EP2723622A1 - Dispositif et procédé pour piloter un véhicule ferroviaire - Google Patents

Dispositif et procédé pour piloter un véhicule ferroviaire

Info

Publication number
EP2723622A1
EP2723622A1 EP12750541.0A EP12750541A EP2723622A1 EP 2723622 A1 EP2723622 A1 EP 2723622A1 EP 12750541 A EP12750541 A EP 12750541A EP 2723622 A1 EP2723622 A1 EP 2723622A1
Authority
EP
European Patent Office
Prior art keywords
image
rail vehicle
control command
control
cab
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.)
Granted
Application number
EP12750541.0A
Other languages
German (de)
English (en)
Other versions
EP2723622B1 (fr
Inventor
Karsten Rahn
Ulrich Bock
Christian Bode
Winfried ERNST
Claus FÜHNER
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
Original Assignee
Siemens AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Publication of EP2723622A1 publication Critical patent/EP2723622A1/fr
Application granted granted Critical
Publication of EP2723622B1 publication Critical patent/EP2723622B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L3/00—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal
    • B61L3/02—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal at selected places along the route, e.g. intermittent control simultaneous mechanical and electrical control
    • B61L3/06—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal at selected places along the route, e.g. intermittent control simultaneous mechanical and electrical control controlling by electromagnetic or particle radiation, e.g. by light beam
    • B61L3/065—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal at selected places along the route, e.g. intermittent control simultaneous mechanical and electrical control controlling by electromagnetic or particle radiation, e.g. by light beam controlling optically

