EP0644098A2 - Apparatus for measuring and processing movement data of a rail vehicle - Google Patents

Apparatus for measuring and processing movement data of a rail vehicle Download PDF

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Publication number
EP0644098A2
EP0644098A2 EP94250208A EP94250208A EP0644098A2 EP 0644098 A2 EP0644098 A2 EP 0644098A2 EP 94250208 A EP94250208 A EP 94250208A EP 94250208 A EP94250208 A EP 94250208A EP 0644098 A2 EP0644098 A2 EP 0644098A2
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European Patent Office
Prior art keywords
rail vehicle
driving
satellite
signals
central computer
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Granted
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EP94250208A
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German (de)
French (fr)
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EP0644098A3 (en
EP0644098B1 (en
Inventor
Keschwari Mahmud Rasti
Dietmar Gralla
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Knorr Bremse Systeme fuer Schienenfahrzeuge GmbH
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Mannesmann AG
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0058—On-board optimisation of vehicle or vehicle train operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/10—Operations, e.g. scheduling or time tables
    • B61L27/16—Trackside optimisation of vehicle or train operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L2205/00—Communication or navigation systems for railway traffic
    • B61L2205/04—Satellite based navigation systems, e.g. global positioning system [GPS]

Definitions

  • This known solution provides, inter alia, to determine the driving data of a rail vehicle via the position and the speed and to carry out this system via earth satellites by signals to a receiver located on a rail vehicle, these signals being used to calculate corresponding values in a microprocessor, a computer or a microcomputer can be entered.
  • a microprocessor a computer or a microcomputer
  • the invention specified in claim 1 is based on the problem of being able to determine and calculate the driving data with sufficient accuracy in an overall system.
  • the call is made according to the invention in that the travel of the rail vehicle can be optimized by using algorithms, that vehicle dynamics data of preceding and / or following trains are included in the control algorithm of a central computer which is located either on earth or in the satellite.
  • the advantages achieved by the invention consist in particular in that it is additionally possible to control the travel of a rail vehicle as a whole and / or to use algorithms for optimizing travel.
  • a central computer that is either on earth or in the satellite can control and optimize the rail vehicle sequence.
  • driving resistance forces resulting from the route profile, the track geometry and the route design can be determined on the basis of an electronically stored route map and an exact local determination of the location of the rail vehicle.
  • These vehicle-specific resistance, braking and driving forces can be determined permanently by determining the location via the satellite. Target braking is made possible on the basis of this data.
  • the destination station can be used to arrange vehicles and loads be communicated for the purpose of rationalizing the loading and unloading processes.
  • Another improvement is that the current position can be compared with a position corresponding to normal operation. In the event that deviations (eg the speed) are found outside the permissible tolerance range, you can either switch to a new schedule line for train control or a new driving strategy can be calculated in the central computer.
  • the invention is further designed such that the switching on of braking or driving force or driving without braking and tractive force can be predetermined by means of signals to a driving control in the rail vehicle for the train journey.
  • the driving strategy is transferred from the central computer to a computer integrated in the rail vehicle, the signals are processed in the rail vehicle.
  • the device for determining and processing the driving data of a rail vehicle e.g. To determine the driving speed, the braking distances, the adhesion, friction and / or sliding values and / or centrifugal forces, in particular its position and speed, is in radio communication with a satellite 2, which signals via antennas 3 and 4 to one on the rail vehicle 1 send the recipient 5. These signals are entered into a microprocessor or a computer to calculate corresponding digital values.
  • the travel of the rail vehicle 1 is optimized by using algorithms, and driving dynamics data of trains ahead and / or following trains 6 are included in the control algorithm of a central computer 7, which is either located on earth or in the satellite 2.
  • the signals are converted into a readable form in a first circuit 8.
  • the signals present in this way are processed to calculate the speed in a second circuit 9 and to calculate the positions of the rail vehicle 1 in a third circuit 10.
  • driving resistance forces are also determined as a result of the respective route profile, the track geometry and the route design.
  • An ABS circuit 11 is provided for each car. In addition to the calculation of the carriage position, a carriage inclination adjustment circuit 12 is then arranged.
  • the current position of the rail vehicle 1 can be compared with a position corresponding to the normal operation.
  • a driving controller 14 is supplied with the corresponding data by calculating the switching algorithms in a fourth circuit 13.
  • the central computer 7 is accommodated in the satellite 2, while the central computer 7 according to FIG. 2a is either stationary on the earth or in the rail vehicle 1 itself.
  • the central computer 7 is integrated in the satellite 2.
  • FIG. 3a An alternative solution according to FIG. 3a shows that the unit of the receiver 5, the first circuit 8, the second circuit 9 and the third circuit 10 is assigned to each rail vehicle 1.
  • the central computer 7 is provided stationary or on or on each rail vehicle 1.
  • the activation of braking or driving force or driving without braking and tractive force can be predetermined by means of signals to a driving control 14 in the rail vehicle 1.
  • a strategy proposal can also be made to the operator of the rail vehicle 1 by the central computer 7 using appropriate software programs.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Regulating Braking Force (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Machines For Laying And Maintaining Railways (AREA)

