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公开(公告)号：US08209091B2
公开(公告)日：2012-06-26
申请号：US12516243
申请日：2008-01-21
IPC分类号： A01B69/00
摘要： According to a steering control method, before starting, a pattern steering angle table on which pattern steering angles for the front and rear wheels at respective change points of the track are listed is prepared in view of a track condition, etc. from a departure point to a destination point, a vehicle is steered in accordance with a pattern steering angle read from the table, a track widthwise position of the vehicle on running is detected so as to calculate correcting steering angles by which the track widthwise position of the vehicle coincides with a desired position, and the correcting steering angles are added to pattern steering angles so as to obtain desired steering angles by which the front wheels are steered. The pattern steering angle, the corrected steering angle and the desired steering angle are calculated for each of the front and rear wheels, independent from each other.
摘要翻译： 根据转向控制方法，在开始之前，根据轨迹条件等从出发点准备在其上列出轨道的各个变化点处的前轮和后轮的图形转向角的图案转向角度表 到目的地点，根据从桌子读取的图案转向角来转向车辆，检测行驶中的车辆的轨道宽度方向位置，以计算车辆的轨道宽度方向与车辆的轨迹横向位置一致的校正转向角度 将期望的位置和校正转向角加到图形转向角上，以获得转向前轮的期望的转向角度。 为彼此独立地计算前轮和后轮中的每一个的图案转向角，修正转向角和期望的转向角。
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公开(公告)号：US20100100267A1
公开(公告)日：2010-04-22
申请号：US12516243
申请日：2008-01-21
IPC分类号： G06F19/00
摘要： In a track type transportation system, there is provided an automatic steering mechanism with which a vehicle can be moved forward and backward, and which can carry our fine control so as to allow the positions of the centers of axles of the front and rear wheels to substantially follow up one and the same locus. Before starting, a pattern steering angle table on which pattern steering angles for the front and rear wheels at respective change points of the track are listed is prepared in view of a track condition, a running condition and a vehicle condition from a departure point to a destination point, the vehicle 12 is steered in accordance with a pattern steering angle read from the table, a track widthwise position of the vehicle 12 on running is detected so as to calculate correcting steering angles ΔXa, ΔXb by which the track widthwise position of the vehicle coincides with a desired position, and the correcting steering angles are added to pattern steering angles Xao, Xbo so as to obtain desired steering angles by which the front wheels 18, 22 are steered. The pattern steering angle, the corrected steering angle and the desired steering angle are calculated for each of the front and rear wheels, independent from each other.
摘要翻译： 在轨道式运输系统中，提供了一种自动转向机构，通过该自动转向机构能够使车辆前后移动，并且能够进行精细的控制，以使前轮和后轮的车轴中心的位置 基本上跟踪同一个轨迹。 在开始之前，考虑到轨道条件，行驶条件和从出发点到车辆状态的车辆状况来准备列出了轨道的各个变化点处的前轮和后轮的图形转向角的图案转向角度台 目标点，根据从表读出的图形转向角来转向车辆12，检测行驶中的车辆12的轨道宽度方向位置，以计算校正转向角＆Dgr; Xa，＆Dgr; Xb，轨道 车辆的横向位置与期望位置一致，并且将修正转向角加到图形转向角Xao，Xbo上，以获得转向前轮18,22的期望的转向角度。 为彼此独立地计算前轮和后轮中的每一个的图案转向角，修正转向角和期望的转向角。
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公开(公告)号：US08761972B2
公开(公告)日：2014-06-24
申请号：US12515149
申请日：2008-01-21
IPC分类号： B61F9/00
摘要： In a track type protection system comprising an automatic steering mechanism and a fail-safe mechanism, provided is a detection mechanism which can detect a deviated value of a vehicle, widthwise of a track, and which is highly reliable. The track type transportation system in which the vehicle runs on the road surface of the track, comprising the steering mechanism for automatically steering the front and rear wheels of the vehicle by means of actuators, and the fail-safe mechanism composed of a protection track defined on the road surface of the track, and protection wheels provided in the lower part of the vehicle and adapted to run in the protection track without making contact with the protection track, wherein there are provided a pair of noncontact type displacement meters 13 which are attached to a support bracket 64 suspended downward from the lower part of the vehicle body, and which are arranged in the protection track 14 so as to irradiate detection waves a onto the left and right side walls 14a of the protection track, thereby the distances from the noncontact type displacement meters 13 to the left and right side walls of the protection track are measured by the pair of noncontact type displacement meters.
