EP2288531B1 - Einrichtung und verfahren zum erzeugen eines ortungssignals - Google Patents

Einrichtung und verfahren zum erzeugen eines ortungssignals Download PDF

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Publication number
EP2288531B1
EP2288531B1 EP09761649.4A EP09761649A EP2288531B1 EP 2288531 B1 EP2288531 B1 EP 2288531B1 EP 09761649 A EP09761649 A EP 09761649A EP 2288531 B1 EP2288531 B1 EP 2288531B1
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EP
European Patent Office
Prior art keywords
reference object
image
subimages
signal
vehicle
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
EP09761649.4A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP2288531A1 (de
Inventor
Andre Puchert
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 of EP2288531A1 publication Critical patent/EP2288531A1/de
Application granted granted Critical
Publication of EP2288531B1 publication Critical patent/EP2288531B1/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
    • B61L25/026—Relative localisation, e.g. using odometer
    • 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
    • B61L25/025—Absolute localisation, e.g. providing geodetic coordinates

Definitions

  • the invention relates to a method for generating a locating signal, which indicates the location of a vehicle, in particular the location of a track-bound vehicle (eg rail vehicle).
  • a track-bound vehicle eg rail vehicle
  • automatic train control devices such as ATO devices (ATO: Automatic Train Operation) can be used to control rail vehicles.
  • ATO Automatic Train Operation
  • the respective position of the rail vehicle is continuously determined and used for train control.
  • a relatively accurate location of a rail vehicle is also required if a highly accurate positioning of the rail vehicle to take place, for example, at training and entry points, such. B. in front of platform doors of a platform; because it is difficult or impossible for passengers to get in and out if the doors of the rail vehicle do not face the platform protection doors.
  • crossed lines of a conductor loop or local beacons are used in the form of balises, usually in each case in conjunction with an odometry device present on the rail vehicle.
  • the trackside installation effort is greater, the more accurate the positioning of the rail vehicle should be, because the density the more accurate the vehicle location is to be determined, the greater must be at local reference points.
  • a relatively accurate locating signal is known to be needed not only for the pure positioning of the rail vehicle, but also, if the safe standstill of the rail vehicle to be monitored.
  • components of on-vehicle odometry are usually used for standstill monitoring.
  • the odometry sensor can here z. B. consist of the combination of a Wegimpulsgebers and a Doppler radar.
  • a Wegimpulsgeber alone is usually not considered sufficient for safety reasons;
  • secondary or parallel systems are required in order to ensure the safety of the entire system in the event of a device failure.
  • the invention is accordingly based on the object of specifying a method for generating a locating signal.
  • the method should be very easy to perform, but still generate very accurate location signals.
  • the international patent application with the publication number WO 2007/091072 A1 discloses a method for generating a locating signal indicative of the location of a railway vehicle.
  • reference objects in the form of markers in the surroundings of the vehicle are identified in order to be able to determine the location.
  • German patent application DE 22 38 087 A1 discloses a mixed image range finder for a camera.
  • a reference object stored in advance in the surroundings of the vehicle is identified, the reference object of a sectional image. or mixed image distance measurement is obtained and the position signal is generated by evaluating the sectional image or mixed image distance measurement, wherein as the detection signal, an output signal is generated which indicates whether or not there is a predetermined distance to the reference object, with a preset to the predetermined distance Thomassch- or Mixed image distance measuring device is checked whether the partial images generated by the cross-sectional image or Mischbuchentfernungsmessleaned match or there is a congruence of the partial images, and in a matching of the sub-match a different output signal is generated than in non-matching of the fields or mismatch.
  • a significant advantage of the method according to the invention can be seen in the fact that a location determination is carried out on the basis of an optical measurement, whereby a very high measurement accuracy can be achieved with comparatively low metrological effort. Also, with the method according to the invention, a standstill detection can be performed by monitoring temporal changes of the locating signal.
  • the method according to the invention makes it possible to detect a location and, consequently, also a standstill detection of a vehicle with very little effort, but nevertheless very good measurement results.
  • the matching of the partial images or the congruence can be determined for example in the context of a digital image processing method with a data processing device.
  • a digital or binary signal is generated as the output signal.
  • the invention also relates to a device for generating a locating signal which indicates the location of a vehicle, in particular that of a track-bound vehicle (eg rail vehicle).
  • a track-bound vehicle eg rail vehicle
  • a cross-sectional or mixed-image distance measuring device which produces two partial images of the vehicle surroundings on the output side
  • a camera arranged downstream of the cross-sectional imaging or mixed-image distance measuring device for capturing the partial images
