EP2038158B1 - Vorrichtung zum orten eines an einen fahrweg gebundenen fahrzeugs - Google Patents

Vorrichtung zum orten eines an einen fahrweg gebundenen fahrzeugs Download PDF

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Publication number
EP2038158B1
EP2038158B1 EP06775689A EP06775689A EP2038158B1 EP 2038158 B1 EP2038158 B1 EP 2038158B1 EP 06775689 A EP06775689 A EP 06775689A EP 06775689 A EP06775689 A EP 06775689A EP 2038158 B1 EP2038158 B1 EP 2038158B1
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EP
European Patent Office
Prior art keywords
individual sensors
sensors
scanning means
travel
individual
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.)
Not-in-force
Application number
EP06775689A
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German (de)
English (en)
French (fr)
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EP2038158A1 (de
Inventor
Jens Rost
Robert Schmid
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
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Siemens AG
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Publication date
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Publication of EP2038158A1 publication Critical patent/EP2038158A1/de
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Publication of EP2038158B1 publication Critical patent/EP2038158B1/de
Not-in-force legal-status Critical Current
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    • 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 trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/021—Measuring and recording of train speed
    • 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 trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/026—Relative localisation, e.g. using odometer

Definitions

  • the invention relates to a device for locating a vehicle bound to a track with reference marks, which are mounted on the track, and arranged in the vehicle sensing means which generate at least one output signal when passing a reference mark.
  • a tracking system of a rail-guided vehicle includes, for example, a track laid in the track balise as a reference mark, the balise is inductive scanned by train arranged in the train, so that the scanning generate a location-dependent output signal.
  • the GB 1 595 311 discloses an apparatus for locating a vehicle tied to a track with reference marks attached to the track and having a plurality of scanning means arranged one behind the other in the vehicle which generate at least one output when passing a reference mark.
  • the distance of the reference marks is far greater than the distance of the scanning means.
  • the DE 32 00 811 describes a device for determining the location of a rail vehicle with markings arranged on the vehicle side at a distance k from one another and scanning means which are likewise spaced from one another, wherein the distance of the spacing means from each other is greater than the distance of the vehicle-side markings.
  • a location system is suitable for the operation control system, but not for driving control, for example, a magnetic levitation vehicle, since the location information must be available constantly and in real time to control the drive.
  • the object of the invention is to provide a device of the type mentioned, which provides reliable location information and is inexpensive.
  • the scanning means are dimensioned so that they are constantly set up for reading the reference marks.
  • the scanning means are just as long or longer than the distance between two reference marks. It thus comes within the framework of Invention for a permanent location information even at slow speeds or when the vehicle is at a standstill.
  • these are composed of individual sensors, wherein the individual sensors are read out individually or interconnected in a suitable manner, so that the composite of the individual sensors scanning generate a single sum signal.
  • a control device which reads the output signal or signals by means of a sampling unit to obtain samples and digitizes the sampled values by means of analog / digital converters or obtaining digital output signal values is used for reading purposes. The digitized output values are then subjected to further evaluation steps, as will be explained in more detail below.
  • the scanning means length is a multiple of the reference mark distance.
  • the evaluation of the results downstream of the reading of the reference marks is simplified.
  • the individual sensors are arranged in succession in at least one sensor row, which extends in the direction of travel. Due to the rod-shaped design of the scanning and the orientation of the longitudinal axis of this rod in the direction of travel, a particularly inexpensive scanning is provided, since in this way for a given length of the scanning the maximum distance of the reference marks is possible.
  • side by side or successively arranged individual sensors generate when crossing a reference mark output signals with different signs.
  • the individual sensors have a different winding sense.