Definitions

  • the invention relates to a device and a method for controlling a rail vehicle.
  • Rail vehicles are nowadays mainly controlled by driving ⁇ generating leader, which in a driving cab of
  • Railway vehicle are located and provided for control Be ⁇ service elements, for example in the form of buttons, levers or switches operate.
  • rail vehicles such as the shunting locomotive of Deutsche Bahn V6, which are remotely controlled by radio from an operator not located in the cab, but on or near the rail track near the vehicle using a control panel.
  • the invention has for its object to provide a device for controlling a rail vehicle, which is cost-effective in terms of their structure and allows easy Schienenfahr ⁇ tool control.
  • Embodiments of the device according to the invention are specified in subclaims.
  • a device for controlling a rail vehicle which is characterized by an image capture device for capturing an image or an image sequence, and an image recognition device in communication with the image capture device, which is adapted to detect a control command character or Steuerbe ⁇ abnormal motion in the image taken by the image acquisition device or image in the captured by the image capture device and image sequence corresponding to a character or the control command, the control command movement
  • a significant advantage of the device according to the invention is that - in comparison to the driver's cabs customary today, which comprise a multiplicity of operating elements - these require very few components; Thus, the device according to the invention requires only a Schmfas ⁇ sungsleaned and an image recognition device. Additional controls, such as levers, switches or buttons, which must be cumbersome wired, are not required in the inventive device for controlling the rail vehicle.
  • Another important advantage of the input device according to the invention is the fact that these depending on the orientation of the image capturing means selectively controlling the rail vehicle from inside the vehicle, so Example ⁇ , from within a driver's cab of the rail vehicle ⁇ zeugs, or alternatively from the outside of the rail vehicle allowed.
  • the image capture device is merely to be aligned such that it shows the driver's cab at least in sections . If the rail vehicle instead should be controlled from outside, for example from the track, then the image capture device is to be directed to the surroundings of the rail vehicle.
  • the image capture means so arranged on the rail vehicle and being ⁇ directed is that it detects a surrounding portion around the rail vehicle, and the Bilderkennungseinrich ⁇ tung is suitable, one in recorded environment section to erken ⁇ NEN existing control command character or a present in the recorded ambient section control command movement. Due to the arrangement and orientation of the image capture device, it is thus possible to generate control commands for controlling the rail vehicle without a driver having to be in the driver's cab.
  • a control from outside is particularly advantageous in the case of broken or de ⁇ Maschinenen rail vehicles; a boarding a vehicle driver in a broken-down or defective rail vehicle usually requires prior Sich ceremoniessdorf ⁇ measures (z. B. securing the rail vehicle from rolling away, turning off the current), which are very costly under certain circumstances. Now, a broken-down or defective rails ⁇ vehicle controlled externally, the backup-mentioned measures are unnecessary.
  • the image capture device can be arranged in or on the driver's cab so that it detects a section of the driver's cab of the rail vehicle.
  • the image recognition device is suitable for recognizing a control command signal present in the recorded section of the driver's cab or for a control command movement present in the recorded section of the driver's cab.
  • a control of the rail vehicle in the cab without use of the usual Knöp ⁇ Fe, switch or lever is possible.
  • Such components can be dispensed without replacement when using the described embodiment of the measuring device, which can save costs and especially space.
  • the slide ⁇ nen poverty when the image recognition means is adapted to an operating movement shown in the sequence of images (for. Example, hand movement) to identify an operator and to generate corresponding control signal a of the operating movement.
  • the rail vehicle can therefore For example, be controlled solely by gestures of an operator.
  • the image recognition means is adapted to detect a control plate having thereon a control symbol in an image or image sequence and to generate a control symbol to the entspre ⁇ and fair control signal.
  • the control symbol han ⁇ delt it is preferably an optical control symbol
  • examples play a temporally variable (static) or control symbol to a time-varying (Dynami ⁇ ULTRASONIC) control symbol.
  • the tax shield on which the STEU ⁇ ersymbol is, it may be stationary or Move ⁇ Lich. For example, the control plate is moved from an operating person, so that an image sequence is formed, showing the loading ⁇ movement of the movable control plate.
  • the image recognition means is adapted to switch located on the control plate ei ⁇ NEN or to detect two-dimensional bar code and to generate a corresponding one or the saudimensio ⁇ dimensional bar code control signal.
  • barco ⁇ des allow to accommodate a very high information density on a very small area, so that even very complex control commands can be transmitted with the aid of a barcode.
  • the image recognition device may be suitable for recognizing a pictogram on the control plate which, for example, defines a travel command (eg stop, forward drive, reverse drive) and to generate a control signal corresponding to the pictogram.
  • a travel command eg stop, forward drive, reverse drive
  • the image sensing means preferably comprises a Kame ⁇ ra, which operates in the region of the optically visible light.
  • the image capture device may be adapted to detect infrared light and image signals generate, which describe a two-dimensional image of the sinceab ⁇ section or the cab.
  • the image capture device may comprise an ultrasonic transmitting and ultrasonic receiving means which is capable of emitting ultrasonic signals to measure re ⁇ Plural ultrasonic signals and to generate image signals describing an image of the surrounding portion or Guide # ⁇ rerstandes.