  • a data processing device connected to the camera, which is designed such that it can be used within the scope of Image processing detects a pre-stored reference object in the captured partial images - for example in the context of a digital image recognition method - and generates the locating signal by evaluating the sub-images of the reference object
  • the data processing device is configured such that it generates an output signal as locating signal indicating whether a predetermined Distance to the reference object is present or not, by checking with the pre-set to the predetermined distance slice or Mischbuchentfernungsunkslitis whether the partial images match or there is a congruence of the sub-images captured by the camera, and when mated or congruent generates a different binary output signal than in the absence of congruence.
  • FIG. 1 a railway vehicle 5 is shown, which is equipped with a device 10 for generating a locating signal Sx.
  • the device 10 has a data processing device 15, to which a camera 20 is connected.
  • the camera 20 is aligned with a reference object 25, which is fixedly attached to the track and whose location is known in advance.
  • the viewing angle of the camera 20 is in the FIG. 1 characterized by the angle ⁇ .
  • the camera 20 may be fixedly mounted in the rail vehicle 5, so that the viewing angle ⁇ can not be changed. Alternatively, it is also possible to equip the camera 20 with a zoom function, so that the viewing angle ⁇ can be set as desired. It is also possible, the camera 20 pivotally or tiltably mounted on a mechanically adjustable holding device, so that the camera 20, preferably controlled by the data processing device 15, to align any objects along the track traveled by the rail vehicle 5. Such a mechanically adjustable holding device is the sake of clarity in the FIG. 1 not shown.
  • the reference object 25 is formed by a cross; Of course, other shapes of the reference object are possible;
  • the reference object may also be buildings or parts of buildings into which the rail vehicle 5 enters or passes.
  • FIG. 16 another embodiment of a suitable reference object 25 is shown; This can be due to its unusual shape design in the context of a machine-aided automatic image recognition relatively easily in virtually any part of the image removal device 30 detect.
  • a cross-sectional distance measuring device 30 is arranged between the camera 20 and the reference object 25.
  • the distance between the rail vehicle 5 and the reference object 25 is identified by the reference symbol x (t).
  • x (t) The distance between the rail vehicle 5 and the reference object 25 is identified by the reference symbol x (t).
  • the cutting distance measuring device 30 Since the cutting distance measuring device 30 is arranged in front of the camera 20, the camera 20 will generate two partial images as the video signal V and forward them to the data processing device 15.
  • FIG. 2 an embodiment of the supplied by the camera 20 fields is shown.
  • the upper part of the figure in the figure 2 is denoted by the reference numeral 60 and in the FIG. 2 lower part of the image is marked with the reference numeral 65.
  • the video signal V delivered by the camera 20 is evaluated by the data processing device 15, whereby it initially recognizes in the video signal V the reference object 25 which has been previously stored in the data processing device.
  • the data processing device 15 will check on the basis of the upper sub-image 60 and the lower sub-image 65 whether the reference object 25 supplied in the video signal V completely coincides with the stored reference object and is undistorted.
  • the data processing device 15 will generate a binary output signal as locating signal Sx.
  • the binary output signal may, for example, have a logic 1 if the distance x (t) corresponds to the predetermined distance value x0 and the partial images match.
  • the locating signal Sx is a binary output signal generated with a logical 0.
  • the reference object 25 - as already explained - represented incorrectly, so that in this case as a binary output signal a logical 0 will be generated (see. FIG. 6 ).
  • the binary output signal Sx can be used, for example, to supply an automatic train control, such as an ATO device with a locating signal, so that the train control can operate correctly.
  • the device 10 can also be used for a standstill detection. If the rail vehicle 5 is positioned, for example at a stop at a distance x (t) to the reference object 25, which corresponds to the predetermined distance value x0, the data processing device 15 can check whether the rail vehicle 5 is actually stationary. As long as the rail vehicle 5 does not move, the locating signal Sx will have a logical 1. If the locating signal jumps from a logical 1 to a logical 0, then the rail vehicle 5 must have shifted, be it that it now has a larger distance to the reference object 25, or is it smaller in comparison.
  • FIG. 7 a second embodiment of a rail vehicle 5 is shown with a device 10 for generating a locating signal Sx.
  • the cutting distance measuring device 30 additionally has an adjusting device 100, with which the predetermined distance value x0 of the cutting distance measuring device 30 can be adjusted under the control of a control signal ST. It is thus in contrast to the embodiment according to FIG. 1 possible, for everyone Distance x (t) between the rail vehicle 5 and the reference object 25 to set a congruence between the upper partial image 60 and the lower partial image 65 with respect to the reference object 25.