摘要翻译： 在包括自动转向机构和故障保护机构的轨道式保护系统中，提供一种检测机构，其可以检测车辆的宽度方向，并且高可靠性。 轨道式运输系统，其中车辆在轨道的路面上行驶，包括用于通过致动器自动地转向车辆的前轮和后轮的转向机构，以及由保护轨道定义的故障保护机构 在轨道的路面上，以及保护轮，其设置在车辆的下部并且适于在保护轨道中行进而不与保护轨道接触，其中设置有一对非接触式位移计13，其附接 到从车身的下部悬挂在下方的支撑托架64，并且布置在保护轨道14中以便将检测波a照射到保护轨道的左侧壁和右侧壁14a上，从而距离 非接触式位移仪13对保护轨道的左右侧壁由一对非接触式位移仪 。
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公开(公告)号：US20100036553A1
公开(公告)日：2010-02-11
申请号：US12515149
申请日：2008-01-21
IPC分类号： G06F17/00
摘要： In a track type protection system comprising an automatic steering mechanism and a fail-safe mechanism, provided is a detection mechanism which can detect a deviated value of a vehicle, widthwise of a track, and which is highly reliable. The track type transportation system in which the vehicle runs on the road surface of the track, comprising the steering mechanism for automatically steering the front and rear wheels of the vehicle by means of actuators, and the fail-safe mechanism composed of a protection track defined on the road surface of the track, and protection wheels provided in the lower part of the vehicle and adapted to run in the protection track without making contact with the protection track, wherein there are provided a pair of noncontact type displacement meters 13 which are attached to a support bracket 64 suspended downward from the lower part of the vehicle body, and which are arranged in the protection track 14 so as to irradiate detection waves a onto the left and right side walls 14a of the protection track, thereby the distances from the noncontact type displacement meters 13 to the left and right side walls of the protection track are measured by the pair of noncontact type displacement meters.
摘要翻译： 在包括自动转向机构和故障保护机构的轨道式保护系统中，提供一种检测机构，其可以检测车辆的宽度方向，并且高可靠性。 轨道式运输系统，其中车辆在轨道的路面上行驶，包括用于通过致动器自动地转向车辆的前轮和后轮的转向机构，以及由保护轨道定义的故障保护机构 在轨道的路面上，以及保护轮，其设置在车辆的下部并且适于在保护轨道中行进而不与保护轨道接触，其中设置有一对非接触式位移计13，其附接 到从车身的下部悬挂在下方的支撑托架64，并且布置在保护轨道14中以便将检测波a照射到保护轨道的左侧壁和右侧壁14a上，从而距离 非接触式位移仪13对保护轨道的左右侧壁由一对非接触式位移仪 。
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公开(公告)号：US08245648B2
公开(公告)日：2012-08-21
申请号：US12295530
申请日：2007-10-31
IPC分类号： B61F9/00
CPC分类号： B61B10/04
摘要： A guided vehicle transportation system is described in the application. The system includes guard wheels and a guard rail positioned along a center line of a guide track. The guard rail has a groove in which the guard wheels are received with a predetermined clearance between the periphery of the guard wheels and side walls of the groove. The guard rail has a flange extending toward the groove at the top of each side wall. The vehicle has first arms extending in longitudinal direction and being attached rotatably at a central part of an axle provided for suspending each pair of front wheels and rear wheels, and the guard wheels are attached rotatably and directly to the both end parts of the first arms or attached rotatably to both end parts of second arms each of which is attached to a corresponding end part of the first arms.
摘要翻译： 在本申请中描述了导向车辆运输系统。 该系统包括保护轮和沿导轨的中心线定位的护栏。 护栏具有凹槽，其中保护轮在防护轮的周边和槽的侧壁之间以预定的间隙被接收。 护栏具有在每个侧壁的顶部朝向凹槽延伸的凸缘。 车辆具有沿纵向延伸的第一臂，并且可旋转地安装在设置用于悬挂每对前轮和后轮的轴的中心部分处，并且保护轮可旋转地并直接地附接到第一臂的两个端部 或者可旋转地连接到第二臂的两个端部，每个第二臂附接到第一臂的对应的端部。
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公开(公告)号：US20090301342A1
公开(公告)日：2009-12-10
申请号：US12295530
申请日：2007-10-31
CPC分类号： B61B10/04
摘要： A guided vehicle transportation system is provided with which toppling down of the vehicle is prevented even when strong lateral external force exerts on the vehicle. The fail-safe mechanism of the system is composed such that a guard rail 31 having a flange 34 extending horizontally at the upper part of each of its vertical guide surfaces for guiding guard wheels 22, 23 provided to the vehicle is laid down on a guide track 3 (depression 10) along the center lone thereof, the vehicle is provided with automatic steering mechanisms 09 and actuators 06 for steering front and rear traveling wheels, and said guard wheels are provided to the vehicle rotatable in a lateral plane and received in the groove of the guard rail 31. A subsidiary guard wheel 33, which is smaller in diameter than that of the guard wheel 22(23), is provided thereon to be rotatable together with the guard wheel 22(23). When the vehicle is moved laterally by strong lateral external force due to a gust of cross wind, the subsidiary guard wheel 33 comes under the flange 34 of the guard rail 31 and heeling over and toppling down of the vehicle can be prevented.
