EP2470407B1 - Überwachungsvorrichtung und verfahren zur überwachung eines ein- oder ausstiegsbereiches von einer zutrittsöffnung eines fahrzeugs zu einem bauwerksteil - Google Patents

Überwachungsvorrichtung und verfahren zur überwachung eines ein- oder ausstiegsbereiches von einer zutrittsöffnung eines fahrzeugs zu einem bauwerksteil Download PDF

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Publication number
EP2470407B1
EP2470407B1 EP10743144.7A EP10743144A EP2470407B1 EP 2470407 B1 EP2470407 B1 EP 2470407B1 EP 10743144 A EP10743144 A EP 10743144A EP 2470407 B1 EP2470407 B1 EP 2470407B1
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EP
European Patent Office
Prior art keywords
vehicle
monitoring
entry
building component
area
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.)
Active
Application number
EP10743144.7A
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German (de)
English (en)
French (fr)
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EP2470407A1 (de
Inventor
Andreas Schnabl
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.)
Knorr Bremse GmbH
Knorr Bremse AG
Original Assignee
Knorr Bremse GmbH
Knorr Bremse AG
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Publication of EP2470407A1 publication Critical patent/EP2470407A1/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B1/00—General arrangement of stations, platforms, or sidings; Railway networks; Rail vehicle marshalling systems
    • B61B1/02—General arrangement of stations and platforms including protection devices for the passengers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
    • B61D19/00—Door arrangements specially adapted for rail vehicles
    • B61D19/02—Door arrangements specially adapted for rail vehicles for carriages
    • B61D19/026—Safety devices for preventing passengers from being injured by movements of doors or variations in air pressure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
    • B61D23/00—Construction of steps for railway vehicles
    • B61D23/02—Folding steps for railway vehicles, e.g. hand or mechanically actuated
    • 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