Abstract

The invention relates to an apparatus for determining and processing movement data of a rail vehicle, in particular relating to its position and speed, the said vehicle having a radio link to a satellite which transmits signals to a receiver located on the rail vehicle, these signals being input in a microprocessor or into a computer in order to calculate corresponding values. So that the movement data can be determined and calculated with sufficient accuracy in one overall system, it is proposed according to the invention that it should be possible to optimise the travel of the rail vehicle (1) by using algorithms, and that data relating to the movement dynamics of cranes (6) travelling ahead and/or behind be included in the control algorithm of a CPU (7) which is located either on the earth or in the satellite (2). <IMAGE>

Description

Es ist bekannt, eine Einrichtung zum Ermitteln und verarbeiten der Fahrdaten eines Schienenfahrzeugs, nämlich seiner Position und Geschwindigkeit einzusetzen, das in Funkverbindung mit einem Satelliten steht, der Signale an einen auf dem Schienenfahrzeug befindlichen Empfänger sendet, wobei diese Signale zur Berechnung von entsprechenden Werten in einem Mikroprozessor oder einem Computer eingegeben werden (PCT/WO 89/05 255).It is known to use a device for determining and processing the driving data of a rail vehicle, namely its position and speed, which is in radio communication with a satellite which sends signals to a receiver located on the rail vehicle, these signals being used to calculate corresponding values in a microprocessor or a computer can be entered (PCT / WO 89/05 255).

Diese bekannte Lösung sieht u.a. vor, die Fahrdaten eines Schienfahrzeugs über die Position und die Geschwindikgeit zu ermitteln und dieses System über Erdsatelliten durch Signale an einen auf einem Schienenfahrzeug befindlichen Empfänger durchzuführen, wobei diese Signale zur Berechnung von entsprechenden Werten in einen Mikroprozessor, einen Computer oder einen Mikrocomputer eingegeben werden. Es ist jedoch hierbei nicht bekannt, mit welcher Genauigkeit derartige Steuerungen arbeiten und vor allen Dingen nicht, mit welchen Geschwindigkeiten entsprechend kurvenreiche Strecken aus Sicherheitsgründen durchfahren werden können und inwiefern Einflüsse von nachfolgenden und vorausfahrenden Zügen zu beachten sind.This known solution provides, inter alia, to determine the driving data of a rail vehicle via the position and the speed and to carry out this system via earth satellites by signals to a receiver located on a rail vehicle, these signals being used to calculate corresponding values in a microprocessor, a computer or a microcomputer can be entered. However, it is not known with what accuracy such controls work and, above all, not with which For safety reasons, speeds can be traveled along correspondingly winding routes and to what extent influences from the following and preceding trains must be taken into account.

Der im Anspruch 1 angegebenen Erfindung liegt das Problem zugrunde, die Fahrdaten ausreichend genau in einem Gesamtsystem ermitteln und berechnen zu können.The invention specified in claim 1 is based on the problem of being able to determine and calculate the driving data with sufficient accuracy in an overall system.

