the vehicle 20 is stationary or malfunctioning.

[0072] Figures 4 to 7 show the transport equipment 1 when the vehicle 20 is driven by the control method. In particular, the figures show one of the two cables 12 and one of the two towers 14 through which the cable 12 is stretched. The vehicle 20 is suspended by the cable 12 above the ground via rollers 24.

[0073] Generally, the cables 12 can be located at approximately the same altitude and have substantially similar deformation profiles on both sides.

[0074] The control method may include a step Col3 for collecting floor pitch parameters, which represent the pitch rotation acceleration of the floor around the Y-axis. Step Col3 for collecting floor pitch parameters specifically includes collecting the value and sign of the floor pitch parameter. The value of the floor pitch parameter can be compared to a comfort pitch value (Cmp1). If the value of the floor pitch parameter is greater than the comfort pitch acceleration value, a longitudinal correction command for correcting at least one force setpoint is determined (Det1). The longitudinal correction command represents the longitudinal difference of the force setpoint applied between two suspensions 26, each associated with two rollers 24 positioned longitudinally with respect to the direction of movement of the vehicle 20. The difference generally depends on the distance between the two rollers 24, the mass of the vehicle, and the floor pitch parameter.

[0075] The control method may also include a step Col4 for collecting acceleration parameters on the track, which represent the value and sign of the floor acceleration in the longitudinal direction of the vehicle 20's movement. A step Cmp2 may be performed for comparing the value of the acceleration parameters on the track with the comfort floor acceleration value. If the value of the acceleration parameters on the track is greater than the comfort floor acceleration value, the longitudinal difference may be corrected (Mod1) taking the acceleration parameters on the track into account. Then, for example, the longitudinal correction command can be applied (Apl1) to a set of suspensions 26 by a torque command of a motor controlling the suspensions 26.

[0076] In this way, the pitch rotation acceleration can be reduced to a value below the comfortable pitch acceleration.

[0077] The configuration described above allows the tilt of the vehicle 20 to be controlled, maintaining the load in a so-called comfortable state with respect to the acceleration of the vehicle 20. For example, a "comfortable state" may correspond to a situation where the acceleration affecting the load is substantially perpendicular to the floor 22.

[0078] "Substantially perpendicular" means a direction that falls within an angular range of less than 5° relative to the direction of gravitational acceleration, and more specifically, within an angular range of less than 2.86° relative to the direction of gravitational acceleration.

[0079] Synergistically, the aforementioned configuration makes it possible to place the cargo in a comfortable condition inside the vehicle 20, especially when the vehicle 20 is subjected to pitch rotation due to the action of a headwind.

[0080] Alternatively, or in combination with this, the movement of the floor 22 of the vehicle 20 during acceleration or braking can be predicted. Therefore, as illustrated in Figure 5, the floor 22 of the vehicle 20 may tilt forward when the vehicle 20 is accelerating on the track. Furthermore, as illustrated in Figure 6, the floor 22 of the vehicle 20 may tilt backward when the vehicle 20 is decelerating or braking on the track.

[0081] Furthermore, the control method is, Step Col5 involves collecting load compression parameters, which represent the floor acceleration along the Z-axis, and in particular include the value and sign of the floor acceleration along the Z-axis. Step Col6 involves collecting floor roll parameters that indicate the floor roll rotation acceleration Rx, and in particular may include the value and sign of the floor roll rotation acceleration Rx. The process may also include a step Col7 for collecting floor yaw parameters, which may include the value and sign of the yaw parameter, in particular, indicating the yaw rotational acceleration Rz of the floor.

[0082] According to one embodiment, steps Col3, Col4, Col5, Col6, Col7 for collecting floor pitch parameters, trajectory acceleration parameters, load compression parameters, floor roll parameters, or floor yaw parameters are performed by an inclinometer or via a kinematic measuring device 29 that enables the detection of six kinematic characteristics, such as an inertial unit. The inclinometer or the kinematic measuring device 29 may be included in a control command system 28.

[0083] Following each of these steps, the control method may include a step Cmp3 in which collected values ​​are compared, for example, a step Cmp3 in which the value of the load compression parameter is compared with the comfort normal acceleration value. If the value of the load compression parameter is greater than the comfort normal acceleration value, a normal correction command configured to correct at least one force setpoint is determined (Det2).