Definitions

  • the present invention relates to a monitoring device and a method according to the preamble of the respective main claims.
  • a monitoring unit In the case of rail vehicles, it is often necessary to monitor the door areas in order to realize either injury to passengers or a special comfort function in the door control. Monitoring systems and, above all, non-contact systems are increasingly used in border areas in which monitoring by contact agents, for example due to weather conditions, presents difficulties.
  • the simplest embodiment of such a monitoring unit is the light barrier, which is composed of a transmitting unit and a receiving unit. If the light path is blocked by a person or an object, no light signal is registered at the receiver and accordingly corresponds to a blockage of the area to be monitored.
  • Light grid systems work on the principle of illuminating an object to be examined with a light grid pattern in order to derive spatial coordination for the object from reflections of the light grid pattern from the object.
  • Ultrasonic sensors also work on a similar principle in which 3D coordinates are received from acoustic reflections of a radiated sound signal, evaluated and assigned to an object.
  • the detection and evaluation of such acoustic signals is very complicated. So far, it has not been possible to realize the different monitoring function, such as the recognition of a person or object and the determination of the exact position in a unit or by a common physical measuring principle.
  • the WO 2004/078552 A1 shows a method and a device for monitoring an entry area of vehicles in order to detect and hide shadows.
  • the JP 2004 042777 A shows an obstacle detector, eg a stereo camera, for objects in a lane of a rail vehicle.
  • the JP 11 091567 A shows a security monitor for monitoring a platform.
  • a monitoring device according to claim 1, as well as a method for monitoring an entry or exit area from an access opening of a vehicle to a building part according to claim 11.
  • the present invention is based on the idea that an optical camera system for generating a stereo image can also be used to monitor a specific area (for example in front of a door of a rail vehicle).
  • Such an optical camera system allows integration of the functionality of different sensors.
  • several sensors would have to be installed to measure different physical quantities in order to to be able to carry out the monitoring of the entry and exit areas approximately equally.
  • the presence of an object in the surveillance area can be detected by the optical camera system on the one hand, which could be realized in the prior art by a light barrier.
  • spatial coordinates of this object in the surveillance area can be determined from the spatial information of the stereo image by the identical camera system, which can be done in the prior art, however, by an ultrasonic sensor.
  • the camera system may further determine a distance or position of a part of a structure (such as a platform edge) to the vehicle. All of the mentioned functionalities can be obtained solely on the basis of an evaluation of the acquired stereo image or of the two images captured by those cameras of the optical camera system. Such an evaluation of the stereo image is technically easy to perform due to the available evaluation routines and the powerful processors already available today.
  • the present invention offers the advantage that it is no longer necessary to install many different sensors for the individual functionalities, but a single unit provides the desired information. Thus, a combination of different monitoring functions is realized in one unit. This inevitably results in a cost reduction in the production of the above-mentioned monitoring device.
  • the optical camera system can be fastened to the vehicle.
  • Such an embodiment of the present invention offers the advantage that the camera system is always positioned directly in the surveillance area in front of an access opening. Since it can not be assumed that the access opening of the vehicle at a certain time is in the same position in front of the building part in the vicinity of which the camera system is positioned, it is better to fix the monitoring device completely to the vehicle. This achieves an unambiguous position determination of persons or objects in the entry or exit area.
  • the attachment of the optical camera system in an area in the vicinity of the access opening within the vehicle which may further comprise a deflection unit to a To direct the visual range of the camera system in the entry and exit area.
  • a deflection unit to a To direct the visual range of the camera system in the entry and exit area.
  • the evaluation unit may be configured to control the door such that the door remains open when a person or object is in the entrance or exit area of the vehicle.
  • a central control unit can be provided, which also performs the door control in addition to the evaluation of the stereo image. This can lead to a reduction of the required electronic components and thus again to a cost reduction.
  • the vehicle may have an extendable tread, wherein the tread is extendable into a tread area between the access opening of the vehicle and the building part and wherein the evaluation unit is adapted to detect an extended tread.
  • the detection of an extended tread is a decision-making feature to release a departure of the vehicle, so that by the recognition of persons or objects on the tread an improvement in operational safety by a central evaluation unit very easily implemented can be.
  • it can be determined at which access opening of the vehicle a problem occurs with a (for example occupied) tread and such an error can thus be corrected faster.
  • a step that has not been properly retracted may cause damage to it and a risk of injury to persons in the area of the building part.
  • the device may include an evaluation unit, which is designed to detect a position of the tread relative to the structural part and to control the tread such that when extending the tread a predetermined minimum distance of the tread is adhered to the building part.
