DE102007039687A1 - Coupling operation performing device for e.g. railway traction vehicle, has evaluating unit for evaluating image information that is received from image recording device, where coupling operation is performed based on evaluation result - Google Patents
Coupling operation performing device for e.g. railway traction vehicle, has evaluating unit for evaluating image information that is received from image recording device, where coupling operation is performed based on evaluation result Download PDFInfo
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- DE102007039687A1 DE102007039687A1 DE102007039687A DE102007039687A DE102007039687A1 DE 102007039687 A1 DE102007039687 A1 DE 102007039687A1 DE 102007039687 A DE102007039687 A DE 102007039687A DE 102007039687 A DE102007039687 A DE 102007039687A DE 102007039687 A1 DE102007039687 A1 DE 102007039687A1
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- contraption
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- image information
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- vehicle association
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- 238000010168 coupling process Methods 0.000 title claims abstract description 41
- 238000011156 evaluation Methods 0.000 title claims abstract description 22
- 230000008878 coupling Effects 0.000 title claims abstract description 21
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 21
- 230000005670 electromagnetic radiation Effects 0.000 claims abstract description 5
- 238000001514 detection method Methods 0.000 claims description 11
- 238000001454 recorded image Methods 0.000 claims description 7
- 238000005516 engineering process Methods 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 230000003137 locomotive effect Effects 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/24—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view in front of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
- B60D1/36—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for facilitating connection, e.g. hitch catchers, visual guide means, signalling aids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61G—COUPLINGS; DRAUGHT AND BUFFING APPLIANCES
- B61G7/00—Details or accessories
-
- B61L15/0062—
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning, or like safety means along the route or between vehicles or vehicle trains
- B61L23/04—Control, warning, or like safety means along the route or between vehicles or vehicle trains for monitoring the mechanical state of the route
- B61L23/041—Obstacle detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning, or like safety means along the route or between vehicles or vehicle trains
- B61L23/34—Control, warnings or like safety means indicating the distance between vehicles or vehicle trains by the transmission of signals therebetween
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/026—Relative localisation, e.g. using odometer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/20—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
- B60R2300/207—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used using multi-purpose displays, e.g. camera image and navigation or video on same display
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/302—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8053—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for bad weather conditions or night vision
Abstract
Description
Die Erfindung betrifft eine Vorrichtung zur Durchführung eines Kupplungsvorgangs, bei dem ein erster Fahrzeugverband mit einem anzukoppelnden zweiten Fahrzeugverband zu einem aneinandergekoppelten Fahrzeugverband verbunden wird, wobei die Fahrzeugverbände aus mindestens einem Fahrzeug bestehen.The Invention relates to a device for carrying out a coupling process, in which a first vehicle association with a second to be coupled Vehicle association connected to a coupled together vehicle association becomes, whereby the vehicle federations consist of at least one vehicle.
Im Rahmen des täglichen Eisenbahnbetriebs ist eine regelmäßig durchgeführte Handlung das Kuppeln von Fahrzeugen. Dies können Kuppelvorgänge von Einzelwagen, von Triebfahrzeugen an eine bestehende Zugeinheit oder auch von zwei Triebfahrzeugen bzw. zwei Fahrzeugverbänden sein. Allen Kupplungsvorgängen gemeinsam ist die Tatsache, dass diese Handlungen größtenteils manuell durchzuführen sind und von dem jeweiligen Triebfahrzeug- bzw. Rangierführer überwacht werden müssen.in the Frame of the daily Railroad operation is a regularly performed action the coupling of vehicles. This can dome operations of Single wagon, of traction vehicles to an existing tractor unit or also be of two locomotives or two vehicle associations. all coupling processes Common is the fact that these actions are largely to perform manually are monitored by the respective locomotive or shunting driver Need to become.
