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SE547226C2 - Method of Controlling a Current Collector Arrangement, Computer Program, Computer-Readable Medium, Control Arrangement, Current Collector Arrangement, and Vehicle - Google Patents

Method of Controlling a Current Collector Arrangement, Computer Program, Computer-Readable Medium, Control Arrangement, Current Collector Arrangement, and Vehicle

Info

Publication number
SE547226C2
SE547226C2 SE2351222A SE2351222A SE547226C2 SE 547226 C2 SE547226 C2 SE 547226C2 SE 2351222 A SE2351222 A SE 2351222A SE 2351222 A SE2351222 A SE 2351222A SE 547226 C2 SE547226 C2 SE 547226C2
Authority
SE
Sweden
Prior art keywords
current collector
vehicle
arrangement
overhead lines
relative
Prior art date
Application number
SE2351222A
Other languages
Swedish (sv)
Other versions
SE2351222A1 (en
Inventor
Mohammad Davari
Original Assignee
Scania Cv Ab
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 Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE2351222A priority Critical patent/SE547226C2/en
Priority to PCT/SE2024/050888 priority patent/WO2025089999A1/en
Publication of SE2351222A1 publication Critical patent/SE2351222A1/en
Publication of SE547226C2 publication Critical patent/SE547226C2/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
    • B60L5/18—Current collectors for power supply lines of electrically-propelled vehicles using bow-type collectors in contact with trolley wire
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
    • B60L5/18—Current collectors for power supply lines of electrically-propelled vehicles using bow-type collectors in contact with trolley wire
    • B60L5/22—Supporting means for the contact bow
    • B60L5/24—Pantographs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
    • B60L5/36—Current collectors for power supply lines of electrically-propelled vehicles with means for collecting current simultaneously from more than one conductor, e.g. from more than one phase
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
    • B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B60L50/66—Arrangements of batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/18—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries of two or more battery modules
    • B60L58/21—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries of two or more battery modules having the same nominal voltage
    • 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
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/18—Buses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/36—Vehicles designed to transport cargo, e.g. trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/10—Driver interactions by alarm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/16—Driver interactions by display

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Sustainable Energy (AREA)
  • Sustainable Development (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Current-Collector Devices For Electrically Propelled Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

A method (100) for controlling a current collector arrangement (1) of a vehicle (2) is disclosed. The method (100) is performed by a control arrangement (10), wherein the current collector arrangement (1) comprises a current collector (4) configured movable relative to the vehicle (2) and configured to interact with overhead lines (6) held by overhead line carrying structures (7). The current collector arrangement (1) further comprises a first sensor (9) configured to acquire images of the environment surrounding the vehicle (2).The method (100) comprises the steps of:- obtaining (101) a first image from the sensor (9),- determining (104) the position of any overhead lines (6) relative to the current collector (4) based on information related to any overhead lines (6) in the first image combined with information related to any overhead line carrying structures (7) in the first image, and- outputting (105a) a notification related to the determined position of any overhead lines (6) relative to the current collector (4) to an operator of the vehicle (2) and/or controlling (105b) the position of the current collector (4) based on the determined position of any overhead lines (6) relative to the current collector (4). is disclosedThe present disclosure further relates to control arrangement for a vehicle, a current collector arrangement for a vehicle, a computer program, a computer-program product, and a vehicle comprising a current collector arrangement.

Claims (1)