  • an evaluation unit which is designed to detect a position of the tread relative to the structural part and to control the tread such that when extending the tread a predetermined minimum distance of the tread is adhered to the building part.
  • the device comprises an evaluation unit in order to deactivate an extension function of the step when a person or an object is recognizable in an area between the vehicle and the building part.
  • an evaluation unit in order to deactivate an extension function of the step when a person or an object is recognizable in an area between the vehicle and the building part.
  • Such an embodiment of the present invention has the advantage that accidentally trapped persons between the building part and the vehicle are not injured by an extending tread. Also, the step is protected when objects are in the space between the building part and the vehicle. The extension function is blocked.
  • the device comprises an evaluation unit which is designed to control a door movement if at least one person or an object is recognizable in a region of the tread.
  • an evaluation unit which is designed to control a door movement if at least one person or an object is recognizable in a region of the tread.
  • the device has an evaluation unit which is designed to issue a warning to a driver of the vehicle if at least one person or object can be recognized in a safety area of the building part.
  • an evaluation unit which is designed to issue a warning to a driver of the vehicle if at least one person or object can be recognized in a safety area of the building part.
  • the device may comprise an evaluation unit, which allows a count of people entering and / or exiting through the access opening of the vehicle.
  • an evaluation unit which allows a count of people entering and / or exiting through the access opening of the vehicle.
  • a platform edge 1 is shown as a structural part (in an alternative height 2, for example at another station).
  • a camera system 3 is attached to a rail vehicle, specifically above a door area of the rail vehicle, in order to move the entry and exit area into a predetermined solid angle of the scanning area 4 capture.
  • the door area 5 forms, for example, the area near the access opening.
  • the tread 6 is shown, which is extended at about the level of the platform edge on the vehicle.
  • One aspect of the invention relates to enabling an entry and exit area of the door 4, for example of a rail vehicle with automatic door systems.
  • a vehicle wherein the vehicle is a rail vehicle, a truck with a monitorable loading opening or another vehicle.
  • This monitoring system integrates the characteristics of different sensor systems in one unit, with a non-contact mode of operation and a determination of position information of the platform being to be emphasized as special features.
  • the entire camera system 3 is conveniently mounted in the door area on the rail vehicle.
  • the sensor system 3 mounted in the door region is capable of carrying out a monitoring function by evaluating the stereo image or the two individual images of the first and second camera.
  • monitoring is carried out with the door open and closing, whereby, for example, an anti-trap protection of persons in this area can be supported.
  • Monitoring the extension and retraction function of the tread 6 leads to a redundant query whether the tread is retracted or extended.
  • the optical camera system it is also possible by the optical camera system to monitor whether interfering elements are present in the gauge 4 and their detection then activate an algorithm which causes a delay in the departure of the train.
  • a presence monitoring of persons or objects on the step 6 is provided accessible with the same camera system.
  • an extended scanning area 4 is required, which also allows detection of people or objects on a security area of the platform in front of a platform edge.
  • the surveillance area can be extended beyond an area of the platform edge (ie in a direction away from the vehicle).
  • recognition of persons in the vicinity of platform edges can be realized, wherein these data, which are obtained from the stereo image, are used in the security monitoring.
  • Another property the monitoring system evaluating the stereo image is the application as a counting system for incoming and outgoing persons, which can also be referred to as passenger counting system.
  • a scanning 4 can be monitored, with different queries or evaluations of the stereo image of the camera system 3 different scanning areas such as platform edges 1 or 2 or the door area 5 and the tread area 6 monitored separately and from the relevant data can be evaluated.
  • different areas of the entry and exit area are presented in more detail, in which special monitoring functions are carried out.
  • Fig. 2 shows a representation of different areas in side view, which are monitorable according to an embodiment of the present invention.
  • the monitoring field 11 is provided for monitoring the door space.
  • the monitoring field 12 is used to control the extension and retraction function of the tread.
  • data are evaluated, which relate to the monitoring field 13. If persons or objects are located in the monitoring field 14, this is registered as an entry into the tread area.
  • the exact position of the platform edge relative to the vehicle in the monitoring field 15 is determined at the same time.
  • An evaluation of the data from the monitoring field 16 makes it possible to detect persons or objects in the danger zone of the platform. A count of persons entering and / or exiting is possible through the joint evaluation of the data from the monitoring fields 11 and 17.
  • the monitoring device consists of a sensor system 3, which can be fixedly mounted on the vehicle in the vicinity of the door area (above or to the side).