Die gestellte Rufgabe wird erfindungsgemäß dadurch gelöst, daß die Fahrt des Schienenfahrzeugs durch Anwendung von Algorithmen optimierbar ist, daß fahrdynamische Daten vorausfahrender und/oder folgender Züge in den Regelalgorithmus eines Zentralrechners mit einbezogen werden, der sich entweder auf der Erde oder in dem Satelliten befindet.The call is made according to the invention in that the travel of the rail vehicle can be optimized by using algorithms, that vehicle dynamics data of preceding and / or following trains are included in the control algorithm of a central computer which is located either on earth or in the satellite.

Die mit der Erfindung erzielten Vorteile bestehen insbesondere darin, daß es zusätzlich möglich wird, die Fahrt eines Schienenfahrzeuges insgesamt zu steuern und/oder Algorithmen für eine Fahrtoptimierung anzuwenden. Durch diese Einbeziehung der fahrdynamischen Daten der vorausfahrenden und folgenden Zügen in den Regelalgorithmus kann ein Zentralrechner, der sich entweder auf der Erde oder im Satelliten befindet, die Schienenfahrzeugfolge steuern und optimieren.The advantages achieved by the invention consist in particular in that it is additionally possible to control the travel of a rail vehicle as a whole and / or to use algorithms for optimizing travel. By including the driving dynamics data of the preceding and following trains in the control algorithm, a central computer that is either on earth or in the satellite can control and optimize the rail vehicle sequence.

In weiterer Ausbildung der Erfindung ist vorgesehen, daß aufgrund einer elektronisch gespeicherten Streckenkarte und einer genauen örtlichen Bestimmung des Aufenthaltsortes des Schienenfahrzeugs Fahr-Widerstandskräfte, resultierend aus dem Streckenprofil, der Gleisgeometrie und der Streckengestaltung, bestimmbar sind. Diese fahrzeugspezifischen Widerstands-, Brems- und Antriebskräfte können permanent durch die Ortsbestimmung über den Satelliten ermittelt werden. Auf der Grundlage dieser Daten werden Zielbremsungen ermöglicht. Dem Zielbahnhof können Fahrzeug- und Ladungsreihung zum zum Zwecke der Rationalisierung der Zu- und Abladevorgänge mitgeteilt werden. Eine andere Verbesserung besteht darin, daß die jeweils aktuelle Position mit einer dem Regelbetrieb entsprechenden Position vergleichbar ist. Für den Fall, daß Abweichungen (z.B. der Geschwindigkeit) außerhalb des zulässigen Toleranzfeldes festgestellt werden, kann entweder auf eine neue Fahrschaulinie zur Zugsteuerung umgeschaltet oder eine neue Fahrstrategie im Zentralrechner berechnet werden.In a further embodiment of the invention it is provided that driving resistance forces resulting from the route profile, the track geometry and the route design can be determined on the basis of an electronically stored route map and an exact local determination of the location of the rail vehicle. These vehicle-specific resistance, braking and driving forces can be determined permanently by determining the location via the satellite. Target braking is made possible on the basis of this data. The destination station can be used to arrange vehicles and loads be communicated for the purpose of rationalizing the loading and unloading processes. Another improvement is that the current position can be compared with a position corresponding to normal operation. In the event that deviations (eg the speed) are found outside the permissible tolerance range, you can either switch to a new schedule line for train control or a new driving strategy can be calculated in the central computer.

Die Erfindung ist weiterhin dahingehend gestaltet, daß für die Zugfahrt das Zuschalten von Brems- oder Antriebskraft bzw. ein Fahren ohne Brems- und Zugkraft mittels Signals an eine Fahrsteuerung im Schienenfahrzeug vorgebbar ist. Für den Fall, daß die Fahrstrategie vom Zentralrechner an einen im Schienenfahrzeug integrierten Rechner übergeben wird, erfolgt die Signalaufbereitung im Schienenfahrzeug.The invention is further designed such that the switching on of braking or driving force or driving without braking and tractive force can be predetermined by means of signals to a driving control in the rail vehicle for the train journey. In the event that the driving strategy is transferred from the central computer to a computer integrated in the rail vehicle, the signals are processed in the rail vehicle.