[0084] Furthermore, step Cmp4 may be performed to compare the floor roll parameter value with the comfort roll value. If the floor roll parameter value is greater than the comfort roll value, a lateral correction command configured to modify at least one force setting value is determined (Det3).

[0085] Finally, step Cmp5 may be performed to compare the floor yaw parameter value with a predetermined comfort yaw value. If the floor yaw parameter value is greater than the comfort yaw value, a yaw correction command configured to modify at least one force setpoint is determined (Det4).

[0086] According to one embodiment, the difference in the longitudinal direction and / or the difference in the lateral direction depends on the mass of the cargo in the vehicle 20 and its distribution.

[0087] The control method can perform each of the following steps.

[0088] Step Apl2 involves applying a normal correction command to a set of suspensions 26. The normal correction command is configured to drive the suspensions 26 to return the load compression parameters to a direction and magnitude substantially close to the gravitational acceleration. "Substantially close magnitude" means 2.5 m / s² centered on the value of the gravitational acceleration. 2 This refers to values ​​that fall within a certain range, and more specifically, values ​​centered around the gravitational acceleration of 1.6 m / s². 2 Within this range, "substantially close direction" means a direction that falls within an angular range of less than 5° relative to the direction of gravitational acceleration, and more specifically, within an angular range of less than 2.86° relative to the direction of gravitational acceleration.

[0089] Step Apl3 of applying the left - right direction correction command to the set of suspensions 26. The left - right direction correction command represents the left - right direction difference of the force setting value. The left - right direction difference is arranged in the left - right direction with respect to the moving direction of the vehicle 20 and is applied between two suspensions 26 respectively associated with two rollers 24, which depends on the distance between the two rollers 24 and the roll parameter of the floor.

[0090] Step Apl4 of applying the yaw correction command to the set of suspensions 26. The yaw correction command represents the yaw force setting value difference, and the yaw force setting value difference is applied to one or more of the suspensions 26 in the set of suspensions 26.

[0091] Generally, the force setting value applied to each suspension 26 is configured not to exceed the limit adhesion force. By doing so, the control method can avoid the slippage of the roller 24 on the support 10, especially when the roller 24 is unloaded.

[0092] The foregoing embodiments can be implemented by the following algorithm.

[0093] 1. Comparison of the position of each suspension of the suspensions 26 of each roller 24 (Z gar , Z gav ) with the collected target range [Z min ; Z max a. When the following conditions are met, Execute steps 2 - 4 of the algorithm. b. When the above conditions are not met, send Trs1 of the speed reduction command and apply the return command (Apl5).

[0094] 2. Comparison of the value of the pitch parameter of the floor (α) with the value of the comfort pitch value [α min ; α max a. If the following conditions are met, The front-to-back direction setting coefficient K1 for JPEG0007836810000003.jpg536 is set to 0. b. If the above conditions are not met, the longitudinal setting coefficient K1 is defined as follows: JPEG0007836810000004.jpg1071 Here, the constant 1 depends on the length of the floor 22 between the suspensions, on the moment of inertia of the vehicle 20, on the mass of the vehicle 20, and on the mass of the load.

[0095] 3. Acceleration projection A of floor 22 on the plane defined by axes X and Z xz And, the comfort normal acceleration value [A xzmin ;A xzmax Comparison with ]. a. If the following conditions are met, The normal correction coefficient K2 for JPEG0007836810000005.jpg549 is set to 0. b. If the above conditions are not met, the following normal correction coefficient is determined (Det2). JPEG0007836810000006.jpg1185 Here, the constant 2 depends on the length of the floor 22 between the suspensions, the moment of inertia of the vehicle 20, the mass of the vehicle 20, and the mass of the load.

[0096] 4. Application of forward / backward difference as a function of K1 and K2 (Apl1), and application of normal correction command (Apl2). JPEG0007836810000007.jpg647JPEG0007836810000008.jpg647

[0097] Here, JPEG0007836810000009.jpg615 is the force setting value exerted by the front suspension between the floor 22 and the roller 24, where JPEG0007836810000010.jpg615 is the force setting value applied by the rear suspension between the floor 22 and the roller 24.

[0098] especially, JPEG0007836810000011.jpg615 and JPEG0007836810000012.jpg615 allows the forces in each of the 26 suspensions to be driven according to a PID-type closed-loop control law.