  • different signs can also be realized with other measuring principles.
  • all measurement principles suitable for non-contact detection of the reference marks can be used.
  • inductive measurements eddy current effects, transformer, magnetic and electromagnetic couplings are mentioned.
  • a periodic output signal of the scanning means is generated according to this advantageous development of the invention, wherein by simply counting the maxima and minima of the periodic output signal, a location information is available.
  • the periodic output signal of the scanning means has a wavelength which is twice as large as the dimension of the reference mark just passed. It is of course expedient if all reference marks are designed and dimensioned equal.
  • the individual sensors are arranged in two rows of sensors adjacent to each other, which extend in the direction of travel, the sensor rows in the direction of travel by an offset from one another offset and the offset is equal to half of the reference mark design in the direction of travel.
  • the sum signal of each sensor row is read out individually and fed to a control device or an evaluation device.
  • two periodic output signals are obtained, which are phase-shifted by 90 ° to each other.
  • this information for example, using the ArcusTangens2 function, it is possible to calculate the angle from which exact location information of the vehicle can be derived.
  • the direction of travel it is possible in a simple way to determine the direction of travel.
  • the number of measured reference marks or the number of overrun periods can be derived in a simple manner. In this way, all measured values necessary for the control system are provided in real time for the drive system.
  • the rows of sensors for example, are arranged next to one another in a plane aligned parallel to the track. However, the sensor rows can also be arranged one above the other with respect to the travel path, but the requirements for the evaluation electronics are increased.
  • the evaluation unit transmits a virtually identical output signal at different times, which, however, originates from different individual sensors.
  • the evaluation unit has informational data. On the basis of the information data can be determined at what time the output signal is received and from which or which individual sensors the output signal comes. The calculation of the speed is then based on a correlation.
  • the evaluation device first attempts to bring the output signals of the individual sensors recorded at different times into coincidence with one another. This succeeds within the measuring accuracy of the individual sensors. Due to the known distance of the individual sensors, which generated the respective output signal, and based on the time difference between the times of reading the output signals, the evaluation determines the speed and transmits this speed, for example, a drive control, which is the parent of the evaluation.
  • the reference marks are electrically conductive sleepers. These are arranged for example in the guideway. For example, these may be rail sleepers. Notwithstanding this, the thresholds are laid in the track of a magnetic levitation vehicle.
  • the contactless scanning of the reference marks by the scanning means can be carried out on the basis of arbitrary measuring principles. In the context of the invention, however, the scanning takes place without contact.
  • the individual sensors detect the position of the reference marks due to eddy current effects. In other words, the individual sensors work on eddy current base.
  • the reference mark distance is greater than one meter.
  • the number of reference marks that are laid in the guideway remains limited.
  • FIG. 1 shows a device 1, which should make the invention easier to understand.
  • the prior art device 1 comprises a scanning means 2 which is composed of two individual sensors 3, wherein the individual sensors 3 generate an output signal of opposite sign, as shown in the diagram below, in the ordinate 4, the output signal of the scanning means 2 is shown as a function of the path which is removed on the abscissa 5.
  • the scanning means 2 is moved in the direction of the arrow 6 shown over a reference mark 7 away.
  • a corresponding signal results when driving over the following reference mark 8.
  • FIG. 2 shows a device according to the invention 9.
  • the inventive device 9 again comprises an order of successive reference marks 7 and 8.
  • the scanning means 2 consists of a plurality of individual sensors 3 and has a length which is greater than the distance between the reference marks 7 and 8. In this way it is ensured that the scanning means 2 according to the invention generates a continuous signal, the drive from a control can be used to control the drive of a track-bound vehicle.
  • the output signal of the scanning means 2 according to FIG. 2 is due to a corresponding interconnection of the individual sensors as a sum signal 10 of the individual signals 11 of each individual sensor 3, wherein the individual signals 11 in the upper diagram next to each other and in the lower diagram of FIG. 2 the sum signal 10 is shown.