Schließlich ist vorgesehen, daß dem Bediener des Schienenfahrzeugs durch den Rechner ein Strategievorschlag empfohlen wird. Dadurch wird die Entscheidung dem Bediener in einem großen Umfang abgenommen und eine höhere Sicherheitsstufe erreicht.Finally, it is provided that a strategy proposal is recommended to the operator of the rail vehicle by the computer. As a result, the decision is largely relieved of the operator and a higher security level is achieved.

Ein Ausführungsbeispiel der Erfindung ist in der Zeichnung dargestellt und wird im folgenden näher beschrieben. Es zeigen:

Fig. 1
ein Blockschaltbild für die Steuerung eines Schienenfahrzeugs mittels in einen Satelliten integrierten Zentralrechners,
Fig. 2a
ein Blockschaltbild für die Steuerung eines Schienenfahrzeugs mittels eines nicht in einen Satelliten integrierten Zentralrechners,
Fig. 2b
ein Blockschaltbild für die Steuerung mehrerer Schienenfahrzeuge mittels in einen Satelliten integrierten Zentralrechners,
Fig. 3a und 3b
jeweils ein Blockschaltbild für die Steuerung mehrerer Schienenfahrzeuge mittels eines nicht in einen Satelliten integrierten Zentralrechners.
An embodiment of the invention is shown in the drawing and will be described in more detail below. Show it:
Fig. 1
2 shows a block diagram for the control of a rail vehicle by means of a central computer integrated in a satellite,
Fig. 2a
2 shows a block diagram for the control of a rail vehicle by means of a central computer which is not integrated in a satellite,
Fig. 2b
2 shows a block diagram for the control of several rail vehicles by means of a central computer integrated in a satellite,
3a and 3b
each a block diagram for the control of several rail vehicles by means of a central computer not integrated into a satellite.

Die Einrichtung zum Ermitteln und Verarbeiten der Fahrdaten eines Schienenfahrzeugs 1, wie z.B. zum Ermitteln der Fahrgeschwindigkeit, der Bremsstrecken, von Haft-, Reib- und/oder Gleitwerten und/oder Zentrifugalkräften, insbesondere seiner Position und Geschwindigkeit, steht mit einem Satelliten 2 in Funkverbindung, der Signale über Antennen 3 und 4 an einen auf dem Schienenfahrzeug 1 befindlichen Empfänger 5 senden. Diese Signale werden zur Berechnung von entsprechenden Digital-Werten in einen Mikroprozessor oder einen Computer eingegeben.The device for determining and processing the driving data of a rail vehicle 1, e.g. To determine the driving speed, the braking distances, the adhesion, friction and / or sliding values and / or centrifugal forces, in particular its position and speed, is in radio communication with a satellite 2, which signals via antennas 3 and 4 to one on the rail vehicle 1 send the recipient 5. These signals are entered into a microprocessor or a computer to calculate corresponding digital values.

Die Fahrt des Schienenfahrzeugs 1 wird durch Anwendung von Algorithmen optimiert und fahrdynamische Daten vorausfahrender und/oder folgender Züge 6 werden in den Regelalgorithmus eines Zentralrechners 7 mit einbezogen, der entweder auf der Erde oder in dem Satelliten 2 untergebracht ist.The travel of the rail vehicle 1 is optimized by using algorithms, and driving dynamics data of trains ahead and / or following trains 6 are included in the control algorithm of a central computer 7, which is either located on earth or in the satellite 2.

Auf den Empfänger 5 folgend werden die Signale in eine lesbare Form in einer ersten Schaltung 8 umgeformt. Die derart vorhandenen Signale werden zur Berechnung der Geschwindigkeit in einer zweiten Schaltung 9 und zur Berechnung der Positionen des Schienenfahrzeugs 1 in einer dritten Schaltung 10 verarbeitet.Following the receiver 5, the signals are converted into a readable form in a first circuit 8. The signals present in this way are processed to calculate the speed in a second circuit 9 and to calculate the positions of the rail vehicle 1 in a third circuit 10.

