EP2723622B1 - Device and method for controlling a rail vehicle - Google Patents

Device and method for controlling a rail vehicle Download PDF

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Publication number
EP2723622B1
EP2723622B1 EP12750541.0A EP12750541A EP2723622B1 EP 2723622 B1 EP2723622 B1 EP 2723622B1 EP 12750541 A EP12750541 A EP 12750541A EP 2723622 B1 EP2723622 B1 EP 2723622B1
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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.)
Not-in-force
Application number
EP12750541.0A
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German (de)
French (fr)
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EP2723622A1 (en
Inventor
Karsten Rahn
Ulrich Bock
Christian Bode
Winfried ERNST
Claus FÜHNER
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Siemens AG
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Siemens AG
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Publication of EP2723622A1 publication Critical patent/EP2723622A1/en
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Publication of EP2723622B1 publication Critical patent/EP2723622B1/en
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    • 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 controlled today predominantly by drivers who are in a cab of the rail vehicle and control provided for controls, 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 a simple rail vehicle control.
  • a device for controlling a rail vehicle 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 that is suitable for receiving a control command or control command movement in the image capture device Recognize image or in the image captured by the image capture device image sequence and to generate a control command or the control command movement control signal for controlling the rail vehicle, wherein the image recognition device is adapted to detect an operating movement shown in the image sequence of an operator and to the control movement corresponding control signal produce.
  • a significant advantage of the device according to the invention is that it - with very few components - in comparison to today's usual driver's cabs, which include a variety of controls;
  • the device according to the invention requires only an image capture device 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.
  • the rail vehicle can be controlled in a particularly simple and therefore advantageous manner in that the image recognition device is suitable for detecting an operating movement (eg, hand movement) of an operator shown in the image sequence and for generating a control signal corresponding to the operating movement.
  • the rail vehicle can thus be controlled, for example, solely by gestures of an operator.
  • the image capture device optionally a control of Rail vehicle from the interior of the vehicle, so for example, from within a cab of the rail vehicle, or alternatively allowed from outside the rail vehicle.
  • the image capture device is merely to be aligned such that it shows the 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 device is arranged and aligned on the rail vehicle, that it detects a surrounding portion of the environment of the rail vehicle, and the image recognition device is suitable, a present in the recorded environment portion control command or a Recognize existing in the recorded environment 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 for broken or defective rail vehicles; Ascending a vehicle driver into a broken or defective rail vehicle usually requires previous precautionary measures (eg securing the rail vehicle against rolling away, shutting off the power), which may be very complicated. If now a broken-down or defective rail vehicle is controlled from the outside, the safety measures mentioned 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 Recognize existing in the recorded portion of the cab control command or existing in the recorded portion of the cab control command movement.
  • a control of the rail vehicle in the cab without using the usual buttons, switches or levers 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 image recognition device is suitable for recognizing in the image or the image sequence a control plate with a control symbol located thereon and for generating a control signal corresponding to the control symbol.
  • the control symbol is preferably an optical control symbol, for example a time-invariable (static) control symbol or a time-varying (dynamic) control symbol.
  • the control plate, on which the control symbol is located can be stationary or movable. For example, the control plate is moved by an operator, so that a picture sequence is produced, which shows the movement of the movable control plate.
  • the image recognition device is suitable for detecting a one-dimensional or two-dimensional barcode located on the control plate and for generating a control signal corresponding to the one-dimensional or two-dimensional barcode.
  • barcodes allow a very high information density to be accommodated on a very small area, so that even very complex control commands can be transmitted by means of a barcode.
  • the image recognition device may be suitable for recognizing a pictogram on the control plate which defines, for example, a travel command (eg stop, forward travel, reverse travel) and to generate a control signal corresponding to the pictogram.
  • a travel command eg stop, forward travel, reverse travel
  • the image capture device preferably comprises a camera which operates in the region of the optically visible light.
  • the image capture device may be adapted to detect infrared light and to generate image signals describing a two-dimensional image of the environmental section or the driver's cab.
  • the image capture device may include an ultrasound transmitting and receiving device capable of emitting ultrasonic signals, measuring reflected ultrasonic signals, and generating image signals describing an image of the environmental section or the driver's cab.
  • the image acquisition device processes at least two different signals, for example a combination of optically visible light and infrared light, a combination of optically visible light and ultrasound signals or a combination of infrared light and ultrasound signals , Particularly preferably, the image capture device will receive optically visible light, infrared light and ultrasonic signals.
  • the image recognition device is preferably configured such that it evaluates the images or image sequences recorded by the image capture device separately according to their source (for example, according to optically visible light, infrared light, ultrasound) and generates a control signal for controlling the rail vehicle only if the images in the images or picture sequences of the different ones Channels identified control command or control command movements correspond to each other or at least not contradict each other.
  • their source for example, according to optically visible light, infrared light, ultrasound