  • the sensor system 3 consists essentially of two optical cameras, each individual camera can take a picture. These two images are then combined to form a stereo image, or the information from the two images is evaluated jointly in order to obtain distance information from objects in the monitored area, and from this, for example, to calculate distance information per pixel.
  • Sophisticated software which is integrated in the evaluation unit, can then be used to filter out different scanning regions within the visible surface of the sensor system 4 and to evaluate these scanning regions for the presence of objects.
  • the sensor system 3 itself can in Presence of objects are evaluated.
  • the sensor system 3 itself may be mounted in a special housing directly on the outside of the vehicle or inside the vehicle, optionally using a deflection unit for deflecting the field of view in the entry and exit area.
  • the camera system 3 can be activated at a certain (residual) speed when the vehicle is stopped or only when the vehicle is at a standstill, depending on the function to be performed. From the moment of activation, images of the environment or of the area to be monitored are recorded at regular intervals (for example with a frequency of up to 20 images / second) and evaluated accordingly.
  • the functions described below can be realized.
  • a monitoring field 11 of the sensor system 3 is defined so that it lies close to a door leaf outside or even can protrude into the door area, then the evaluation unit is able to detect persons and / or objects.
  • the monitoring field can be dynamically reduced in accordance with the position of the door leaf in the closing area, for example.
  • the presence or absence of the tread can be detected. This monitoring may be necessary to determine the status of the step. Such recognition of the status of the tread can be used, for example, to release the vehicle in case of a retracted tread the vehicle for departure.
  • a monitoring field 13 is defined. Also persons or objects located in this area can be detected so as not to endanger persons via an extending step.
  • an evaluation of data from the monitoring field 14 allows persons and objects which are located on the running board to be recognized.
  • a corresponding Door function can be triggered depending on the result of the footstep monitoring. For example, the opening of the door can be initiated if a passenger wants to enter the rail vehicle or if the door is already closed a warning can be given to the person concerned when the door is just closed.
  • the exact coordinates of the platform edge can be determined. This information can be used by the evaluation unit to control the running board spafahrende so that it is positioned as close to the platform with a small residual gap. By a very small size of the residual gap, a risk to persons can be avoided by slipping into the residual gap.
  • a counting system for incoming and outgoing persons can be realized by the possible detection of the direction of movement of objects or persons, which are realized by the evaluation of data from two different defined monitoring areas or monitoring fields 11 and 17.
  • a passenger counting device can be implemented very simply by evaluating the stereo image of the camera system.
  • the sensor system can be installed over permanently laid lines or via any bus systems (such as: CAN bus, Ethernet, etc.) can be connected to the door control.
  • bus systems such as: CAN bus, Ethernet, etc.
  • the corresponding information is transmitted to the door control and evaluated there accordingly or triggered the corresponding function, for example, the positioning of the footboard 6 by defining the extension or reservation of the door 5 for persons in the door area.
  • FIG. 12 shows a flow chart of a method 30 for monitoring an entry or exit gate from an access opening of a vehicle to a building part.
  • the method comprises a step of providing 31 an optical camera system with a first camera for providing a first image and a second camera for providing a second image and providing an evaluation unit. Furthermore, the method comprises a step of generating 32 a stereo image from the first and second images.
  • an entry or exit gate is monitored using the stereo image, wherein at least one object in the entry or exit area can be detected during monitoring and / or a position of the building part relative to at least one part of the vehicle can be determined.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Traffic Control Systems (AREA)
  • Lock And Its Accessories (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Alarm Systems (AREA)
  • Emergency Alarm Devices (AREA)
EP10743144.7A 2009-08-27 2010-08-17 Überwachungsvorrichtung und verfahren zur überwachung eines ein- oder ausstiegsbereiches von einer zutrittsöffnung eines fahrzeugs zu einem bauwerksteil Active EP2470407B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009039162A DE102009039162A1 (de) 2009-08-27 2009-08-27 Überwachungsvorrichtung und Verfahren zur Überwachung eines Ein- oder Ausstiegsbereiches von einer Zutrittsöffnung eines Fahrzeugs zu einem Bauwerksteil
PCT/EP2010/061984 WO2011023602A1 (de) 2009-08-27 2010-08-17 Überwachungsvorrichtung und verfahren zur überwachung eines ein- oder ausstiegsbereiches von einer zutrittsöffnung eines fahrzeugs zu einem bauwerksteil

Publications (2)

Publication Number Publication Date
EP2470407A1 EP2470407A1 (de) 2012-07-04
EP2470407B1 true EP2470407B1 (de) 2014-07-09

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Country Status (8)

Country Link
US (1) US20120188346A1 (pt)
EP (1) EP2470407B1 (pt)
CN (1) CN102648117A (pt)
AU (1) AU2010288642A1 (pt)
BR (1) BR112012004267A2 (pt)
CA (1) CA2772153A1 (pt)
DE (1) DE102009039162A1 (pt)
WO (1) WO2011023602A1 (pt)

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Also Published As

Publication number Publication date
EP2470407A1 (de) 2012-07-04
DE102009039162A1 (de) 2011-03-17
AU2010288642A1 (en) 2012-03-22
US20120188346A1 (en) 2012-07-26
WO2011023602A1 (de) 2011-03-03
BR112012004267A2 (pt) 2016-02-16
CN102648117A (zh) 2012-08-22
CA2772153A1 (en) 2011-03-03

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