EP1106470A1 - Method for detecting obstacles on railway track sections - Google Patents

Abstract

A method is disclosed for detecting obstacles on railroad lines (1). The method is characterized in that sensors (2, 3) for observing the railroad line (1) are arranged along the railroad line (1), and that automatic evaluation takes place. One advantage of the invention is that that the railroad lines (1) are divided into given, known line sections, each of which is monitored by a respective sensor (2, 3), whereby the evaluation process is simplified. If the sensors (2, 3) are designed as video cameras, for example, a comparison with still images may suffice for the evaluation. Furthermore, as the line sections are known, a simple masking technique can be used. Obstacles outside a set route to be monitored are masked out using suitable masks.

Description

The invention relates to a method for recognizing Obstacles on railroad tracks.

In the case of manually operated rail vehicles, the driver has the Task to constantly check the freedom of the route ahead and, if necessary, initiate security reactions. At automatic controlled, driverless rail vehicles must perform this task other way to be solved. There is a solution in designing the route so that there are no obstacles can. This can be achieved by using stands, tunnels or fences. Apart from subways, where tunneling is mandatory, the Implementation very expensive. Another solution consists of the observation by the driver through a automatically replace obstacle detection from the train. Considerable Problems can arise through curves, when entering the train station standing trains and if there are obstacles close to the route. By Restricted visibility is so late that obstacles are recognized that holding the train in front of the obstacle to avoid a Collision is no longer possible. It is also an expensive one Evaluation electronics necessary to at speeds of 200km / h and more a reliable evaluation of moving pictures of an unknown To be able to carry out the route.

It is therefore an object of the invention to provide a method for recognizing Providing obstacles on railroad tracks does not have the above disadvantages having.

This object is achieved by a method according to claim 1. 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.

Furthermore, due to the familiarity of the route sections simple masking of the route can be performed. Obstacles outside of a set and monitored route hidden by appropriate masks.

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.

In a particularly advantageous embodiment of the invention, 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. Instead of or in addition to this relatively complex process, 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.

By arranging the sensors along the railway lines, 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.

If 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-Bahn, 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. At headquarters 5 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. If there is one Difference, the difference corresponds to the obstacle. In addition to Detection of an obstacle can also classify the Obstacle. In the central 5 are in one Memory-typical obstacles stored as pictures. 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. 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 a sensor or more than one sensor can be used. In the Using a sensor, 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. In the On the one hand, 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. In the railroad control 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. When evaluating If there is an obstacle in at least two still images, then the recognition of an obstacle. If the evaluation of at least two Still images do not result in an obstacle, so the recognition does not become an obstacle signals.

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. Of 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. There will be a real-time connection to the headquarters 5 built. The center 5 has a control panel with several monitors and an overview of the railway route and sensors 2, 3. By 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. By 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.

By connecting the control center 5 to a route release device an automatic blocking of individual track sections after automatic Detect an obstacle. 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. In addition, now 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. Is 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.

In bends and other critical areas you can do better Monitoring sensors arranged at shorter distances from each other compared to straightforward, visible areas. In 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. In 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. In 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.

In the exemplary embodiment, 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.

In the exemplary embodiment, the recorded ones are evaluated Freeze frames in the center. This is a simple structure of the Sensors possible. The sensors can be manufactured very inexpensively. On Due to the high number of sensors, the implementation of the Overall system therefore inexpensive. To prevent tampering 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. if there is no obstacle, only one status message, e.g. OK, is transmitted and in the event of a fault, i.e. at Detection of an obstacle, the corresponding still image is transmitted. Instead of the head office or in addition to that, in the event of a malfunction appropriate still image or an alarm message directly to a train transmitted, which approaches the route part. The transfer e.g. via radio or balises. The train gets this way current and almost instantaneous alarm messages and can then initiate the braking process.

In the exemplary embodiment, an optical line between sensors and Headquarters used. Instead of an optical line, a electrical line, radio or a power line can be used. In the Electrical line eliminates the electro / optical implementation, so that Sensors can be manufactured even cheaper. In addition, in in most cases, 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. When using radio, GSM can be used; 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. In addition, one direct communication between sensor and rail vehicle possible. When using a power line, the power line can be used for both Supply of the sensors as well as for the transmission of the sensor signals be used.

In the exemplary embodiment, is used for the transmission of the sensor signals Central time division multiplex used. Instead of time division multiplexing can also Frequency division multiplexing or code division multiplexing can be used. Alternatively, you can a so-called 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.

Claims (10)

Method for recognizing obstacles on railway lines (1),
characterized by
that sensors (2, 3) are arranged along the railway lines (1), by means of which the railway lines (1) are observed, and that an automatic evaluation takes place. Method according to claim 1, characterized in that the sensors (2, 3) are designed as video cameras that take still pictures, and that the evaluation by comparing still images with reference images he follows. A method according to claim 1, characterized in that the Evaluation of the route is masked. Method according to claim 1, characterized in that the sensors (2, 3) in the optical range, in the infrared range or in the range of Radio waves work. A method according to claim 1, characterized in that the Evaluation takes place centrally. A method according to claim 1, characterized in that a automatic forwarding of at least part of the results of the Evaluation is carried out to at least one route approval device, and that each route release facility in certain route parts Depends on the received results for driving or locks. Method according to claim 1, characterized in that the sensors (2, 3) can be controlled telemetrically. System for performing the method according to claim 1, characterized characterized in that the sensors (2, 3) via optical (4) or electrical Cables, via radio or via power lines with a control center (5) are connected, and that the center (5) is suitable for the evaluation perform all sensors (2, 3) centrally. System according to claim 8, characterized in that the center (5) is suitable, by radio or balises, on the railway lines (1) to communicate moving, automatically controlled trains, and the Moves determined depending on the results of the evaluation To release or block parts of the route for driving. System according to claim 9, characterized in that the sensors (2, 3) are designed as video cameras that record still images that the Transmission of the captured still images to the center (5) in the multiplex process takes place, with each sensor (2, 3) being assigned an address and each time a still image is transmitted, the address of the associated one Sensor (2, 3) is also transmitted.

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