  • the Jardinfas ⁇ sungs worn ver ⁇ works at least two different signals, for example, a combination of optically visible light and infrared light, a combination of optically visible light and ultrasonic signals or a combination of infrared light and ultrasound signals.
  • the image capture device will receive optically visible light, infrared light and ultrasonic signals.
  • the image recognition device is preferably such out ⁇ staltet that they separately according to their source (light, for example, by optically visible light, infrared, ultrasound) the images captured by the image capture device images or image sequences evaluates and only then generates a control signal for Steue ⁇ tion of the rail vehicle if the control command or control command movements identified in the images or image sequences of the different channels correspond or at least do not contradict each other.
  • the image recognition device comprises a computing device (computer) and a memory, in which an evaluation program for controlling the computing device is included.
  • the evaluation program When executed by the computing device, the evaluation program becomes the image recorded by the image capture device or the image sequence captured by the image capture device with an image or image
  • the image recognition device is suitable for face recognition and generates a control signal for controlling the rail vehicle only if a control command or a control command movement originates from an authorized person whose face has been recognized.
  • authentication can also be done using
  • the invention also relates to a rail vehicle having a device as described above.
  • a rail vehicle having a device as described above.
  • the advantages of the rail vehicle according to the invention is referred to the above explanations of the ADVANTAGES ⁇ len of the inventive device, since the advantages of the inventive device are similar to those of the rail vehicle according to the invention essentially.
  • a display device which displays information for controlling the rail vehicle.
  • the Ad ⁇ ge Hughes associated with the image detection means in communication and displays the image recognition means on the display means the control command character respectively currently detected or the movement control command, respectively currently detected.
  • the invention also relates to a method for controlling a rail vehicle.
  • a method for controlling a rail vehicle pre seen that an image or image sequence is recorded with an image capture device, and it is checked whether a control command character or a control command movement is shown in an image or image sequence, and - in the case of He ⁇ knowing a control command character or a control command movement - A control signal corresponding to the recognized control command or the detected control command movement is generated, which describes a control command for controlling the rail vehicle.
  • railway vehicle is detected a control command character defining a desired travel command for the rail vehicle or a control command movement defining a desired travel command for the rail vehicle.
  • Figure 1 shows an embodiment of an inventive
  • Rail vehicle with a device according to the invention for controlling the rail vehicle which allows ei ⁇ ne control from outside the rail vehicle, wherein in Figure 1, the transmission of a stop signal is shown,
  • FIG 2 shows the rail vehicle shown in FIG 1, wherein the transfer ⁇ averaging of the drive command "forward travel" of au ⁇ ßerraum of the rail vehicle shown
  • figure 3 shows an embodiment for a rail vehicle, wherein the control is performed within a driver's cab of the rail vehicle, wherein in the figure 3 shows the transmission of a stop command from the driver's cab,
  • Figure 4 shows the rail car according to Figure 3, wherein the transfer ⁇ averaging of the drive command "forward motion" by Füh ⁇ rerstand from is illustrated
  • Figure 5 shows an embodiment for a rail vehicle, in which two image sensing devices, a controller of the rail vehicle from both the driver's cab as well as from outside the cab from enabled ⁇ union,
  • FIG. 6 shows an exemplary embodiment of a rail vehicle in which an image capture device makes it possible to control the rail vehicle both from the driver's cab and from outside the driver's cab
  • Figure 7 shows an embodiment of a control of
  • Rail vehicle by means of a one-dimensional barcode and Figure 8 shows an embodiment of a control of
  • Figure 1 you can see a rail vehicle 10 which is equipped with ei ⁇ ner technical means for controlling the rail vehicle.
  • This device comprises a Schmfas ⁇ sungs prepared 20, which is connected to a technical and working without human assistance image recognition device 30.
  • the image capture device 20 is arranged on the rail vehicle 10 and aligned such that it surrounds a surrounding portion U of the surroundings of the vehicle
  • the images ⁇ capture device 20 for example three Beat chargedsmo ⁇ modules 21, 22 and 23, for example in the form of a camera (see FIG. Numeral 21) for receiving and detecting visible light, an infrared camera (see FIG. Numeral
  • the image capture device 20 Based on the information from the image acquisition modules, the image capture device 20 generates image signals B, which are transmitted to a computing device 40 (computer) of the image recognition device 30.
  • the computing device 40 is connected to a memory 50 in which a computer program P is stored for controlling the computing device 40.
  • the computing device 40 Leads the computing device 40, the computer program ⁇ P, so they will evaluate the image signals B of Bilderfas ⁇ sungs worn 20 and check in from the In the image capture device 20 recorded image or in the image captured by the image capture device 20 image sequence control command or a control command movement are recognizable, which are predefined in the computer program P and stored in the memory 50.
  • the image signals B of the image capture device 20 may be unprocessed or already preprocessed, for example prefiltered or pre-interpreted.
  • the calculating means 40 Recognizes the calculating means 40 a predefined Steuerbe ⁇ lack sign or a predefined movement control command, it generates a corresponding control signal ST with which the rail vehicle is controlled 10th
