EP1106470A1 - Verfahren zum Erkennen von Hindernissen auf Bahnstrecken - Google Patents
Verfahren zum Erkennen von Hindernissen auf Bahnstrecken Download PDFInfo
- Publication number
- EP1106470A1 EP1106470A1 EP00440305A EP00440305A EP1106470A1 EP 1106470 A1 EP1106470 A1 EP 1106470A1 EP 00440305 A EP00440305 A EP 00440305A EP 00440305 A EP00440305 A EP 00440305A EP 1106470 A1 EP1106470 A1 EP 1106470A1
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- Prior art keywords
- sensors
- evaluation
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- sensor
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- 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.)
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Links
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- 238000011156 evaluation Methods 0.000 claims abstract description 17
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- 230000000873 masking effect Effects 0.000 abstract description 4
- 238000012854 evaluation process Methods 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 15
- 230000000903 blocking effect Effects 0.000 description 3
- 230000001934 delay Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013144 data compression Methods 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000004091 panning Methods 0.000 description 1
- 238000012552 review Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000005641 tunneling Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- 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
- B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
-
- 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 trains
- B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
- B61L23/041—Obstacle detection
Definitions
- the invention relates to a method for recognizing Obstacles on railroad tracks.
- the method according to the invention is particularly characterized by this characterized in that sensors are arranged along the railway lines, by means of which the railway lines are observed, and that a automatic evaluation takes place.
- An advantage of the invention is that the railroad tracks are Known track parts are divided, each by a sensor are monitored, which simplifies the evaluation. Are the Sensors designed as video cameras, for example A comparison of still images is sufficient.
- the components required to carry out the method must be in the essentially only be built once along the railway lines, instead of on all trains.
- Existing components such as Masts and telecommunication cables laid along the railway lines and power cables can be used. This particularly affects high tensile density inexpensively.
- the automatic obstacle detection as a replacement or supplement to the Track vacancy detection used.
- Common procedures for track vacancy detection use axle counters.
- the axle counters count the axes of one passing train. At the beginning and end of one too An axle counter is arranged in each case. If the axle counter registers an incoming train at the start, the Track section blocked for further trains. Register the axle counter at the end the departing train, the route part is unlocked again.
- the automatic obstacle detection can be used.
- the automatic Obstacle detection is coupled with a track vacancy detection system. If no obstacles are detected, the corresponding part of the route will be automatically activated.
- Another advantage of the invention is that obstacles of any kind can be recognized. So will also be on the train tracks located people recognized. This can e.g. an attempt at sabotage recognized early and appropriate measures taken.
- the total available rail routes can be monitored simultaneously. This makes it possible to identify obstacles as early as possible. Appropriate measures to remove the obstacles can be initiated as early as possible. Due to obstacles This minimizes delays.
- video cameras are used as sensors, they can e.g. rigid or be pivoted. Furthermore, it is possible to use one implement telemetric control. From a central office a person select a camera, e.g. the one who just got one Has recognized an obstacle and e.g. through an acoustic and / or visual alarm signal. The person can then e.g. swivel the camera telemetrically, press the camera zoom and focus the obstacle.
- the following is an embodiment of the invention Using a figure explained.
- the figure shows one railway section according to the invention.
- the railway section 1 is part of a subway or S-Bru, for example Route. Vehicles should be automatically controlled and driverless on the Run the railway line. This includes obstacle detection necessary. Sensors are arranged along the railway line, which the Watch the railway line. In the exemplary embodiment, two sensors 2, 3 shown, each observing a section of the route. The sensors 2, 3 are designed as video cameras. The video cameras take still pictures on. The video cameras are connected to a control center via an optical line 4 5 connected.
- the optical line 4 is, for example, as an optical Fiber optic line executed.
- the control center 5 contains, for example Processor and memory.
- the images excluded from the video cameras are transferred via the optical line 4 to the control center 5 transmitted. Every video camera is one Address assigned, which is also transmitted with every transmission in order to to be able to sort the images received in the control center 5.
- Each Video camera can take the pictures taken before transferring them Undergo data compression. The pictures are taken before transmission implemented electrically / optically. The images of all video cameras are transmitted to the center 5, for example in time division multiplexing. On the optical line 4, a high transmission capacity is available, so that only minimal runtime delays occur.
- the images of all video cameras are evaluated centrally. To do this, compare Central 5 the current images with reference images. Results in one Comparison no difference between current still image and reference image, see above the corresponding section is free of obstacles.
- the difference corresponds to the obstacle.
- Detection of an obstacle can also classify the Obstacle.
- Typical obstacles are for example, a train, a person, a fallen tree trunk Animal.
- a comparison of a detected obstacle with a saved one Obstacle pattern can be used for the early, automatic classification of the recognized obstacle cause what different measures of Can result in elimination.