  • the data processing device 15 determines, for example, that the upper partial image 60 does not match the lower partial image 65 or there is no congruence (cf. FIG. 8 ), it will generate a control signal ST, with which the predetermined distance value x0 of the cutting distance measuring device 30 is set such that the two partial images 60 and 65 match with respect to the reference object 25 and there is a congruence with respect to the connection points. This is exemplary in the FIG. 9 shown. After the two sub-images 60 and 65 have been brought to coincidence or have been moved properly, the data processing device 15 will determine based on the output for the adjustment of the adjusting 100 control signal ST, which distance between the rail vehicle 5 and the reference object 25 is present.
  • FIG. 10 is a diagram showing the distance setting of the Thomas142entfernungsmess worn 30 in response to the respective applied control signal ST.
  • the distance setting is indicated by the reference E (ST).
  • the data processing device 15 determines the respective distance x (t) between the rail vehicle 5 and the reference object 25 and outputs a distance measurement value xm (t) as the location signal Sx out.
  • the distance measurement value xm (t) thus indicates the respective distance between rail vehicle 5 and reference object 25.
  • FIG. 11 For example, a curve for the distance measurement xm (t) is shown. It can be seen that the rail vehicle 5 approaches the reference object 25, since the measured distance between the rail vehicle 5 and the reference object 25 becomes smaller.
  • FIG. 12 shows a third embodiment of a rail vehicle 5 with a device 10 for generating a locating signal Sx shown.
  • the device 10 has, instead of a slice removal measuring device 30, a mixed-image distance measuring device 30 ', which is permanently preset to a fixed predetermined distance value x0.
  • the mixed image removal measuring device 30 'according to FIG. 12 not separate partial images that are spatially next to each other and made to fit or congruent at their interface, but instead two overlapping partial images.
  • the video signal V supplied by the camera 20 thus supplies two partial images of the reference object 25, which are in the FIGS. 13 and 14 are denoted by reference numerals 160 and 165.
  • Non-coincident sub-images 160 and 165 are exemplary in the FIG. 13 shown. Due to the lack of congruence of the two partial images 160 and 165, it can be seen that the distance between the rail vehicle 5 and the reference object 25 does not correspond to the predetermined distance value x0, which is predetermined for the mixed-image distance measuring device 30 '.
  • the distance between the rail vehicle 5 and the reference object 25 corresponds to the predetermined distance value x0.
  • the operation of the mixed image removal measuring device 30 'according to FIG. 12 essentially the operation of the cutting distance measuring device 30 according to FIG. 1 because both devices work with a given distance value x0. Accordingly, the mixed-image distance measuring device 30 'as a detection signal Sx output a binary output signal S, as already in connection with the FIG. 6 has been explained.
  • FIG. 15 a further embodiment of a rail vehicle 5 with a device 10 for generating a locating signal Sx.
  • a mixed image removal measuring device 30 ' is provided, which is also equipped with an adjusting device 100.
  • the adjusting device 100 is connected to the data processing device 15 in connection and is controlled by this via a control signal ST.
  • the mixed image removal measuring device 30 'generates two partial images 160 and 165 of the reference object 25 which are superimposed or not depending on the distance value x0 predetermined by the mixed image removal measuring device 30'.
  • the data processing device 15 now states that the two fields of 160 and 165 not übereinan - the lie, as in the FIG. 13 is shown, it will change over the control signal ST and the adjusting device 100, the predetermined distance value x0 of the mixed image removal measuring device 30 'until a congruence is achieved.
  • a congruence shows - as already explained - the FIG. 14 ,
  • the data processing device 15 determines which distance setting E (ST) corresponds to the respective control signal ST and determine from the determined distance setting of the adjusting device 100 or the mixed-image distance measuring device 30 'which current distance x (t) the rail vehicle 5 has to the reference object 25.
  • the corresponding distance measurement value xm (t) is output as a locating signal Sx.
  • a distance signal Sx may be taken as shown in FIG FIG. 11 is shown.
  • a locating signal Sx can be generated, be it in the form of a distance measuring value xm (t) (cf. Fig. 11 ) or in the form of a binary signal (cf. FIG. 6 ).
  • the locating signal Sx can also standstill detection of the vehicle by observing or recording and evaluating the time profile and possibly a change with time of the locating signal Sx. For example, a movement of the vehicle can always be inferred if the locating signal changes.
  • the location signal Sx is subjected to a filtering, for example a digital or numerical filtering (for example in the data processing unit 15), and the filtered location signal with regard to a standstill of the vehicle is evaluated.
  • a filtering for example a digital or numerical filtering (for example in the data processing unit 15)
  • the filtered location signal with regard to a standstill of the vehicle is evaluated.
  • a standstill detection signal is generated with a (for example digitally) filtered location signal.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)
  • Measurement Of Optical Distance (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
EP09761649.4A 2008-06-13 2009-06-03 Einrichtung und verfahren zum erzeugen eines ortungssignals Not-in-force EP2288531B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008028486A DE102008028486A1 (de) 2008-06-13 2008-06-13 Einrichtung und Verfahren zum Erzeugen eines Ortungssignals
PCT/EP2009/056815 WO2009150086A1 (de) 2008-06-13 2009-06-03 Einrichtung und verfahren zum erzeugen eines ortungssignals