  • 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 will evaluate the image recorded by the image capture device or the image sequence captured by the image capture device with an image or image sequence recognition process and recognize whether a control command or control command movement is contained in the image or image sequence, and after recognizing a generate such a control command character or such a control command movement a control signal or the control command movement corresponding control signal for controlling the rail vehicle.
  • 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.
  • an authentication can also be effected by means of a key, chip card, fingerprint reader, or password input.
  • the invention also relates to a rail vehicle having a device as described above.
  • a rail vehicle having a device as described above.
  • a display device which displays information for controlling the rail vehicle.
  • the display device is connected to the image recognition device and the image recognition device displays on the display device the respectively currently recognized control command symbol or the respectively currently recognized control command movement.
  • the invention also relates to a method for controlling a rail vehicle.
  • an image or an image sequence is recorded with an image capture device and it is checked whether a control command or control command movement is shown in the image or the image sequence and - in the case of recognition of a control command or control command movement - a recognized control command or the control command movement detected corresponding control signal is generated which describes a control command for controlling the rail vehicle.
  • an operating movement of an operator (100) shown in the image sequence is detected and a control signal (ST, ST ') corresponding to the operating movement is generated.
  • the image capturing device 20 has, for example, three image capture modules 21, 22 and 23, for example in the form of a camera (see reference numeral 21) for capturing or detecting visible light, an infrared camera (see reference numeral 22) for capturing or capturing infrared light and an ultrasonic module (see reference numeral 23) with an ultrasonic transmitting and ultrasonic receiving device.
  • 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 for controlling the computing device 40 is stored. If the computing device 40 executes the computer program P, then it will evaluate the image signals B of the image capture device 20 and check whether in the of 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 computing device 40 If the computing device 40 detects a predefined control command signal or a predefined control command movement, then it generates a corresponding control signal ST with which the rail vehicle 10 is controlled.
  • the control signal ST is transmitted directly or indirectly via a train control system (not shown) to a drive 70 of the rail vehicle 10 in order to control the travel movement of the rail vehicle 10.
  • FIG. 1 one also sees an operator 100 pivoting her hand 110 in a circular manner.
  • This circular pivoting movement is to transmit, for example, the control command "stop".
  • the image capture device 20 detects the surrounding section U with the operator 100 and the circular motion and transmits a corresponding image signal B to the computing device 40 of the image recognition device 30, the computing device 40 will detect the circular movement of the operator 100 and determine the corresponding control command "Stop".
  • 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 stop.
  • the computer program P may 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.
  • Microsoft company known that movements of persons detected and corresponding control signals can be generated.
  • the image acquisition device 20 has three image acquisition modules 21, 22 and 23.
  • the image capture device 20 may also comprise only a single or only two of the three image acquisition modules mentioned.
  • FIG. 2 shows by way of example the rail vehicle 10 according to FIG. 1 if there is an operator 100 in the vicinity U, 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.
  • a control signal ST ' is transmitted to the drive 70 for starting the rail vehicle 10.
  • the driver's cab 130 of the rail vehicle 10 may be unoccupied when transmitting the control commands from outside the rail vehicle 10.
  • FIG. 3 1 shows an exemplary embodiment of a rail vehicle in which the image capture device 20 is not aligned with the surroundings U of the rail vehicle 10, but is located inside the driver's cab 130 of the rail vehicle 10 and shows at least a section of the driver's cab 130.
  • a display device (display) 140 which can communicate with the computing device 40 via a control line (not shown), can be recognized.
  • the computing device 40 may display information that may be useful for controlling the rail vehicle (eg, information about the current driving condition, condition of the track system, etc.).
  • command elements can be displayed on the display device 140, which can be "moved" by predetermined movements (eg, hand movements) of the operator 100 located in the driver's cab 130 in order to control the rail vehicle 10.
  • the display device 140 may also be present a projection device which projects the information to be displayed, the detected control command and / or the command elements on the windscreen or another surface of the rail vehicle.
  • 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 cab 130, but this instead of a stop command transmits a "ride" 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 gesture of 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 embodiment of a rail vehicle 10, in which two image sensing devices are present, one of which is denoted by the reference numeral 20 and the other by the reference numeral 20 '.
  • the one image capture device 20 is aligned with the surroundings U of the rail vehicle 10 and enables a detection of control command or control command movements (see image signal B), which are generated outside the rail vehicle in the environment U.
  • the image capture device 20 ' is located inside the driver's cab 130 and shows with image signals B' at least a portion of the cab, so that control commands or commands can also be generated, detected and implemented within the driver's cab 130.
  • I refer to the above observations in connection with Figures 1-4 referred, which apply here accordingly.
  • FIG. 6 shows an exemplary embodiment of a rail vehicle 10, which comprises an adjustable image capture device 20.
  • the image capture device 20 can be aligned with the driver's cab 130 (eg by swiveling, see arrow) in order to detect an operator 100 located in the driver's cab 130.
  • the image capture device 20 can also be oriented outward (eg by pivoting, see arrow) in order to be able to detect an operator 100 located outside the rail vehicle.
  • FIG. 7 shows an example of an operator 100 held in front of the image capture device 20 control plate 300, on which a one-dimensional barcode 310 is shown 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 1 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)