- Masking can be used when evaluating the still images be made. By comparison with that available in the headquarters 5 Route of a particular train may not be relevant obstacles, such as e.g. Counter-moves are hidden. It is done this way a masking of the route.
- a sensor or more than one sensor can be used for a section of a railway line with at least two parallel tracks, one of which is in the Rule intended for the execution and another for the backward direction.
- every currently transferred still image is in divided several still images, the number of still images being the number corresponds to the tracks. In each divided still image there is a route masked and made an evaluation for this route.
- redundancy is used when using more than one sensor increases and secondly security.
- Every sensor is essentially aimed at a track and intended for monitoring a track. Due to the spatial proximity of the tracks, a It may be necessary to mask individual routes.
- the one to be transferred Data volume is determined by the number of sensors. The more Sensors are used, the more data volume must be transmitted become.
- the viewing angles of the sensors overlap. Especially at a sensor failure can be caused by a neighboring sensor Freeze frame recorded to evaluate the route to be monitored of the failed sensor can also be used. This increases security.
- it is common to make a "two out of three decision" to take to increase security. For example, it can one mast, three sensors in parallel and with almost the same Viewing angles can be arranged. All three sensors transmit to the same Freeze-frame images taken to the control center 5.
- Monitoring can be done by taking the route into account individual sections of the track are already carried out before a certain section of the track for a train is released for use. There are doubts about whether If an obstacle interferes with the flow of traffic, an alarm is triggered and a Person can review the situation and release or block it decide based on a monitor image.
- the sensors 2, 3 are designed in such a way that they operate from the control center 5 can be controlled telemetrically.
- the control takes place via the optical Line 4.
- the control comprises e.g. the pivoting of sensors 2, 3.
- a motor attached to the sensor is provided for this.
- each sensor 2, 3 further includes a zoom. By telemetric Operating the zoom can enlarge partial areas of the field of view being represented. If a fault occurs, an operator is from the control center 5 is able to transmit the sensor 2, 3 that triggered the fault locate, call, establish a real-time connection and to control telemetrically.
- a sensor 2, 3 is selected via the optical line 4 by transmitting the address of the sensor 2, 3. After Receiving a corresponding predetermined signal switches Sensor 2, 3 on continuous operation.
- the center 5 has a control panel with several monitors and an overview of the railway route and sensors 2, 3.
- the real-time transmission becomes a series of still images to the central office 5 transferred.
- the operator then sees one with video cameras Real-time video film of the disturbed section on a monitor. If necessary, sound is also transmitted.
- telemetric Panning the camera and zooming can help the operator overcome the obstacle focus to better recognize it and then use appropriate ones To be able to initiate measures.
- the route approval facility has the task of individual track sections for trains depending on the route and to release or block currently used sections of the route. This e.g. i.a. using axle counters.
- a Section section also blocked if one of these section sections surveillance camera detects an obstacle.
- After evaluation in the Central 5 will automatically receive a corresponding signal, e.g. one in advance known, stored alarm signal or control signal for Transfer track setup. This receives the signal and blocks then the route section.
- the route facility for blocking and unlocking of several track sections responsible transmits the Central 5 additionally information about the section to be blocked. After removing the obstacle, the corresponding part of the route released again.
- a preferred embodiment of the invention can be automatic Obstacle detection with sensors 2, 3 arranged on the railway line can be combined with obstacle detection arranged on trains.
- straightforward areas the one arranged on trains has Obstacle detection advantages, so that none of these areas Railway track arranged sensors are used and the Obstacle detection is carried out exclusively by the trains themselves. This saves installation and maintenance effort in mostly sparsely populated, suburban areas.
- curves and other critical areas So mostly in inner-city areas with a high train density sensors 2, 3 are installed on the railway line. Via headquarters 5, e.g. communicated with the trains via radio or balises Data about the release and blocking of individual sections of the route transmitted. If a sensor 2, 3 detects an obstacle, the corresponding one Section blocked, the corresponding approaching train through the Head office 5 informed.
- video cameras are used as sensors, who work in the optical field. Instead of video cameras, too Sensors are used that are in the infrared range or in the range of Radio waves (radar) work. By using these areas the observation largely independent of the weather.
- the recorded ones are evaluated Freeze frames in the center.
- the sensors can be manufactured very inexpensively. On Due to the high number of sensors, the implementation of the Overall system therefore inexpensive.
- a time stamp can be provided for each transmission to send. Instead of at the headquarters, the evaluation can be done entirely or partially done in the sensors. If in each sensor a processor and if a memory is provided, each sensor can use current still images compare a saved reference image and the Carry out obstacle detection for a section of the route autonomously. The The result of the comparison is transmitted, for example, to the head office, the then takes the next steps.