[0099] Generally, constants 1 and 2 may be dimensionally determined by experimental measurements or by investigations specific to the vehicle 20 and the support 10 used.

[0100] According to one embodiment, the first algorithm determines the speed of the position of each roller 24 relative to the set of suspensions 26. JPEG0007836810000013.jpg634 and acceleration You may also consider the range of JPEG0007836810000014.jpg534.

[0101] According to one embodiment, the determination of the return command Det5 is the target range [Z min ;Z max Each roller 24(Z) relative to the boundary of ] gar ,Z gav It is corrected in proportion to the position of ). In this way, as the position of each roller 24 approaches the limit of the target range, the return command may increase.

[0102] According to one embodiment, the difference in the forward and backward directions of the set value can be determined according to the rotational speed and rotational acceleration around axis Y.

[0103] According to one embodiment, the normal correction command is determined according to the speed and acceleration of the vehicle 20 on the track.

[0104] Referring to Figure 7, the track can comprise multiple track sections S1, S2, S3, which are demarcated by section type. Next, the control command system 28 may be equipped with position sensors that can measure the position of the vehicle 20 on the track (Mes3). This allows for the determination of the track section and section type according to the position of the vehicle 20 on the track (Det6). Thus, the control method may include a step Mod2 to modify the comfort pitch value, comfort floor acceleration value, comfort normal acceleration value, and target range according to the section type.

[0105] In advantageous cases, the comfort pitch value, comfort floor acceleration value, comfort normal acceleration value, and target range may change depending on the track conditions. In particular, according to an embodiment in which the control method includes a step Col8 for collecting track shape data representing the shape of the travel track extending upstream, a step can be performed to modify the comfort pitch value and / or the comfort floor acceleration value and / or the comfort normal acceleration value and / or the target range according to the track shape data.

[0106] In non-limiting modifications, the step Col8 for collecting track shape data may be used to drive a set of suspensions 26 according to a predetermined program, in particular depending on the steps of collecting floor pitch parameters Col3, collecting acceleration parameters on the track Col4, collecting load compression parameters Col5, collecting floor roll parameters Col6, and collecting floor yaw parameters Col7, or depending on the position and mass of the vehicle 20 on the track.

[0107] As described above, the present invention also relates to equipment 1 for transporting cargo, which is partially shown in Figures 4 to 7. Generally, the cargo being transported includes people.

[0108] The transport equipment 1 includes a support 10 with at least two extension cables 12 extending between at least two towers 14 to form a track on which the vehicle 20 travels. In an advantageous case, the vehicle 20 may be self-propelled.

[0109] The vehicle 20 includes rollers 24 configured to contact the support 10 and a floor 22 for transporting the load.

[0110] According to one embodiment, the vehicle 20 is equipped with wheels that come into contact with the support 10.

[0111] According to one embodiment, the support 10 that the wheel or roller 24 contacts is a rail or cable 12.

[0112] The floor 22 cooperates with the rollers 24, particularly via a set of suspensions 26. Each suspension 26 in the set of suspensions 26 may have a stroke of at least 1.5 m and no more than 3.0 m. The set of suspensions 26 is controlled by at least one force setting that defines the force exerted by each of the rollers 24 on the floor 22.

[0113] According to one embodiment, each suspension 26 in the set of suspensions 26 may be equipped with a brake configured to allow its movement, or instead to slow down and / or stop its movement.

[0114] Finally, the vehicle 20 includes a control command system 28 configured to drive a set of suspensions 26 by the control method of the type described above. The control command system 28 may include, in particular, a kinematic measuring device 29 (e.g., an inertia unit) configured to measure kinematic data of the floor 22 of the vehicle 20.

Claims

1. A control method for controlling a vehicle (20) that moves on a track, The aforementioned vehicle (20) is A roller (24) configured to contact at least one support (10) that defines the aforementioned track, Including a floor (22) for transporting cargo, The floor (22) cooperates with the roller (24) via a set of suspensions (26), The set of suspensions (26) includes at least one suspension (26), The at least one suspension (26) is controlled by at least one force setting that defines the force applied to the floor (22) by the at least one suspension (26), The control method described above is executed by a control command system (28), a. A step (Col3) of collecting pitch parameters of the floor that represent the pitch rotation acceleration of the floor, b. A step (Det1) of determining a longitudinal correction command for correcting at least one force setting value, c. The step (Apl1) of applying a longitudinal correction command to the set of suspensions (26), The aforementioned longitudinal adjustment command represents the longitudinal difference of the force setting value. The aforementioned longitudinal difference is applied between two suspensions (26) each associated with two rollers (24) positioned longitudinally with respect to the direction of movement of the vehicle (20). A control method in which the aforementioned difference in the front-rear direction depends on the distance between the two rollers (24) and the pitch parameter of the floor.