Das manuelle Zusammenführen von zwei Zugeinheiten erfolgt hierbei nach den folgenden Schritten:
- – der erste Fahrzeugverband fährt in das Bahnhofsgleis ein und hält;
- – der Ankupplungsvorgang wird an dem ersten Fahrzeugverband vorbereitet;
- – der zweite Fahrzeugverband fährt kurze Zeit später ebenfalls auf demselben Gleis ein;
- – der zweite einfahrende Fahrzeugverband muss in einem Abstand von etwa 5 Metern vor dem ersten Fahrzeugverband vollständig zum Stillstand kommen;
- – der Triebfahrzeugführer des zweiten Fahrzeugverbandes muss auf Sicht an den ersten im Gleis stehenden Fahrzeugverband ankuppeln;
- – nach erfolgtem Kupplungsvorgang rüstet der Triebfahrzeugführer des zweiten Fahrzeugverbandes den Fahrerstand ab und verlässt diesen.
- - the first vehicle association enters the station siding and stops;
- The coupling process is prepared at the first vehicle association;
- - The second vehicle association will drive a short time later also on the same track;
- - the second entering vehicle association must come to a complete stop at a distance of about 5 meters in front of the first vehicle association;
- - the driver of the second group of vehicles must be coupled to the first vehicle assembly in the track;
- - After completion of the coupling process, the driver of the second vehicle association equips the driver's station and leaves it.
Diese Abfolge eines Ankupplungsvorgangs bei einem schienengebundenen Fahrzeugverband ist notwendig, um einen möglichst sicheren und gefahrlosen Ablauf des Ankupplungsvorgang sicherzustellen. Nachteilig dabei ist, dass ein solcher Kuppelvorgang eine gewisse Zeit in Anspruch nimmt. Außerdem können Fehlhandlungen des Betriebspersonals zu großen Personen- oder Sachschäden führen. So kann es im Rahmen eines Kupplungsvorgangs zu gefährlichen Situationen kommen, wenn Fahrgäste gerade aussteigen und es dabei zu einem unerwarteten Rucken des ersten Fahrzeugverbandes kommt. Bei Güterzügen besteht dabei die Gefahr, dass Behälter mit Gefahrgütern beschädigt werden.These Sequence of a coupling operation in a rail vehicle association is necessary to one as possible ensure safe and safe operation of the coupling process. The disadvantage here is that such a dome operation a certain Takes time. Furthermore can Incorrect actions of the operating personnel lead to major personal injury or property damage. So In the context of a coupling process, dangerous situations may arise when passengers are watching get off it and thereby to an unexpected jerking of the first Vehicle Association is coming. In freight trains exists doing the danger of having containers with dangerous goods damaged become.
Im Hinblick darauf ist es Aufgabe der Erfindung, eine Vorrichtung anzugeben, die einen sicheren und automatisierten Kupplungsvorgang ermöglicht.in the In view of the above, it is an object of the invention to specify a device which enables a safe and automated coupling process.
Die Aufgabe wird mit der Vorrichtung der eingangs genannten Art erfindungsgemäß dadurch gelöst, dass die Vorrichtung mindestens eine Bildaufnahmeeinheit aufweist, deren Erfassungsbereich zumindest einen Teil der Umgebung vor dem anzukoppelnden zweiten Fahrzeugverband enthält, und eine Auswerteeinheit hat, die mit der Bildaufnahmeeinheit verbunden und zum Auswerten der von der Bildaufnahmeeinheit aufgenommenen Bildinformation eingerichtet ist, wobei in Abhängigkeit der Auswertung der Kupplungsvorgang mittels der Vorrichtung durchgeführt wird.The The object is achieved with the device of the type mentioned in the present invention solved, the device has at least one image recording unit, their coverage area at least part of the environment before the contains second vehicle association to be coupled, and an evaluation unit has connected to the image acquisition unit and to evaluate set the image information taken by the image pickup unit is, depending on the evaluation of the coupling process is carried out by means of the device.
Es sei hierbei noch angemerkt, dass die Vorrichtung nicht nur zum automatisierten Ankuppeln von schienengebundenen Fahrzeugen geeignet ist, sondern auch zum automatisierten Ankuppeln verschiedenster Arten von Fahrzeugen, wie z. B. Straßenfahrzeuge.It It should be noted here that the device not only for automated Coupling of rail-bound vehicles is suitable, but also for the automated coupling of various types of vehicles, such as B. road vehicles.