Description

Die Erfindung bezieht sich auf eine Einrichtung und ein Verfahren zum Steuern eines Schienenfahrzeugs.The invention relates to a device and a method for controlling a rail vehicle.

Schienenfahrzeuge werden heutzutage überwiegend durch Fahrzeugführer gesteuert, die sich in einem Führerstand des Schienenfahrzeugs befinden und zur Steuerung vorgesehene Bedienelemente, beispielsweise in Form von Knöpfen, Hebeln oder Schaltern, bedienen.Rail vehicles are controlled today predominantly by drivers who are in a cab of the rail vehicle and control provided for controls, for example in the form of buttons, levers or switches operate.

Außerdem ist, insbesondere aus dem Bereich des Personennahverkehrs, bekannt, Schienenfahrzeuge automatisiert zu steuern.In addition, it is known, especially in the field of local passenger transport, to automatically control rolling stock.

Darüber hinaus gibt es Schienenfahrzeuge, wie beispielsweise die Rangierlok der Deutschen Bahn V6, die über Funk von einer nicht im Führerstand befindlichen, sondern auf oder neben der Schienenstrecke in Fahrzeugnähe stehenden Bedienperson mit Hilfe eines Bedienpultes ferngesteuert werden.In addition, there are 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.

Weiterhin ist aus der veröffentlichten europäischen Patentanmeldung EP 0 893 322 A1 eine Einrichtung gemäß dem Oberbegriff des Anspruchs 1 bekannt.Furthermore, from the published European patent application EP 0 893 322 A1 a device according to the preamble of claim 1 known.

