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ES2166163T3 - Instalacion de transporte con guiado optico y mecanico. - Google Patents

Instalacion de transporte con guiado optico y mecanico.

Info

Publication number
ES2166163T3
ES2166163T3 ES98921539T ES98921539T ES2166163T3 ES 2166163 T3 ES2166163 T3 ES 2166163T3 ES 98921539 T ES98921539 T ES 98921539T ES 98921539 T ES98921539 T ES 98921539T ES 2166163 T3 ES2166163 T3 ES 2166163T3
Authority
ES
Spain
Prior art keywords
road
module
nominal
axis
certain sections
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
ES98921539T
Other languages
English (en)
Inventor
Daniel Ferbeck
Michel Rebuffet
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Airbus DS SAS
Matra Transport International
Original Assignee
Matra Transport International
Matra Systemes et Information
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Matra Transport International, Matra Systemes et Information filed Critical Matra Transport International
Application granted granted Critical
Publication of ES2166163T3 publication Critical patent/ES2166163T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/26—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted mechanical, e.g. by a non-load-bearing guide
    • B62D1/265—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted mechanical, e.g. by a non-load-bearing guide especially adapted for guiding road vehicles carrying loads or passengers, e.g. in urban networks for public transportation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • G05D1/0229—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area in combination with fixed guiding means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Chemical & Material Sciences (AREA)
  • Transportation (AREA)
  • Combustion & Propulsion (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

LA INSTALACION COMPRENDE UNA VIA DE CIRCULACION EN LA QUE AL MENOS CIERTAS SECCIONES ESTAN DOTADAS DE UNA MARCACION LONGITUDINAL (10) DE REFERENCIA PARA LA TRAYECTORIA NOMINAL Y DE VEHICULOS (18) DE LOS QUE CADA UNO LLEVA UN CONJUNTO DE GUIADO POR CONTROL DEL EJE DE DIRECCION, QUE TIENE UN MODULO DE FORMACION DE UNA IMAGEN DE LA VIA POR DELANTE DEL VEHICULO (18) Y DE EXPLOTACION DE LA IMAGEN DE MARCACION Y UN MODULO DE GUIADO OPTICO QUE CALCULA LA ORIENTACION QUE HAY QUE DAR A LAS RUEDAS DEL EJE DE DIRECCION PARA SEGUIR LA TRAYECTORIA NOMINAL Y UN SERVOMOTOR DE OBLICUIDAD CONTROLADO POR EL MODULO DE GUIADO. LA VIA LLEVA, AL MENOS EN CIERTA SECCIONES, GUIAS LATERALES (14, 15) Y LOS VEHICULOS, CUYO EJE DELANTERO ES AL MENOS DE DIRECCION, ESTAN DOTADOS EN CADA EJE, DE RODILLOS (24) DE EJE VERTICAL DESTINADOS A APOYARSE SOBRE LAS GUIAS (14, 16) EN CASO DE DESVIACION EXCESIVA RESPECTO A UNA TRAYECTORIA NOMINAL SOBRE LA VIA.
ES98921539T 1997-04-18 1998-04-15 Instalacion de transporte con guiado optico y mecanico. Expired - Lifetime ES2166163T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR9704839A FR2762279B1 (fr) 1997-04-18 1997-04-18 Installation de transport a guidage optique et mecanique

Publications (1)

Publication Number Publication Date
ES2166163T3 true ES2166163T3 (es) 2002-04-01

Family

ID=9506094

Family Applications (1)

Application Number Title Priority Date Filing Date
ES98921539T Expired - Lifetime ES2166163T3 (es) 1997-04-18 1998-04-15 Instalacion de transporte con guiado optico y mecanico.