Demnach sieht die Erfindung vor, dass mit Hilfe einer Bildaufnahmeeinheit, wie z. B. einer Videokamera, der Ankupplungsbereich zwischen dem ersten und dem zweiten Fahrzeugverband aufgenommen wird und in Abhängigkeit dieser aufgenommenen Bilder bzw. Bildinformationen dann automatisiert der Ankupplungsvorgang gesteuert wird.Therefore the invention provides that by means of an image acquisition unit, such as B. a video camera, the Ankupplungsbereich between the first and the second vehicle association and depending on this captured images or image information then automated the coupling process is controlled.
Vorteilhafterweise ist mindestens eine der Bildaufnahmeeinheiten an der Spitze des zweiten Fahrzeugverbandes angeordnet, wobei der Erfassungsbereich dieser Bildaufnahmeeinheit derart ausgerichtet ist, dass der Bereich vor dem zweiten Fahrzeugverband erfasst wird. Beim Anrollen des zweiten Fahrzeugverbandes an das Ende des ersten Fahrzeugverbandes während des Kupplungsvorgangs erscheint dann das Ende des ersten Fahrzeugverbandes im Erfassungsbereich der Bildaufnahmeeinheit, was von der Auswerteeinheit detektiert wird.advantageously, is at least one of the image pickup units at the top of the second vehicle association arranged, the detection area this image pickup unit is oriented such that the area is recorded before the second vehicle association. When rolling up the second vehicle association at the end of the first vehicle association while the coupling process then appears the end of the first vehicle association in the detection range of the image acquisition unit, what of the evaluation unit is detected.
Dabei ist es ganz besonders vorteilhaft, wenn die Bildaufnahmeeinheit so ausgerichtet ist, dass der Erfassungsbereich zumindest die an der Spitze des zweiten Fahrzeugverbandes angeordnete Fahrzeugkupplung enthält. Somit kann der Ankupplungsvorgang wesentlich sicherer durchgeführt werden, da die relative Position des zweiten Fahrzeugverbandes in Bezug auf den Ankupplungsvorgang bekannt ist.there it is particularly advantageous if the image acquisition unit is oriented so that the coverage at least the the top of the second vehicle association arranged vehicle clutch contains. Thus, the Ankupplungsvorgang can be performed much safer, because the relative position of the second vehicle association in relation on the coupling process is known.
Ganz besonders vorteilhaft ist es dabei, wenn die Auswerteeinheit zum Erkennen der Form einer Fahrzeugkupplung in den von der Bildaufnahmeeinheit aufgenommenen Bildinformationen eingerichtet ist. Solche Fahrzeugkupplungen können z. B. Mittelpufferkupplungen bei schienengebundenen Fahrzeugverbänden sein. Wurde so eine entsprechende Form erkannt, so wird auf eine entsprechende Fahrzeugkupplung geschlossen, so dass in Abhängigkeit der Erkennung der Fahrzeugkupplung der Kupplungsvorgang durchgeführt wird.It is particularly advantageous in this case if the evaluation unit for recognizing the shape of a vehicle coupling is set up in the image information recorded by the image recording unit. Such vehicle clutches z. B. central buffer couplings in rail vehicle associations. If such a form has been identified, it will correspond to one de vehicle clutch is closed so that the coupling process is performed depending on the detection of the vehicle clutch.
Vorzugsweise ist die Bildaufnahmeeinheit eine Videokamera, die zur Aufnahme der Bildinformationen mittels Videotechnik im sichtbaren Bereich der elektromagnetischen Strahlung eingerichtet ist. Bei schlechten Sichtverhältnissen, wie z. B. Nebel oder aber auch in den Abend- bzw. Nachtstunden, ist es besonders vorteilhaft, wenn die Videokamera im infraroten Bereich der elektromagnetischen Strahlung arbeitet. Somit lassen sich unabhängig von der Tageszeit und den Witterungsbedingungen Bildsignale aufnehmen und auswerten, um zuverlässig den Kupplungsvorgang automatisiert durchführen zu können.Preferably the image acquisition unit is a video camera used to record the Image information by means of video technology in the visible range of electromagnetic radiation is set up. In poor visibility, such as As fog or even in the evening or night, It is particularly advantageous if the video camera is in the infrared Area of electromagnetic radiation works. Thus let independent record picture signals of the time of day and the weather conditions and evaluate to be reliable to carry out the coupling process automatically.