  1. Claims A method (100) for controlling a current collector arrangement (1) of a vehicle (2), wherein the method (100) is performed by a control arrangement (10), wherein the current collector arrangement (1) comprises a current collector (4) configured movable relative to the vehicle (2) and configured to interact with overhead lines (6) held by overhead line carrying structures (7), wherein the current collector arrangement (1) comprises a first sensor (9) configured to acquire images of the environment surrounding the vehicle (2), and wherein the method (100) comprises the steps of: - obtaining (101) a first image from the jšf ._§__sensor (9), - determining (104) the position of any overhead lines (6) relative to the current collector (4) based on information related to any overhead lines (6) in the first image combined with information related to any overhead line carrying structures (7) in the first image, and - outputting (105a) a notification related to the determined position of any overhead lines (6) relative to the current collector (4) to an operator of the vehicle (2) and/or controlling (105b) the position of the current collector (4) based on the determined position of any overhead lines (6) relative to the current collector (4). _ The method (100) according to claim 1, wherein the method (100) further comprises the step of: - obtaining (102) one or more second images from the first sensor (9), and wherein the determining of the position of any overhead lines (6) relative to the current collector (4) is based also on information obtained from the one or more second images. The method (100) according to any one of the preceding claims, wherein the determining of the position of any overhead lines (6) relative to the current collector (4) is further based on information related to the operational and/or physical characteristics of the vehicle (2). The method (100) according to claim any one of the preceding claims, wherein the determining of the position of the overhead lines (6) relative to the current collector (4) is further based on additional information related to §lj§¿\_road the vehicle (2) is travelling on. The method (100) according to claim any one of the preceding claims, wherein the first sensor (9) is a camera capturing light within the visual spectrum. The method (100) according to any one of the preceding claims, wherein the current collector arrangement (1) further comprises one or more second sensors, wherein the method (100) further comprises the step of: - obtaining additional information from the one or more second sensors related to any overhead lines (6), and wherein the determination of the position of any overhead lines (6) relative to the current collector (4) is further based on the additional information obtained from the one or more second sensors. The method (100) according to claim 6, wherein the one or more second sensor include an IR-camera. A computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method (100) according to any one of the claims 1 - A computer-readable medium (200) comprising instructions which, when executed by a computer, cause the computer to carry out the method (100) according to any one of the claims 1 - A control arrangement (10) for controlling a current collector arrangement (1) of a vehicle (2), wherein the current collector arrangement (1) comprises a current collector (4) configured movable relative to the vehicle (2) and configured to interact with overhead lines (6) held by overhead line carrying structures (7), wherein the current collector arrangement (1) comprises a first sensor (9) configured to acquire images of the environment surrounding the vehicle (2), and wherein control arrangement (10) is configured to: - obtain a first image from the first sensor (9), - determine the position of any overhead lines (6) relative to the current collector (4) based on information related to any overhead lines (6) in the first image combined with information related to any overhead line carrying structures (7) in the first image, and - provide the information related to the position of any overhead lines (6) relative to the current collector (4) to an operator of the vehicle (2) and/or control the position of the current collector (4) based on the position of any overhead lines (6) relative to the current collector (4). A current collector arrangement (1) of a vehicle (2), wherein the current collector arrangement (1) comprises a current collector (4) configured movable relative to the vehicle (2) and configured to interact with overhead lines (6) held by overhead line carrying structures (7), wherein the current collector arrangement (1) comprises a first sensor (9) configured to acquire images of the environment surrounding the vehicle (2), wherein the current collector arrangement (1) comprises a control arrangement (10) according to claim A vehicle (2) comprising a current collector arrangement (1) according to claim The vehicle (2) according to claim 12, wherein the vehicle (2) is a heavy road vehicle, such as a truck or a bus.
SE2351222A 2023-10-27 2023-10-27 Method of Controlling a Current Collector Arrangement, Computer Program, Computer-Readable Medium, Control Arrangement, Current Collector Arrangement, and Vehicle SE547226C2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
SE2351222A SE547226C2 (en) 2023-10-27 2023-10-27 Method of Controlling a Current Collector Arrangement, Computer Program, Computer-Readable Medium, Control Arrangement, Current Collector Arrangement, and Vehicle
PCT/SE2024/050888 WO2025089999A1 (en) 2023-10-27 2024-10-18 Method of controlling a current collector arrangement, computer program, computer-readable medium, control arrangement, current collector arrangement, and vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE2351222A SE547226C2 (en) 2023-10-27 2023-10-27 Method of Controlling a Current Collector Arrangement, Computer Program, Computer-Readable Medium, Control Arrangement, Current Collector Arrangement, and Vehicle

Publications (2)

Publication Number Publication Date
SE2351222A1 SE2351222A1 (en) 2025-04-28
SE547226C2 true SE547226C2 (en) 2025-06-10

Family

ID=95516203

Family Applications (1)

Application Number Title Priority Date Filing Date
SE2351222A SE547226C2 (en) 2023-10-27 2023-10-27 Method of Controlling a Current Collector Arrangement, Computer Program, Computer-Readable Medium, Control Arrangement, Current Collector Arrangement, and Vehicle

Country Status (2)

Country Link
SE (1) SE547226C2 (en)
WO (1) WO2025089999A1 (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130245876A1 (en) * 2010-11-30 2013-09-19 Jan Messerschmidt System for automatically connecting and a disconnecting catenary vehicle to and from the overhead line during travel
US20130261901A1 (en) * 2012-03-30 2013-10-03 Caterpillar, Inc. Display Conveying Trolley Position to Operator
DE102017215226A1 (en) * 2017-08-31 2019-02-28 Siemens Mobility GmbH Method for navigating a road-bound motor vehicle with a pantograph
US20220388553A1 (en) * 2019-06-26 2022-12-08 Dma S.R.L. A system, a vehicle and a method for the detection of position and geometry of line infrastructures, particularly for a railway line

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130245876A1 (en) * 2010-11-30 2013-09-19 Jan Messerschmidt System for automatically connecting and a disconnecting catenary vehicle to and from the overhead line during travel
US20130261901A1 (en) * 2012-03-30 2013-10-03 Caterpillar, Inc. Display Conveying Trolley Position to Operator
DE102017215226A1 (en) * 2017-08-31 2019-02-28 Siemens Mobility GmbH Method for navigating a road-bound motor vehicle with a pantograph
US20220388553A1 (en) * 2019-06-26 2022-12-08 Dma S.R.L. A system, a vehicle and a method for the detection of position and geometry of line infrastructures, particularly for a railway line

Also Published As

Publication number Publication date
SE2351222A1 (en) 2025-04-28
WO2025089999A1 (en) 2025-05-01

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