Der Erfindung liegt die Aufgabe zugrunde, eine Einrichtung zum Steuern eines Schienenfahrzeugs anzugeben, die von ihrem Aufbau her kostengünstig ist und eine einfache Schienenfahrzeugsteuerung ermöglicht.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 a simple rail vehicle control.

Diese Aufgabe wird erfindungsgemäß durch eine Einrichtung mit den Merkmalen gemäß Patentanspruch 1 gelöst. Vorteilhafte Ausgestaltungen der erfindungsgemäßen Einrichtung sind in Unteransprüchen angegeben.This object is achieved by a device with the features according to claim 1. Advantageous embodiments of the device according to the invention are specified in subclaims.

Danach ist erfindungsgemäß eine Einrichtung zum Steuern eines Schienenfahrzeugs vorgesehen, die gekennzeichnet ist durch eine Bilderfassungseinrichtung zum Aufnehmen eines Bildes oder einer Bildsequenz, und eine mit der Bilderfassungseinrichtung in Verbindung stehende Bilderkennungseinrichtung, die geeignet ist, ein Steuerbefehlzeichen oder eine Steuerbefehlbewegung in dem von der Bilderfassungseinrichtung aufgenommenen Bild oder in der von der Bilderfassungseinrichtung aufgenommenen Bildsequenz zu erkennen und ein dem Steuerbefehlzeichen oder der Steuerbefehlbewegung entsprechendes Steuersignal zur Steuerung des Schienenfahrzeugs zu erzeugen, wobei die Bilderkennungseinrichtung geeignet ist, eine in der Bildsequenz gezeigte Bedienbewegung einer Bedienperson zu erkennen und ein der Bedienbewegung entsprechendes Steuersignal zu erzeugen.According to the invention, there is provided a device for controlling a rail vehicle, 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 that is suitable for receiving a control command or control command movement in the image capture device Recognize image or in the image captured by the image capture device image sequence and to generate a control command or the control command movement control signal for controlling the rail vehicle, wherein the image recognition device is adapted to detect an operating movement shown in the image sequence of an operator and to the control movement corresponding control signal produce.

Ein wesentlicher Vorteil der erfindungsgemäßen Einrichtung besteht darin, dass diese - im Vergleich zu heutzutage üblichen Führerständen, die eine Vielzahl an Bedienelementen umfassen - mit sehr wenigen Komponenten auskommt; so erfordert die erfindungsgemäße Einrichtung lediglich eine Bilderfassungseinrichtung und eine Bilderkennungseinrichtung. Zusätzliche Bedienelemente, wie beispielsweise Hebel, Schalter oder Knöpfe, die aufwändig verkabelt werden müssen, sind bei der erfindungsgemäßen Einrichtung zum Steuern des Schienenfahrzeugs nicht erforderlich.A significant advantage of the device according to the invention is that it - with very few components - in comparison to today's usual driver's cabs, which include a variety of controls; Thus, the device according to the invention requires only an image capture device 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.

Besonders einfach und damit vorteilhaft lässt sich das Schienenfahrzeug dadurch steuern, dass die Bilderkennungseinrichtung geeignet ist, eine in der Bildsequenz gezeigte Bedienbewegung (z. B. Handbewegung) einer Bedienperson zu erkennen und ein der Bedienbewegung entsprechendes Steuersignal zu erzeugen. Das Schienenfahrzeug kann also beispielsweise allein durch Gesten einer Bedienperson gesteuert werden.The rail vehicle can be controlled in a particularly simple and therefore advantageous manner in that the image recognition device is suitable for detecting an operating movement (eg, hand movement) of an operator shown in the image sequence and for generating a control signal corresponding to the operating movement. The rail vehicle can thus be controlled, for example, solely by gestures of an operator.