摘要翻译： 提供了一种导向车辆运输系统，即使当强大的侧向外力施加在车辆上时，也可以防止车辆倒塌。 系统的故障保护机构构成为，具有在其每个垂直引导表面的上部水平延伸的用于引导车辆的保护轮22,23的凸缘34的护栏31被放置在导轨 轨道3（凹陷10）沿着其中心孤立，车辆设置有自动转向机构09和用于转向前后行进轮的致动器06，并且所述保护轮设置在车辆中可在横向平面内旋转并被接收在 护栏33的直径小于防护轮22（23）直径的辅助防护轮33设置在其上，与保护轮22（23）一起旋转。 当车辆由于横风而横向受到强烈的侧向外力移动时，辅助防护轮33进入保护轨31的凸缘34的下方，并且能够防止车辆倾倒并向下倾斜。
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公开(公告)号：US20090259352A1
公开(公告)日：2009-10-15
申请号：US12373800
申请日：2006-11-01
申请人： Shunji Morichika , Katsuaki Morita , Hiroyuki Kono , Hiroyuki Mochidome , Hiroshi Yamashita , Masahiro Yamaguchi , Kosuke Katahira
发明人： Shunji Morichika , Katsuaki Morita , Hiroyuki Kono , Hiroyuki Mochidome , Hiroshi Yamashita , Masahiro Yamaguchi , Kosuke Katahira
摘要： The essential feature of the present invention is the provision of a track transportation system in which a vehicle runs on a predetermined track, being automatically steered, having a simplified and lightweight structure so as to surely ensure a safety, and to be capable of carrying out efficient and high-speed operation. The track transportation system according to the present invention incorporates a steering mechanism for automatic steering by means of an M actuator, a protection guide rail laid on the track, protection guide wheels which travel together with the vehicle along the protection guide rail without making contact with the latter, and a control means for controlling automatic steering in accordance with a result of determination by a track data determining means for determining a straight portion, a curved portion, a turnout portion or the like of the track in view of vehicle position data, and steering caused by the protection wheels making contact with the protection guide rail.
摘要翻译： 本发明的基本特征是提供一种轨道运输系统，其中车辆在预定轨道上行驶，被自动转向，具有简化且轻便的结构，以确保确保安全性，并且能够执行 高效率和高速运行。 根据本发明的轨道运输系统包括用于通过M致动器自动转向的转向机构，设置在轨道上的保护导轨，沿着保护导轨与车辆一起行进的保护引导轮，而不与 后者，以及根据轨道数据确定装置的确定结果控制自动转向的控制装置，用于根据车辆位置数据确定轨道的直线部分，弯曲部分，转弯部分等， 以及由保护轮与保护导轨接触引起的转向。
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公开(公告)号：US08161889B2
公开(公告)日：2012-04-24
申请号：US12373429
申请日：2006-11-16
申请人： Shunji Morichika , Katsuaki Morita , Hiroyuki Kono , Hiroyuki Mochidome , Hiroshi Yamashita , Masahiro Yamaguchi , Kosuke Katahira
发明人： Shunji Morichika , Katsuaki Morita , Hiroyuki Kono , Hiroyuki Mochidome , Hiroshi Yamashita , Masahiro Yamaguchi , Kosuke Katahira
IPC分类号： B61F9/00
摘要： The present invention provides the structure of a bogie for a vehicle in a track type transportation system in which the vehicle runs along a predetermined track, which can be simplified, and lightweight and which can be run at a high speed with the maintainability therefor being enhanced, comprising a guide rail 14 laid on the track 12, guide wheels 51 capable of traveling being made into contact with the guide rail 14, a guide arm 48 attached thereto with the guide wheels 51, and a guide wheel support bracket 52 for supporting the guide arm 48 arranged underneath an axle 22 of the vehicle so that the guide arm 48 is pivotable around a pivotal vertical support shat 56, left and right of the vehicle, and the guide arm 48, the guide wheels 51 and the guide wheel support bracket 52 constitute a unit structure which is attached to the axle 22 or a bogie frame 26 of the vehicle.