2. The step of collecting the pitch parameters of the floor (Col3) includes collecting the values ​​and signs of the pitch parameters of the floor, The control method includes a step (Cmp1) of comparing the value of the floor pitch parameter with a predetermined comfort pitch value. The step of determining the forward / backward correction command (Det1) is performed when the value of the floor pitch parameter is greater than the comfort pitch value. The control method according to claim 1.

3. a. A step (Col4) of collecting acceleration parameters on the track that represent the acceleration of the floor in the longitudinal direction of the direction of movement of the vehicle (20), b. A step (Mod 1) to correct the longitudinal difference considering the acceleration parameters on the trajectory, including, The control method according to either claim 1 or 2.

4. The step of collecting acceleration parameters on the orbit (Col4) includes collecting the values ​​and signs of the acceleration parameters on the orbit, The control method includes a step (Cmp2) of comparing the value of the acceleration parameter on the trajectory with a predetermined comfort floor acceleration value. The step of correcting the longitudinal difference (Mod1) is performed when the value of the acceleration parameter on the trajectory is greater than the comfort floor acceleration value. The control method according to claim 3.

5. a. A step (Col6) of collecting the roll parameters of the floor that indicate the roll rotation acceleration of the floor, b. A step (Det3) of determining a left-right correction command for correcting at least one force setting value, c. The step of applying a left-right direction correction command to the set of suspensions (26) (Apl3), The aforementioned left-right direction correction command represents the left-right difference in the force setting value. The aforementioned left-right difference is applied between two suspensions (26) associated with each of the two rollers (24), depending on the distance between the two rollers (24) positioned in the left-right direction with respect to the direction of movement of the vehicle (20) and the floor roll parameter. The control method according to any one of claims 1 to 4.

6. The step of collecting the roll parameters of the floor (Col 6) includes collecting the values ​​and signs of the roll parameters of the floor, The control method includes a step (Cmp4) of comparing the value of the floor's roll parameter with a predetermined comfort roll value. The step of determining the left-right direction correction command (Det3) is performed when the value of the floor roll parameter is greater than the comfort roll value. The control method according to claim 5.

7. The process includes a step (Mes1) for measuring the mass and distribution of the cargo of the vehicle (20), The difference in the longitudinal direction and / or the lateral direction with respect to the direction of movement of the vehicle (20) depends on the mass and distribution of the load on the vehicle (20). The control method according to any one of claims 1 to 6.

8. a. A step (Mes2) of measuring the position of each roller (24) relative to the vehicle (20), b. If the position of the roller (24) is outside a predetermined target range, the process includes determining a return command to correct at least one force setting value (Det 5), c. Step (Apl5) of applying a command to return the suspension (26) to the set, which returns the position of each roller (24) to the target range, A control method according to any one of claims 1 to 7, including the control method described in any one of claims 1 to 7.

9. The step of determining the return command (Det5) includes the step of sending a speed reduction command (Trs1) to an external system (27) to control the speed of the vehicle (20) so as to reduce the speed of the vehicle (20) The control method according to feature 8.

10. The aforementioned track includes a plurality of track sections (S1, S2, S3) defined by the section type, The control command system (28) includes a position sensor, The control method described above is a. A step (Mes3) of measuring the position of the vehicle (20) on the track, b. A step (Det6) to determine the track section and section type corresponding to the position of the vehicle (20) on the track, c. A step (Mod 2) to modify the comfort pitch value, comfort floor acceleration value, and target range according to the section type, A control method according to any one of claims 2, 4, and 8, including the above.

11. The aforementioned comfort pitch value, the comfort floor acceleration value, and the target range change according to the state of the trajectory. The control method according to feature 10.

12. A step (Col8) to collect shape data of the trajectory that represents the shape of the trajectory extending upstream, The process includes modifying the comfort pitch value and / or the comfort floor acceleration value and / or the target range according to the trajectory shape data, The control method according to any one of claims 10 or 11.

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