Aufgrund einer elektronisch gespeicherten Streckenkarte und der dann bekannten genauen örtlichen Bestimmung des Aufenthaltsortes des Schienenfahrzeugs 1 werden auch Fahr-Widerstandskräfte, resultierend aus dem jeweiligen Streckenprofil, der Gleisgeometrie und der Streckengestaltung bestimmt.On the basis of an electronically stored route map and the then known precise local determination of the location of the rail vehicle 1, driving resistance forces are also determined as a result of the respective route profile, the track geometry and the route design.

Hierbei ist für jeden Wagen eine ABS-Schaltung 11 vorgesehen. Neben der Berechnung der wagen-Position ist sodann eine Wagenneigungsverstellungsschaltung 12 angeordnet.An ABS circuit 11 is provided for each car. In addition to the calculation of the carriage position, a carriage inclination adjustment circuit 12 is then arranged.

Die jeweils aktuelle Position des Schienenfahrzeugs 1 kann mit einer dem Regelbetrieb entsprechenden Position verglichen werden. Unter Berechnung der Schaltalgorithmen in einer vierten Schaltung 13 wird eine Fahrsteuerung 14 mit den entsprechenden Daten versorgt.The current position of the rail vehicle 1 can be compared with a position corresponding to the normal operation. A driving controller 14 is supplied with the corresponding data by calculating the switching algorithms in a fourth circuit 13.

In der Gestaltung der Einrichtung gemaß Fig. 1 ist der Zentralrechner 7 in dem Satelliten 2 untergebracht, währenddem sich der Zentralrechner 7 gemäß Fig. 2a entweder auf der Erde stationär oder in dem Schienenfahrzeug 1 selbst befindet.In the design of the device according to FIG. 1, the central computer 7 is accommodated in the satellite 2, while the central computer 7 according to FIG. 2a is either stationary on the earth or in the rail vehicle 1 itself.

Gemäß Fig. 2b ist der Zentralrechner 7 in den Satelliten 2 integriert.According to FIG. 2b, the central computer 7 is integrated in the satellite 2.

Eine alternative Lösung gemäß Fig. 3a zeigt, daß jedem Schienenfahrzeug 1 die Einheit des Empfängers 5, der ersten Schaltung 8, der zweiten Schaltung 9 und der dritten Schaltung 10 zugeordnet ist. Hierbei ist der Zentralrechner 7 stationär oder auf einem oder auf jedem Schienenfahrzeug 1 vorgesehen.An alternative solution according to FIG. 3a shows that the unit of the receiver 5, the first circuit 8, the second circuit 9 and the third circuit 10 is assigned to each rail vehicle 1. The central computer 7 is provided stationary or on or on each rail vehicle 1.

Die andere zu Fig. 3a analoge Lösung gemäß Fig. 3b sieht wiederum einen externen, dem Satelliten 2 zugeteilten Zentralrechner (Steuerrechner) 7 vor.The other solution according to FIG. 3a according to FIG. 3b again sees one external central computer (control computer) 7 assigned to the satellite 2.

Für die Zugfahrt ist das Zuschalten von Brems- oder Antriebskraft bzw. ein Fahren ohne Brems- und Zugkraft mittels Signals an eine Fahrsteuerung 14 im Schienenfahrzeug 1 vorgebbar. Dem Bediener des Schienenfahrzeugs 1 kann auch durch den Zentralrechner 7 unter Verwendung entsprechender Software-Programme ein Strategievorschlag gemacht werden.For the train journey, the activation of braking or driving force or driving without braking and tractive force can be predetermined by means of signals to a driving control 14 in the rail vehicle 1. A strategy proposal can also be made to the operator of the rail vehicle 1 by the central computer 7 using appropriate software programs.