- the transmission volume can be reduced if, in the normal case, i.e.
- an optical line between sensors and Headquarters used.
- a electrical line instead of an optical line, a electrical line, radio or a power line can be used.
- the Electrical line eliminates the electro / optical implementation, so that Sensors can be manufactured even cheaper.
- electrical lines on the railway lines available so that a new installation is not necessary.
- the electrical lines e.g. used for the transmission of the axle counter signals.
- the Transmission takes place in a defined transmission protocol.
- the Protocol can also be used for the transmission of sensor signals be used. This eliminates the need to develop a new protocol.
- GSM Global System for Mobile Communication. GSM is already widely used today Transmission medium for communication between Track facilities and rail vehicles used.
- the Transmission takes place in a specified protocol that for the Transmission of the sensor signals can be used.
- a specified protocol that for the Transmission of the sensor signals can be used.
- one direct communication between sensor and rail vehicle possible.
- the power line can be used for both Supply of the sensors as well as for the transmission of the sensor signals be used.
- time division multiplex used for the transmission of the sensor signals
- Frequency division multiplexing or code division multiplexing can be used.
- Aloha procedure can also be used, in which the head office individual sensors one after the other. With intelligent control can the head office e.g. just call up the sensors, the track sections observe which are used for the current train traffic. This reduces runtime delays and reduces that Transfer volume.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
Description
Claims (10)
- Verfahren zum Erkennen von Hindernissen auf Bahnstrecken (1),
dadurch gekennzeichnet,
daß entlang der Bahnstrecken (1) Sensoren (2, 3) angeordnet sind, mittels denen die Bahnstrecken (1) beobachtet werden, und daß eine automatische Auswertung erfolgt. - Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß die Sensoren (2, 3) als Videokameras ausgelegt sind, die Festbilder aufnehmen, und daß die Auswertung durch Vergleich von Festbildern mit Referenzbildern erfolgt.
- Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß bei der Auswertung eine Maskierung des Fahrwegs erfolgt.
- Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß die Sensoren (2, 3) im optischen Bereich, im Infrarot-Bereich oder im Bereich von Radio-Wellen arbeiten.
- Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß die Auswertung zentral erfolgt.
- Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß eine automatische Weiterleitung mindestens eines Teils der Ergebnisse der Auswertung zu mindestens einer Streckenfreigabeeinrichtung erfolgt, und daß jede Streckenfreigabeeinrichtung bestimmte Streckenteile in Abhängigkeit von den empfangenen Ergebnissen zum Befahren freigibt oder sperrt.
- Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß die Sensoren (2, 3) telemetrisch ansteuerbar sind.
- System zur Durchführung des Verfahrens nach Anspruch 1, dadurch gekennzeichnet, daß die Sensoren (2, 3) über optische (4) oder elektrische Leitungen, über Funk oder über Power-Lines mit einer Zentrale (5) verbunden sind, und daß die Zentrale (5) geeignet ist, die Auswertung für alle Sensoren (2, 3) zentral durchzuführen.
- System nach Anspruch 8, dadurch gekennzeichnet, daß die Zentrale (5) geeignet ist, über Funk oder Balisen mit auf den Bahnstrecken (1) fahrenden, automatisch gesteuerten Zügen zu kommunizieren, und den Zügen in Abhängigkeit von den Ergebnissen der Auswertung bestimmte Streckenteile zum Befahren freizugeben oder zu sperren.