  • the sum signal 10 has a periodic profile, wherein the wavelength of the sum signal 10 is twice the length of the respective reference mark 7 or 8 in the direction of travel.
  • the length of the scanning means 2 is in the in FIG. 2 embodiment shown equal to the distance between the reference marks 7 and 8, so the reference mark distance. In this way, there is always a sum signal 10 before.
  • the scanning means 2 is connected to an evaluation unit, which samples the summation signal of the scanning means in order to obtain samples and converts the sampled values to obtain digital sampling values by means of an analog / digital converter. By counting the maximum of the periodic signal in a time interval, the speed of a track-bound vehicle, and thus the sensing means anchored to the track-bound vehicle, is obtained.
  • FIG. 3 shows a most preferred embodiment of the invention.
  • the scanning means 2 is composed of two sensor rows 12 and 13, each sensor row 12 and 13 extending in the direction of travel and wherein the individual sensors 2 are arranged side by side and rod-shaped.
  • the sensor row 12 is offset from the sensor row 13 by a distance, ie an offset, counter to the direction of travel 6, wherein the offset is equal to half the length or the geometric dimensioning of the reference mark 7 or 8 in the direction of travel 6. Therefore, the sum signal 14 of the sensor row 13 is 90 degrees out of phase with the sum signal 10 of the sensor row 13, as can be seen from the representation 14 of Figure 3.
  • the angle ⁇ is determined from the measured sine or cosine function by simple trigonometric conversion, for example by forming the arc tangent 2 or taking advantage of the relationship that sine square plus cosine square equals 1.
  • the angle ⁇ a precise spatial resolution is available. Furthermore, it can be determined by the phase shift in which direction the track-bound vehicle or the scanning means are moved.
  • the representation 15 of the FIG. 3 shows an usual in the drive control angle signal as a function of time, wherein the slope of the sawtooth curve corresponds to the speed of the vehicle.
  • FIG. 4 shows another location system according to the prior art.
  • the scanning means 2 here only an individual sensor, so that when driving over the reference mark 7 or 8 an output signal 11 is generated with a positive sign.
  • FIG. 5 shows a further embodiment of the device according to the invention, wherein a scanning means 2 cooperates with reference marks 7 and 8.
  • the scanning means 2 a plurality of individual sensors 3, which generate all the output signals 16 and 17 with the same sign.
  • the individual sensors 3 are again arranged one behind the other in the direction of travel, so that a rod-shaped scanning means 2 is formed.
  • FIG. 5 the position of the scanning means 2 to the reference marks 7 and 8 at two different times t 1 and t 2 is shown. It is assumed that the scanning means 2 moves in the direction of the arrow 6.
  • the individual sensors 2 are not interconnected to form a sum signal. Rather, the output signal of each individual sensor 3 is separated by a figurative in FIG. 5 Detection device not shown detected.
  • the output signals are sampled, as already stated, and the samples obtained thereon are converted to digital samples by means of an analog-to-digital converter.
  • the evaluation device then recomposes the obtained digital samples so that an output signal 16 results at time t 1 , which in the lower diagram of FIG FIG. 5 figuratively shown.
  • the plotted intensity of the output signal 16 or 17 is shown as a function of the location or path on the ordinate 4, which is plotted on the abscissa 5.
  • the maximum of the output signal which would have been measured with the first individual sensor 3 from the right would therefore lie directly on the axis 4.
  • the output signals 16 and 17 can also be understood as a sample image of the reference marks 7 and 8.
  • the evaluation device now shifts the output signal 16 as far as on the axis 5 with the aid of an internal logic, until a match of the output signals 16, 17 or the images of the reference mark 7 sampled at different points in time is achieved as exactly as possible within the measurement accuracy of the individual sensors 3. From the shift in the direction of the axis 5 can now derive the way that the scanning means 2 has covered in the time interval between t 1 and t 2 . In this way, a speed can then be derived with which the scanning means, and thus the vehicle to which the scanning means 2 is fastened, moves in the direction of travel 6.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
EP06775689A 2006-07-06 2006-07-06 Vorrichtung zum orten eines an einen fahrweg gebundenen fahrzeugs Not-in-force EP2038158B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/DE2006/001189 WO2008003272A1 (de) 2006-07-06 2006-07-06 Vorrichtung zum orten eines an einen fahrweg gebundenen fahrzeugs