Denkbar ist aber auch, dass die Bildaufnahmeeinheit zur Aufnahme der Bildinformation mittels Radar- oder Lasertechnik eingerichtet ist. Diese Systeme bieten den Vorteil, dass sie völlig unabhängig von den vorherrschenden Lichtverhältnissen auswertbare Bildinformationen liefern können.Conceivable but is also that the image pickup unit for recording the image information is set up by means of radar or laser technology. These systems offer the advantage of being completely independent of the prevailing lighting conditions provide evaluable image information.
Ist in dem Erfassungsbereich der Bildaufnahmeeinheit der erste Fahrzeugverband zu erkennen, so ist es vorteilhaft, wenn die Auswerteeinheit zur Ermittlung des Abstands zwischen dem zweiten und dem ersten Fahrzeugverband des anhand von der Bildaufnahmeeinheit aufgenommenen Bildinformationen eingerichtet ist. Der Abstand kann dabei dazu dienen, um den Ankupplungsvorgang entsprechend zu regeln und durchzuführen. Ganz besonders vorteilhaft ist dabei, wenn der Abstand anhand eines Größenvergleichs ermittelt wird. Aufgrund der festen Position der Bildaufnahmeeinheit an der Spitze des zweiten Fahrzeugverbandes und der bekannten Größe der Fahrzeugkupplung ist es möglich, dass der Abstand zwischen dem ersten und dem zweiten Fahrzeugverband anhand eines Größenvergleiches mit der Fahrzeugkupplung ermittelt wird. Zusätzliche Abstandsmessgeräte sind somit nicht erforderlich.is in the detection area of the image pickup unit, the first vehicle body to recognize, so it is advantageous if the evaluation of the Determining the distance between the second and the first vehicle association the image information taken by the image pickup unit is set up. The distance can serve to the Ankupplungsvorgang to regulate and carry out accordingly. Especially advantageous is there when the distance is determined by a size comparison. Due to the fixed position of the image pickup unit at the top of the second vehicle association and the known size of the vehicle coupling Is it possible, that the distance between the first and the second vehicle association using a size comparison with the vehicle clutch is determined. Additional distance measuring devices are thus not required.
Ganz besonders vorteilhaft ist es, wenn die Vorrichtung mit der Fahr- und/oder Bremssteuerung des Triebfahrzeuges des zweiten Fahrzeugverbandes verbunden ist und zum Eingriff in die Fahr- und/oder Bremssteuerung eingerichtet ist. So kann in Abhängigkeit des Eingriffs in die Fahr- und/oder Bremssteuerung, welche automatisiert in Abhängigkeit der Auswertung der Bildinformationen erfolgt, der Kupplungsvorgang geregelt bzw. durchgeführt werden. So ist es z. B. denkbar, dass die Vorrichtung zum Regeln der Geschwindigkeit des zweiten Fahrzeugverbandes mittels des Eingriffs eingerichtet ist. So wird z. B. bei Annäherung des zweiten Fahrzeugverbandes an den ersten Fahrzeugverband zum Zwecke der Ankopplung die Geschwindigkeit des zweiten Fahrzeugverbandes entsprechend so geregelt, dass sie kontinuierlich abnimmt und ein weiches und sicheres Ankoppeln ermöglicht.All it is particularly advantageous if the device is connected to the driving and / or brake control of the traction vehicle of the second vehicle association is connected and to engage in the driving and / or braking control is set up. So, depending on the intervention in the driving and / or braking control, which automates dependent on the evaluation of the image information takes place, the coupling process regulated or carried out become. So it is z. B. conceivable that the device for regulating the speed of the second vehicle association by means of the intervention is set up. So z. B. approaching the second vehicle association at the first vehicle association for the purpose of coupling the speed the second vehicle association accordingly regulated so that they decreases continuously and allows a soft and secure coupling.