Claims (5)

Einrichtung zum Ermitteln und Verarbeiten der Fahrdaten eines Schienenfahrzeuges, insbesondere seiner Position und Geschwindigkeit, das in Funkverbindung mit einem Satelliten steht, der Signale an einen auf dem Schienenfahrzeug befindlichen Empfänger sendet, wobei diese Signale zur Berechnung von entsprechenden Werten in einem Mikroprozessor oder einen Computer eingegeben werden,
dadurch gekennzeichnet,
daß die Fahrt des Schienenfahrzeugs (1) durch Anwendung von Algorithmen optimierbar ist, daß fahrdynamische Daten vorausfahrender und/oder folgender Züge (6) in den Regelalgorithmus eines Zentralrechners (7) mit einbezogen sind, der sich entweder auf der Erde oder in dem Satelliten (2) befindet.Device for determining and processing the driving data of a rail vehicle, in particular its position and speed, which is in radio communication with a satellite which sends signals to a receiver located on the rail vehicle, these signals being input into a microprocessor or a computer for the calculation of corresponding values become,
characterized,
that the travel of the rail vehicle (1) can be optimized by using algorithms, that vehicle dynamics data of preceding and / or following trains (6) are included in the control algorithm of a central computer (7), which is located either on earth or in the satellite ( 2) is located. Einrichtung nach Anspruch 1,
dadurch gekennzeichnet,
daß aufgrund einer elektronisch gespeicherten Streckenkarte und einer genauen örtlichen Bestimmung des Aufenthaltsortes des Schienenfahrzeugs (1) Fahr-Widerstandkräfte, resultierend aus dem jeweiligen Streckenprofil, der Gleisgeometrie und der Streckengestaltung bestimmbar sind.Device according to claim 1,
characterized,
that due to an electronically stored route map and a precise local determination of the location of the rail vehicle (1) driving resistance forces resulting from the respective route profile, the track geometry and the route design can be determined. Einrichtung nach einem der Ansprüche 1 oder 2,
dadurch gekennzeichnet,
daß die jeweils aktuelle Position des Schienenfahrzeugs (1) mit einer dem Regelbetrieb entsprechenden Position vergleichbar ist.Device according to one of claims 1 or 2,
characterized,
that the current position of the rail vehicle (1) is comparable to a position corresponding to normal operation. Einrichtung nach einem der Ansprüche 1 bis 3,
dadurch gekennzeichnet,
daß für die Zugfahrt das Zuschalten von Brems- oder Antriebskraft bzw. ein Fahren ohne Brems- und Zugkraft mittels Signals an eine Fahrsteuerung (14) im Schienenfahrzeug (1) vorgebbar ist.Device according to one of claims 1 to 3,
characterized,
that the switching on of braking or driving force or driving without braking and tractive force by means of signals to a driving control (14) in the rail vehicle (1) can be specified for the train journey. Einrichtung nach einem der Ansprüche 1 bis 4,
dadurch gekennzeichnet,
daß dem Bediener des Schienenfahrzeugs (1) durch den Zentralrechner (7) ein Strategievorschlag machbar ist.Device according to one of claims 1 to 4,
characterized,
that the operator of the rail vehicle (1) can be made a strategy proposal by the central computer (7).
EP94250208A 1993-09-14 1994-08-23 Apparatus for measuring and processing movement data of a rail vehicle Expired - Lifetime EP0644098B1 (en)

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DE4331931A DE4331931A1 (en) 1993-09-14 1993-09-14 Device for determining and processing the driving data of a rail vehicle
DE4331931 1993-09-14

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EP0644098A2 true EP0644098A2 (en) 1995-03-22
EP0644098A3 EP0644098A3 (en) 1997-07-16
EP0644098B1 EP0644098B1 (en) 2002-01-23

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ES2172523T3 (en) 2002-10-01
DE59410034D1 (en) 2002-03-14
ATE212300T1 (en) 2002-02-15
DE4331931A1 (en) 1995-05-18
EP0644098A3 (en) 1997-07-16
EP0644098B1 (en) 2002-01-23

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