Publications (2)

Publication Number Publication Date
EP2038158A1 EP2038158A1 (de) 2009-03-25
EP2038158B1 true EP2038158B1 (de) 2010-06-02

Family

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EP06775689A Not-in-force EP2038158B1 (de) 2006-07-06 2006-07-06 Vorrichtung zum orten eines an einen fahrweg gebundenen fahrzeugs

Country Status (5)

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US (1) US8067933B2 (zh)
EP (1) EP2038158B1 (zh)
CN (1) CN101472778B (zh)
DE (1) DE502006007134D1 (zh)
WO (1) WO2008003272A1 (zh)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7532979B2 (en) 2005-11-10 2009-05-12 Tele Atlas North America, Inc. Method and system for creating universal location referencing objects
CN101700781B (zh) * 2009-11-17 2011-11-30 武汉钢铁(集团)公司 一种判断列首车辆所在区间的系统及其判断方法
US8862395B2 (en) * 2011-01-31 2014-10-14 Raytheon Company Coded marker navigation system and method
US20130006482A1 (en) * 2011-06-30 2013-01-03 Ramadev Burigsay Hukkeri Guidance system for a mobile machine
EP2851262A1 (en) * 2013-09-18 2015-03-25 Bombardier Transportation GmbH An antenna arrangement and a method for determining the absolute speed of a rail vehicle
GB201407643D0 (en) 2014-04-30 2014-06-11 Tomtom Global Content Bv Improved positioning relatie to a digital map for assisted and automated driving operations
EP3332218B1 (en) 2015-08-03 2021-11-03 TomTom Global Content B.V. Methods and systems for generating and using localisation reference data
EP3341258B1 (en) 2015-08-26 2021-02-17 Thales Canada Inc. Guideway mounted vehicle localization system and method
CN105501256B (zh) * 2015-12-23 2017-05-31 中国铁道科学研究院通信信号研究所 一种中低速磁悬浮列车组合测速定位装置
WO2017197578A1 (zh) 2016-05-17 2017-11-23 华为技术有限公司 一种便携式电子设备及定位方法
CN105905134A (zh) * 2016-06-07 2016-08-31 深圳航天科技创新研究院 一种轨道交通车辆精确测速系统和方法
FR3131893B1 (fr) 2022-01-17 2024-04-26 Urbanloop Procede de localisation et/ou de mesure de vitesse d'un vehicule

Family Cites Families (7)

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Publication number Priority date Publication date Assignee Title
GB1595311A (en) 1977-01-17 1981-08-12 Gec General Signal Ltd Railway signalling apparatus
DE3200811A1 (de) 1982-01-13 1983-07-21 Siemens AG, 1000 Berlin und 8000 München Einrichtung zur bestimmung des standortes eines spurgefuehrten fahrzeugs
DE3382199D1 (de) * 1982-02-10 1991-04-18 Thyssen Industrie Vorrichtung zur inkrementalen erfassung der fahrzeuglage eines magnetschwebefahrzeuges.
CH661994A5 (de) 1983-02-21 1987-08-31 Jaeger Walter Verfahren zur uebertragung von informationen und befehlen von einer bodenstelle auf ein schienenfahrzeug.
FR2673901B1 (fr) * 1991-03-13 1994-05-20 Inrets Procede de localisation d'un vehicule roulant sur une voie de guidage et installation de localisation equipant un tel vehicule.
CN1791527A (zh) 2003-05-21 2006-06-21 希尔霍尔茨传送电梯瑞士股份公司 导轨装置、道岔和具有磁致伸缩的传感器的输送装置
DE102004015496A1 (de) * 2004-03-26 2005-10-13 Thyssenkrupp Transrapid Gmbh Vorrichtung zur Erzeugung sicherer Zustandssignale von einem längs eines vorgegebenen Fahrwegs bewegbaren Fahrzeugs

Also Published As

Publication number Publication date
EP2038158A1 (de) 2009-03-25
CN101472778B (zh) 2011-10-19
US20090201012A1 (en) 2009-08-13
DE502006007134D1 (de) 2010-07-15
US8067933B2 (en) 2011-11-29
WO2008003272A1 (de) 2008-01-10
CN101472778A (zh) 2009-07-01

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