Um den Fahrzeugführer des ersten oder aber auch des zweiten Fahrzeugverbandes bei dem Ankupplungsvorgang technisch zu unterstützen, ist es z. B. vorteilhaft, wenn die Vorrichtung mit einem Display zur Anzeige der von der Bildaufnahmeeinheit aufgenommenen Bildinformationen verbunden ist. Dieses Display kann z. B. in einem Fahrerstand angeordnet sein, wobei die Verbindung zwischen dem Display und der Vorrichtung auch drahtlos erfolgen kann. In diesem Display lassen sich dann nicht nur das momentan aktuell aufgenommene Bild darstellen, sondern auch weitere Informationen wie z. B. der ermittelte Abstand zwischen dem ersten und dem zweiten Fahrzeugverband.Around the driver the first or even the second vehicle association in the Ankupplungsvorgang to support technically is it z. B. advantageous if the device with a display for displaying the image information taken by the image pickup unit connected is. This display can z. B. arranged in a driver's cab be, with the connection between the display and the device can also be done wirelessly. In this display can then be not just represent the currently recorded image, but also more information such. B. the determined distance between the first and the second vehicle association.
Um die aufgenommenen Bildinformationen entsprechend auswerten zu können, ist es besonders vorteilhaft, wenn die Auswerteeinheit zur Ausführung eines Bilderkennungsprogramms bzw. eines Bilderkennungsalgorithmus eingerichtet ist. Solche Bilderkennungsprogramme sind dabei in der Lage, spezifische Formen oder Muster in Bildern oder Bildsequenzen zu erkennen und zu extrahieren. So lassen sich mit Hilfe eines solchen Bilderkennungsprogramms die Fahrzeugkupplungen entsprechend erkennen.Around is able to evaluate the recorded image information accordingly is it is particularly advantageous if the evaluation unit for executing a Image recognition program or an image recognition algorithm set up is. Such image recognition programs are capable of specific Recognize shapes or patterns in images or image sequences and to extract. This can be done with the help of such an image recognition program Detect the vehicle clutches accordingly.
Die vorliegende Erfindung wird anhand der beigefügten Zeichnung beispielhaft näher erläutert. Es zeigt:The The present invention will be exemplified with reference to the accompanying drawings explained in more detail. It shows:
Die
Bildaufnahmeeinheit
Befinden
sich beide Fahrzeugkupplungen
Nähert sich
nun der zweite Fahrzeugverband
Der
zweite Fahrzeugverband
Während des
automatisierten Kupplungsvorgangs wird dabei kontinuierlich das
von der Bildaufnahmeeinheit
Claims (18)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE102007039687A DE102007039687A1 (en) | 2007-08-22 | 2007-08-22 | Coupling operation performing device for e.g. railway traction vehicle, has evaluating unit for evaluating image information that is received from image recording device, where coupling operation is performed based on evaluation result |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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DE102007039687A DE102007039687A1 (en) | 2007-08-22 | 2007-08-22 | Coupling operation performing device for e.g. railway traction vehicle, has evaluating unit for evaluating image information that is received from image recording device, where coupling operation is performed based on evaluation result |
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DE102007039687A1 true DE102007039687A1 (en) | 2009-03-05 |
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DE102007039687A Withdrawn DE102007039687A1 (en) | 2007-08-22 | 2007-08-22 | Coupling operation performing device for e.g. railway traction vehicle, has evaluating unit for evaluating image information that is received from image recording device, where coupling operation is performed based on evaluation result |
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Cited By (10)
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WO2011006782A1 (en) * | 2009-07-16 | 2011-01-20 | Siemens Aktiengesellschaft | Track-bound vehicle having a sensor device |
WO2011081781A3 (en) * | 2009-12-15 | 2011-08-25 | General Electric Company | System and method for optical locomotive decoupling detection |
DE102014226045A1 (en) * | 2014-12-16 | 2016-06-16 | Siemens Aktiengesellschaft | Method and device for determining the relative position of two trains |
DE102015107206A1 (en) * | 2014-05-07 | 2016-11-10 | GM Global Technology Operations LLC | Systems and methods for assisting in coupling a vehicle to a trailer |
FR3036676A1 (en) * | 2015-05-29 | 2016-12-02 | Metrolab | AUTOMATIC COUPLING SYSTEM FOR RAILWAY VEHICLES AND ASSOCIATED METHOD |
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WO2020254077A1 (en) * | 2019-06-17 | 2020-12-24 | Siemens Mobility GmbH | Vehicle and method for operating a vehicle |
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Cited By (17)
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