摘要翻译： 本发明提供了一种轨道式运输系统中的车辆转向架的结构，其中车辆沿预定轨道行驶，其可以简化且重量轻并且可以以高速运行，并且其可维护性被增强 包括布置在轨道12上的导轨14，能够与导轨14接触的行进导向轮51，与引导轮51连接的引导臂48和用于支撑导向轮51的导轮支撑支架52 引导臂48布置在车辆的车轴22的下方，使得引导臂48围绕车辆左右的枢转垂直支撑柄56枢转，并且引导臂48，引导轮51和引导轮支撑支架 52构成连接到车辆22的车轴22或转向架框架26的单元结构。
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公开(公告)号：US08234022B2
公开(公告)日：2012-07-31
申请号：US12373800
申请日：2006-11-01
申请人： Shunji Morichika , Katsuaki Morita , Hiroyuki Kono , Hiroyuki Mochidome , Hiroshi Yamashita , Masahiro Yamaguchi , Kosuke Katahira
发明人： Shunji Morichika , Katsuaki Morita , Hiroyuki Kono , Hiroyuki Mochidome , Hiroshi Yamashita , Masahiro Yamaguchi , Kosuke Katahira
IPC分类号： G05D1/00
摘要： The essential feature of the present invention is the provision of a track transportation system in which a vehicle runs on a predetermined track, being automatically steered, having a simplified and lightweight structure so as to surely ensure a safety, and to be capable of carrying out efficient and high-speed operation. The track transportation system according to the present invention incorporates a steering mechanism for automatic steering by means of an M actuator, a protection guide rail laid on the track, protection guide wheels which travel together with the vehicle along the protection guide rail without making contact with the latter, and a control means for controlling automatic steering in accordance with a result of determination by a track data determining means for determining a straight portion, a curved portion, a turnout portion or the like of the track in view of vehicle position data, and steering caused by the protection wheels making contact with the protection guide rail.
摘要翻译： 本发明的基本特征是提供一种轨道运输系统，其中车辆在预定轨道上行驶，被自动转向，具有简化且轻便的结构，以确保确保安全性，并且能够执行 高效率和高速运行。 根据本发明的轨道运输系统包括用于通过M致动器自动转向的转向机构，设置在轨道上的保护导轨，沿着保护导轨与车辆一起行进的保护引导轮，而不与 后者，以及根据轨道数据确定装置的确定结果控制自动转向的控制装置，用于根据车辆位置数据确定轨道的直线部分，弯曲部分，转弯部分等， 以及由保护轮与保护导轨接触引起的转向。
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10.发明授权Structure of bifurvation and crossover site of guideway in guided vehicle transportation system 有权导向车辆运输系统导轨的双维和交叉位置结构公开(公告)号：US08074577B2
公开(公告)日：2011-12-13
申请号：US12300280
申请日：2007-11-07
IPC分类号： B61F13/00
CPC分类号： B61B10/04 , B61B10/001 , E01B25/28
摘要： Structure of a bifurcation site and crossover site of a guideway in a guided vehicle transportation system; in which the guideway consists of left and right roadbeds, a depression between the roadbeds, and a guard rail having a U-shaped groove laid down on the depression; and a fail-safe mechanism is constituted by the guard rail and guard wheels attached to the vehicle; is proposed. The vehicle is equipped with automatic steering mechanisms for steering front and rear wheels and guard wheels supported laterally rotatably by front and rear supporting arms which are supported laterally rotatably underside the vehicle. The guard wheels are received in the groove of the guard rail. A movable guard plate and driving means thereof are provided to switch connection of the groove of the guard rail at a bifurcation thereof, and a movable plate and driving means thereof are provided to be able to plug or cover each of openings of grooves of guard rails in a region where the guard rail crosses a roadbed so that the movable plate is moved to plug or cover the groove thereby preparing a flat surface level with the roadbed.
摘要翻译： 引导车辆运输系统中导轨的分叉位置和交叉点的结构; 其中导轨由左右路基组成，路基之间的凹陷和在凹部上设置有U形槽的护栏; 并且由安装在车辆上的护栏和防护轮构成故障保护机构; 被提出。 该车辆配备有用于转向前轮和后轮的自动转向机构和通过前后支撑臂横向可旋转地支撑的保护轮，该支撑臂在车辆下方横向可旋转地支撑。 防护轮被接收在护栏的槽中。 提供一个可动保护板及其驱动装置，用于切换护栏在其分叉处的沟槽的连接，并提供一可移动板及其驱动装置，以便能够堵塞或覆盖护栏槽的每个开口 在保护轨道穿过路基的区域中，使得移动板移动以堵塞或覆盖槽，从而与路基准备平坦的表面水平。
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