Autonomous Tunnel Vehicle with Pivoting Axles and Sensor Fusion
Solution Overview
Problem
Current transport systems for tunnels with high space constraints, such as those with small radii of curvature and angled walls, face challenges in maintaining single-track reversible operation, especially in conditions with limited visibility and during emergencies like fires, where traditional guidance systems are inadequate.
Innovation Solution
A tunnel transport system comprising a vehicle with a longitudinal frame, pivoting wheelsets, and a control unit that combines rangefinders, inclinometers, and obstacle detection systems to autonomously navigate and control axle rotation based on distance and inclination measurements, ensuring stable operation on varying tunnel profiles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional guidance systems are used in tunnels with small radii of curvature and angled walls, then the system can operate in constrained spaces, but the guidance accuracy deteriorates in degraded conditions such as fires or limited visibility
Solution Approach 1:
The transport system integrates multiple sensor types (laser rangefinders, ultrasonic sensors, infrared detectors) that can function across diverse tunnel conditions including fires and limited visibility. The system universally adapts to different tunnel geometries (flat sections, curved sections, angled walls) by selecting appropriate sensor combinations, ensuring reliable operation regardless of environmental degradation
Solution Approach 2:
The patent replaces traditional mechanical or optical guidance systems with autonomous sensor-based navigation. Laser rangefinders and ultrasonic sensors substitute for visual guidance, enabling the system to operate reliably in degraded conditions where traditional mechanical guidance would fail
2Ease of operation
If single-track train configurations are used to facilitate curved movements in constrained areas, then the vehicle can follow the tunnel path, but the system cannot operate reversibly
Solution Approach 1:
The transport system employs dynamic control of steering axles that can adapt their configuration based on operational needs. The system can switch between single-track configuration for curved movement and reversible configuration by dynamically adjusting axle positions and control parameters, allowing both operational modes within the same system
3Adaptability or versatility
If reversible vehicle trains with separate drive axles are used to enable bidirectional operation, then the system can maneuver in complex areas, but the single-track tracking capability is compromised
Solution Approach 1:
The system employs feedback control through laser rangefinders and ultrasonic sensors that continuously monitor the vehicle's position relative to the tunnel walls and centerline. This feedback enables real-time adjustment of steering angles to maintain accurate single-track following, even when operating in reversible mode with multiple drive axles
4Extent of automation
If obstacle detection systems are added to enable autonomous operation, then the system can operate without drivers, but the device complexity increases
Solution Approach 1:
The patent combines multiple sensor functions (obstacle detection, distance measurement, guidance, and navigation) into an integrated autonomous control system. By merging these functions into a unified system rather than separate components, the patent reduces overall complexity while achieving full autonomous operation capability
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables fully autonomous operation on flat and curved tunnel sections, maintaining single-track trajectory and ensuring safe passage even in degraded conditions by dynamically adjusting wheel positions and controlling axle rotations, enhancing safety and reliability.
Implementation Method 1
at least one laser rangefinder arranged to measure a distance between the vehicle and the tunnel wall
Implementation Method 2
measuring a distance between the vehicle and the tunnel wall by means of at least one laser rangefinder
Implementation Method 3
at least one ultrasonic sensor arranged to detect obstacles
Implementation Method 4
at least one inclinometer arranged to measure an angle of inclination between an axis normal to the mean plane formed by the chassis and the direction of gravity
Data Source
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AI summary
The invention relates to a tunnel transport system comprising at least one wheeled vehicle (100) and a vehicle (100) control unit (200), said vehicle (100) having a generally longitudinal chassis (110) and at least two axles (120, 130) mounted pivotally under the chassis (110) at each end of the chassis, and the control unit (200) comprising a control device (210) provided for controlling the at least two axles (120, 130) of the vehicle (100), the system including a displacement tracking unit (300) comprising a combination of at least one telemetry device (310) and at least one inclinometer device (320), in which the telemetry device (310) is provided for measuring a distance between the vehicle (100) and each of the lateral walls of the tunnel,and the inclinometer device (320) is designed to measure an angle of inclination between an axis normal to the mean plane formed by the chassis and the direction of Earth's gravity in a frontal plane of said vehicle (100).