  • the control signal ST is transmitted directly or indirectly through a non-displayed overall ATC system to a drive 70 of the rail vehicle 10 to control the travel movement of the rails ⁇ vehicle 10.
  • FIG. 1 also shows an operator 100, who pivots her hand 110 in a circular manner. This circular
  • Pivoting motion is to transmit, for example, the control command "stop".
  • the image capture device 20 detects the surrounding portion U to the operator 100 and the circuit ⁇ motion and a corresponding image signal B transmitted to the computing device 40 of the image recognition means 30 the computing means 40 will recognize the circular BEWE ⁇ supply the operator 100 and the corresponding control command "Stop " determine.
  • the corresponding stop command is transmitted in the form of the control signal ST to the drive 70, so that the rail vehicle 10 comes to a standstill.
  • the computer program P can be programmed in a manner analogous to image recognition methods known today in the field of game consoles with a view to the recognition of control commands or commands.
  • image recognition methods known today in the field of game consoles with a view to the recognition of control commands or commands.
  • the game console "XBox Kinect” Microsoft, known that movements of people recognized and appropriate control ⁇ ersignale can be generated.
  • the images ⁇ capture device 20 three image capturing modules 21, 22 and 23.
  • the image capturing device 20 may have only a single or only two of the three mentioned Bilderfas ⁇ sungsmodule.
  • FIG. 2 shows, by way of example, the rail vehicle 10 according to FIG. 1, when in the environment U there is an operator 100 who transmits another travel command, namely "forward travel".
  • This travel command can be displayed, for example, by raising and lowering the hand 110 of the operator 100.
  • the operator with the heaving 100 and detects lowering hand 110 and the hand movement of the computing device 40 is detected in accordance with a control signal ST 'to the home drive gear of the rail vehicle 10 to the drive 70 is averaged over ⁇ .
  • the driver's cab 130 of the rail vehicle 10 may be unoccupied if transmission of the control commands takes place from outside the rail vehicle 10.
  • FIG 3 shows an exemplary embodiment of a rail ⁇ vehicle, wherein the image capturing device 20 is not aligned with the environment U of the rail vehicle 10 through, but is located within the cab 130 of the rails ⁇ vehicle 10 and at least a portion of the cab 130 shows.
  • FIG. 3 shows a display device (display) 140, which can be connected via a non-illustrated control ⁇ line with the computing device 40 can be seen beyond.
  • the computing device 40 may display information that may be useful to control the rail vehicle (eg, information about the current driving condition, condition of the track system, etc.).
  • 140 command items can be displayed on the display device, which can carry before ⁇ given movements (z. B. hand movements) of the operator located in the cab 130 100 are "moved" to make the control of the rail vehicle 10.
  • a projection device may be present which nenindis projects the information to be displayed, the recognized control command and / or command elements on the windscreen or other surface of the slide ⁇ .
  • the computing device 40 may display on the display device 140 the respectively recognized control command ST for controlling the rail vehicle in order to indicate to the operator 100 located in the driver's cab 130 which operating command has currently been recognized in each case.
  • FIG. 4 shows the rail vehicle 10 again with an operator 100 located in the driver's cab 130, but instead of a stop command, it transmits a "drive" command.
  • the operator 100 raises and lowers her hand, which is detected by the image capture device 20 and transmitted to the computing device 40 in the form of image signals B. becomes.
  • the computing device 40 detects the corresponding Ges ⁇ te the operator 100 and generates a control signal ST 'for the drive 70 to set the rail vehicle 10 in motion.
  • FIG. 5 shows an exemplary embodiment of a rail vehicle ⁇ 10, wherein two image sensors are provided, one of which is designated by the reference numeral 20 and the other by reference numeral 20 '.
  • the one image capture device 20 is on the environment U of
  • the image capture device 20 ' is located within the driver's cab 130 and shows with image signals B' at least ei ⁇ nen section of the cab, so that control commands or control commands movements can also be generated within the cab 130, detected and implemented.
  • image signals B' at least ei ⁇ nen section of the cab, so that control commands or control commands movements can also be generated within the cab 130, detected and implemented.
  • FIG. 6 shows an exemplary embodiment of a rail vehicle 10 that includes an adjustable image capture device 20.
  • the image capture device can be aligned 20 to the cab 130. (eg., By Schwen ⁇ ken, see FIG. Arrow) to detect an in-cab 130 Be ⁇ serving person 100th
  • the image detection device 20 can also be directed outward (eg by pivoting, see arrow) in order to be able to detect an operator 100 located outside the rail vehicle.
  • FIG. 7 shows, by way of example, a control screen 300 held by an operator 100 in front of the image capture device 20, on which a one-dimensional barcode 310 is depicted as a control symbol. Will the control plate 300 in the area brought the image capture device 20, so this corresponding image signals B is transmitted to the computing device 40. The computing device 40 will recognize the barcode 310 and generate a corresponding control command in the form of the control signal ST for the drive 70.
  • FIG. 8 shows an exemplary embodiment for controlling the rail vehicle 10, in which an operator 100 uses a control screen 400 with a two-dimensional bar code 410 for controlling the rail vehicle 10.
  • the control screen 400 As soon as the control screen 400 is brought into the area of the image capture device 20, it will generate image signals B which reach the computing device 40 of the image recognition device 30. The computing device 40 will recognize the control symbol and generate a control signal ST corresponding to the control symbol for the drive 70.