Publications (2)

Publication Number Publication Date
EP2288531A1 EP2288531A1 (de) 2011-03-02
EP2288531B1 true EP2288531B1 (de) 2014-04-02

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Application Number Title Priority Date Filing Date
EP09761649.4A Not-in-force EP2288531B1 (de) 2008-06-13 2009-06-03 Einrichtung und verfahren zum erzeugen eines ortungssignals

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US (1) US20110091077A1 (pt)
EP (1) EP2288531B1 (pt)
BR (1) BRPI0915214A2 (pt)
DE (1) DE102008028486A1 (pt)
RU (1) RU2509021C2 (pt)
WO (1) WO2009150086A1 (pt)

Cited By (1)

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CN108082218A (zh) * 2017-12-14 2018-05-29 西北铁道电子股份有限公司 一种机车调车装置、方法及系统

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DE102012212808A1 (de) * 2012-07-20 2014-01-23 Siemens Aktiengesellschaft Verfahren und Vorrichtung zur Stillstandsüberwachung bei Schienenfahrzeugen
DE102012108171A1 (de) 2012-09-03 2014-03-06 Knorr-Bremse Systeme für Schienenfahrzeuge GmbH Stillstandsermittlung bei einem Schienenfahrzeug
CN103465938B (zh) * 2013-08-28 2016-03-16 北京交通大学 轨道交通车辆的快速精确定位装置及定位方法
DE102013218040A1 (de) * 2013-09-10 2015-03-12 Siemens Aktiengesellschaft Verfahren sowie Vorrichtung zum Erkennen einer Positionsänderung eines zumindest teilweisen abgeschalteten Fahrzeugs
CN103983238B (zh) * 2014-05-08 2016-07-06 中国科学院长春光学精密机械与物理研究所 用于机车牵引的车载影音测距方法
RU2564295C1 (ru) * 2014-06-03 2015-09-27 Игорь Давидович Долгий Устройство позиционирования железнодорожной подвижной единицы
DE102014217981A1 (de) * 2014-09-09 2016-03-10 Siemens Aktiengesellschaft Verfahren und Vorrichtung zur Stillstandsüberwachung
DE102014218654A1 (de) * 2014-09-17 2016-03-17 Siemens Aktiengesellschaft Verfahren sowie Vorrichtung zum Erkennen einer unveränderten Position eines zumindest teilweise abgeschalteten Fahrzeugs
US10373503B2 (en) 2015-01-09 2019-08-06 Gentex Corporation Trainable transceiver with single camera park assist
DE102016216528A1 (de) 2016-09-01 2018-03-01 Siemens Aktiengesellschaft Verfahren und Vorrichtung zum Ermitteln des Ortes eines Fahrzeugs, insbesondere eines Schienenfahrzeugs
CN107953901B (zh) * 2017-11-08 2020-09-04 交控科技股份有限公司 一种用于列车停车精确定位的系统及方法
US11332172B2 (en) * 2018-10-09 2022-05-17 Westinghouse Air Brake Technologies Corporation Method of wheel calibration
AT525770B1 (de) * 2022-01-11 2024-01-15 Herbert Doeller Messeinrichtungen zum Überwachen des Schienenweges

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Publication number Publication date
BRPI0915214A2 (pt) 2016-02-16
RU2011100827A (ru) 2012-07-20
US20110091077A1 (en) 2011-04-21
RU2509021C2 (ru) 2014-03-10
EP2288531A1 (de) 2011-03-02
DE102008028486A1 (de) 2009-12-31
WO2009150086A1 (de) 2009-12-17

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