Country Status (7)

Country Link
US (1) US6161484A (es)
EP (1) EP0907541B1 (es)
DE (1) DE69802247T2 (es)
ES (1) ES2166163T3 (es)
FR (1) FR2762279B1 (es)
PT (1) PT907541E (es)
WO (1) WO1998047754A1 (es)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2771365B1 (fr) * 1997-11-26 1999-12-31 Renault Vehicules Ind Systeme de guidage mixte pour vehicule urbain avec limitation mecanique de l'emprise au sol
JP2000172336A (ja) 1998-09-29 2000-06-23 Toyota Motor Corp ガイドウェイ交通システム及びそのシステムに用いられる自動運転車両
MXPA01008044A (es) * 2001-08-09 2003-02-14 Eduardo Ayala Vargas Sistema de transporte mediante autobuses o trolebuses con ascenso y descenso de pasajeros restringido.
FR2901233B1 (fr) 2006-05-17 2009-02-27 Eurolum Soc Par Actions Simpli Vehicule sur roue, procede d'attelage, procede de desattelage, procede de gestion de ces vehicules et train de vehicules resultant
EP2284635A1 (en) * 2009-07-16 2011-02-16 Søren Wissing Autonomously and independently controlling transport system
CN106004986A (zh) * 2016-07-27 2016-10-12 东莞市赛力自动化设备科技股份有限公司 三面防刮伤车轮导向结构
CN106869563A (zh) * 2017-04-12 2017-06-20 庄健峰 小区地下停车场的过道安全导向器
DE102019208892A1 (de) * 2019-03-29 2020-10-01 Robert Bosch Gmbh Verfahren zum Betrieb eines fahrerlosen Transportsystems
US11079857B2 (en) * 2019-09-03 2021-08-03 Pixart Imaging Inc. Optical detecting device
CN114253290B (zh) * 2021-12-15 2024-03-19 成都飞机工业（集团）有限责任公司 一种飞机部件运输车自动循迹和精确定位的方法及系统

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60112111A (ja) * 1983-11-24 1985-06-18 Toyota Central Res & Dev Lab Inc 無人車の誘導制御装置
JPS60205724A (ja) * 1984-03-30 1985-10-17 Nec Corp 移動体誘導用標識
JPS63314618A (ja) * 1987-06-17 1988-12-22 Nissan Motor Co Ltd 自律走行車両制御装置
US5208750A (en) * 1987-06-17 1993-05-04 Nissan Motor Co., Ltd. Control system for unmanned automotive vehicle
JPH07120194B2 (ja) * 1988-03-31 1995-12-20 株式会社椿本チエイン 無人搬送車の走行制御方法及びその装置
DE3928061C1 (es) * 1989-08-25 1990-11-22 Daimler-Benz Aktiengesellschaft, 7000 Stuttgart, De
DE4002113C1 (en) * 1990-01-25 1991-04-18 Mercedes-Benz Aktiengesellschaft, 7000 Stuttgart, De Low floor omnibus vehicle - has axle bridge to hold steered wheels on pivoted knuckles
US5347456A (en) * 1991-05-22 1994-09-13 The Regents Of The University Of California Intelligent roadway reference system for vehicle lateral guidance and control
FR2679357B1 (fr) * 1991-07-19 1997-01-31 Matra Sep Imagerie Inf Dispositif embarque et procede de reperage et de suivi de la position d'un vehicule sur la route et dispositif d'aide a la conduite en comportant application.
US5318143A (en) * 1992-06-22 1994-06-07 The Texas A & M University System Method and apparatus for lane sensing for automatic vehicle steering
DE4332836C1 (de) * 1993-09-27 1994-09-15 Daimler Benz Ag Vorrichtung zur spurhaltungsgeregelten Lenkung eines Fahrzeugs
DE4407726C1 (de) * 1994-03-08 1995-03-30 Daimler Benz Ag Nicht spurgebundenes Fahrzeug, insbesondere Omnibus

Also Published As

Publication number Publication date
EP0907541B1 (fr) 2001-10-31
PT907541E (pt) 2002-04-29
WO1998047754A1 (fr) 1998-10-29
FR2762279A1 (fr) 1998-10-23
DE69802247D1 (de) 2001-12-06
DE69802247T2 (de) 2002-06-27
FR2762279B1 (fr) 1999-07-02
US6161484A (en) 2000-12-19
EP0907541A1 (fr) 1999-04-14

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