- System nach Anspruch 9, dadurch gekennzeichnet, daß die Sensoren (2, 3) als Videokameras ausgelegt sind, die Festbilder aufnehmen, daß die Übertragung der aufgenommenen Festbilder zur Zentrale (5) im Multiplex-Verfahren erfolgt, wobei jedem Sensor (2, 3) eine Adresse zugewiesen ist und bei jeder Übertragung eines Festbildes die Adresse des zugehörigen Sensors (2, 3) mit übertragen wird.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19958634A DE19958634A1 (de) | 1999-12-04 | 1999-12-04 | Verfahren zum Erkennen von Hindernissen auf Bahnstrecken |
DE19958634 | 1999-12-04 |
Publications (4)
Publication Number | Publication Date |
---|---|
EP1106470A1 true EP1106470A1 (de) | 2001-06-13 |
EP1106470B1 EP1106470B1 (de) | 2006-01-11 |
EP1106470B2 EP1106470B2 (de) | 2008-10-15 |
EP1106470B9 EP1106470B9 (de) | 2009-03-25 |
Family
ID=7931515
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP00440305A Expired - Lifetime EP1106470B9 (de) | 1999-12-04 | 2000-11-22 | Verfahren zum Erkennen von Hindernissen auf Bahnstrecken |
Country Status (5)
Country | Link |
---|---|
US (1) | US6565046B2 (de) |
EP (1) | EP1106470B9 (de) |
AT (1) | ATE315513T1 (de) |
CA (1) | CA2327090A1 (de) |
DE (2) | DE19958634A1 (de) |
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WO2009135840A1 (de) * | 2008-05-09 | 2009-11-12 | Siemens Aktiengesellschaft | Streckenüberwachungssystem für ein fahrzeug und verfahren zu dessen betrieb |
CN1710841B (zh) * | 2004-06-16 | 2010-07-21 | 郑州捷安网络科技开发有限公司 | 列车车载无线自组网络通讯及列车状态实时监控系统 |
WO2011154347A2 (de) | 2010-06-09 | 2011-12-15 | Siemens Aktiengesellschaft | Verfahren und einrichtung zum überwachen einer strecke |
WO2013121344A3 (en) * | 2012-02-17 | 2014-02-06 | Balaji Venkatraman | Real time railway disaster vulnerability assessment and rescue guidance system using multi-layered video computational analytics |
FR3004574A1 (fr) * | 2013-04-16 | 2014-10-17 | Prodose | Dispositif de surveillance des voies ferrees et procede de travail |
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-
1999
- 1999-12-04 DE DE19958634A patent/DE19958634A1/de not_active Withdrawn
-
2000
- 2000-11-22 AT AT00440305T patent/ATE315513T1/de not_active IP Right Cessation
- 2000-11-22 EP EP00440305A patent/EP1106470B9/de not_active Expired - Lifetime
- 2000-11-22 DE DE50012046T patent/DE50012046D1/de not_active Expired - Lifetime
- 2000-11-30 CA CA002327090A patent/CA2327090A1/en not_active Abandoned
- 2000-11-30 US US09/726,039 patent/US6565046B2/en not_active Expired - Fee Related
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Cited By (13)
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CN1710841B (zh) * | 2004-06-16 | 2010-07-21 | 郑州捷安网络科技开发有限公司 | 列车车载无线自组网络通讯及列车状态实时监控系统 |
WO2009135840A1 (de) * | 2008-05-09 | 2009-11-12 | Siemens Aktiengesellschaft | Streckenüberwachungssystem für ein fahrzeug und verfahren zu dessen betrieb |
WO2011154347A2 (de) | 2010-06-09 | 2011-12-15 | Siemens Aktiengesellschaft | Verfahren und einrichtung zum überwachen einer strecke |
DE102010023559A1 (de) | 2010-06-09 | 2011-12-15 | Siemens Aktiengesellschaft | Verfahren und Einrichtung zum Überwachen einer Strecke |
WO2011154347A3 (de) * | 2010-06-09 | 2012-02-16 | Siemens Aktiengesellschaft | Verfahren und einrichtung zum überwachen einer strecke |
WO2013121344A3 (en) * | 2012-02-17 | 2014-02-06 | Balaji Venkatraman | Real time railway disaster vulnerability assessment and rescue guidance system using multi-layered video computational analytics |
FR3004574A1 (fr) * | 2013-04-16 | 2014-10-17 | Prodose | Dispositif de surveillance des voies ferrees et procede de travail |
WO2014170592A1 (fr) * | 2013-04-16 | 2014-10-23 | Prodose | Dispositif de communication et surveillance des voies ferrées et procédé de travail |
US10220861B2 (en) | 2013-04-16 | 2019-03-05 | Prodose Sarl | Device for communicating and monitoring railway tracks and operating method |
FR3052732A1 (fr) * | 2016-06-15 | 2017-12-22 | Alstom Transp Tech | Procede de gestion d'un systeme de securite ferroviaire et systeme de securite ferroviaire mettant en oeuvre un tel procede |
EP3275764A1 (de) * | 2016-07-28 | 2018-01-31 | Max Räz | Zugleitsystem |
EP4389560A1 (de) * | 2022-12-22 | 2024-06-26 | Siemens Mobility GmbH | Verfahren und vorrichtung zum erproben einer hinderniserkennung für einem gefahrenraum |
EP4389558A1 (de) * | 2022-12-23 | 2024-06-26 | Siemens Mobility GmbH | Verfahren und vorrichtung zum erproben einer hinderniserkennung für einem gefahrenraum |
Also Published As
Publication number | Publication date |
---|---|
EP1106470B2 (de) | 2008-10-15 |
US6565046B2 (en) | 2003-05-20 |
EP1106470B9 (de) | 2009-03-25 |
ATE315513T1 (de) | 2006-02-15 |
DE50012046D1 (de) | 2006-04-06 |
EP1106470B1 (de) | 2006-01-11 |
US20010002688A1 (en) | 2001-06-07 |
DE19958634A1 (de) | 2001-06-21 |
CA2327090A1 (en) | 2001-06-04 |
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