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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Image Processing (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)

Abstract

L'invention concerne entre autres un dispositif pour piloter un véhicule ferroviaire (10). Selon l'invention, le dispositif est caractérisé par un dispositif de capture d'images (20, 20') destiné à capter une image ou une séquence d'images, et par un dispositif de reconnaissance d'images (30) qui est relié au dispositif de capture d'images (20, 20') et qui est conçu pour détecter un signe ou un mouvement d'instruction de commande dans l'image ou la séquence d'images captée par le dispositif de capture d'images et pour générer un signal de commande (ST, ST') correspondant au signe ou au mouvement d'instruction de commande pour piloter le véhicule ferroviaire (10).
EP12750541.0A 2011-08-08 2012-07-27 Dispositif et procédé pour piloter un véhicule ferroviaire Not-in-force EP2723622B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE201110080592 DE102011080592A1 (de) 2011-08-08 2011-08-08 Einrichtung und Verfahren zum Steuern eines Schienenfahrzeugs
PCT/EP2012/064792 WO2013020837A1 (fr) 2011-08-08 2012-07-27 Dispositif et procédé pour piloter un véhicule ferroviaire

Publications (2)

Publication Number Publication Date
EP2723622A1 true EP2723622A1 (fr) 2014-04-30
EP2723622B1 EP2723622B1 (fr) 2016-04-27

Family

ID=46724345

Family Applications (1)

Application Number Title Priority Date Filing Date
EP12750541.0A Not-in-force EP2723622B1 (fr) 2011-08-08 2012-07-27 Dispositif et procédé pour piloter un véhicule ferroviaire

Country Status (4)

Country Link
EP (1) EP2723622B1 (fr)
DE (1) DE102011080592A1 (fr)
ES (1) ES2585088T3 (fr)
WO (1) WO2013020837A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012219901A1 (de) * 2012-10-31 2014-04-30 Siemens Aktiengesellschaft Verfahren und Vorrichtung zur Erhöhung der Haltegenauigkeit eines bewegten Objektes
DE102014211851A1 (de) * 2014-06-20 2015-12-24 Robert Bosch Gmbh Verfahren und Vorrichtung zum Ausgeben eines akustischen Warnsignals eines Schienenfahrzeugs und Warnsystem für ein Schienenfahrzeug
DE102018210242A1 (de) * 2018-06-22 2019-12-24 Siemens Aktiengesellschaft Anordnung zur Sicherung eines Schienenfahrzeugs gegen Handlungen von unbefugten Personen
CN115520247B (zh) * 2022-08-19 2024-04-12 昆明聚讯科技有限公司 一种铁路运输作业记录管理平台及方法

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DE19538022C1 (de) * 1995-10-12 1997-01-09 Schaltbau Ag Vorrichtung zur Steuerung eines Schienenfahrzeugs
US5978718A (en) * 1997-07-22 1999-11-02 Westinghouse Air Brake Company Rail vision system
JP3752246B2 (ja) * 2003-08-11 2006-03-08 学校法人慶應義塾 ハンドパターンスイッチ装置
DE102007038820A1 (de) * 2007-08-16 2009-02-26 Deutsches Zentrum für Luft- und Raumfahrt e.V. Rangierüberwachungsvorrichtung
US8233662B2 (en) * 2008-07-31 2012-07-31 General Electric Company Method and system for detecting signal color from a moving video platform
US8712610B2 (en) * 2008-09-18 2014-04-29 General Electric Company System and method for determining a characterisitic of an object adjacent to a route
US8073581B2 (en) * 2008-11-21 2011-12-06 Lockheed Martin Corporation Efficient data acquisition for track databases

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Title
See references of WO2013020837A1 *

Also Published As

Publication number Publication date
WO2013020837A1 (fr) 2013-02-14
EP2723622B1 (fr) 2016-04-27
DE102011080592A1 (de) 2013-02-14
ES2585088T3 (es) 2016-10-03

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