Ein weiterer wesentlicher Vorteil der erfindungsgemäßen Einrichtung ist darin zu sehen, dass diese je nach Ausrichtung der Bilderfassungseinrichtung wahlweise eine Steuerung des Schienenfahrzeugs vom Inneren des Fahrzeugs, also beispielsweise von innerhalb eines Führerstandes des Schienenfahrzeugs, oder alternativ von außerhalb des Schienenfahrzeugs erlaubt. Um eine Steuerung vom Inneren des Führerstandes zu ermöglichen, ist die Bilderfassungseinrichtung lediglich derart auszurichten, dass diese den Führerstand zumindest abschnittsweise zeigt. Soll das Schienenfahrzeug stattdessen von außerhalb, beispielsweise von der Strecke aus, gesteuert werden, so ist die Bilderfassungseinrichtung entsprechend auf die Umgebung des Schienenfahrzeugs zu richten.Another significant advantage of the device according to the invention is the fact that this depending on the orientation of the image capture device optionally a control of Rail vehicle from the interior of the vehicle, so for example, from within a cab of the rail vehicle, or alternatively allowed from outside the rail vehicle. In order to enable control of the interior of the driver's cab, the image capture device is merely to be aligned such that it shows the 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.

Mit Blick auf eine Steuerung des Schienenfahrzeugs von außen wird es als vorteilhaft angesehen, wenn die Bilderfassungseinrichtung derart am Schienenfahrzeug angeordnet und ausgerichtet ist, dass sie einen Umgebungsabschnitt der Umgebung des Schienenfahrzeugs erfasst, und die Bilderkennungseinrichtung geeignet ist, ein im aufgenommenen Umgebungsabschnitt vorhandenes Steuerbefehlzeichen oder eine im aufgenommenen Umgebungsabschnitt vorhandene Steuerbefehlbewegung zu erkennen. Aufgrund der Anordnung und Ausrichtung der Bilderfassungseinrichtung ist es somit möglich, Steuerbefehle zum Steuern des Schienenfahrzeugs zu erzeugen, ohne dass sich ein Fahrzeugführer im Führerstand befinden muss. Eine Steuerung von außerhalb ist insbesondere bei liegengebliebenen bzw. defekten Schienenfahrzeugen von Vorteil; ein Zusteigen eines Fahrzeugführers in ein liegengebliebenes bzw. defektes Schienenfahrzeug erfordert in der Regel vorherige Sicherungsmaßnahmen (z. B. Sichern des Schienenfahrzeugs gegen Wegrollen, Abstellen des Stromes), die unter Umständen sehr aufwändig sind. Wird nun ein liegengebliebenes bzw. defektes Schienenfahrzeug von außen gesteuert, sind die genannten Sicherungsmaßnahmen entbehrlich.With a view to control of the rail vehicle from the outside, it is considered advantageous if the image capture device is arranged and aligned on the rail vehicle, that it detects a surrounding portion of the environment of the rail vehicle, and the image recognition device is suitable, a present in the recorded environment portion control command or a Recognize existing in the recorded environment 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 for broken or defective rail vehicles; Ascending a vehicle driver into a broken or defective rail vehicle usually requires previous precautionary measures (eg securing the rail vehicle against rolling away, shutting off the power), which may be very complicated. If now a broken-down or defective rail vehicle is controlled from the outside, the safety measures mentioned are unnecessary.

Alternativ oder zusätzlich kann die Bilderfassungseinrichtung derart in oder am Führerstand angeordnet sein, dass sie einen Abschnitt des Führerstandes des Schienenfahrzeugs erfasst. Bei einer solchen Ausgestaltung wird es als vorteilhaft angesehen, wenn die Bilderkennungseinrichtung geeignet ist, ein im aufgenommenen Abschnitt des Führerstandes vorhandenes Steuerbefehlzeichen oder eine im aufgenommenen Abschnitt des Führerstandes vorhandene Steuerbefehlbewegung zu erkennen. Bei dieser Ausgestaltung ist eine Steuerung des Schienenfahrzeugs im Führerstand ohne Benutzung der sonst üblichen Knöpfe, Schalter oder Hebel möglich. Auf derartige Komponenten kann bei Benutzung der beschriebenen Ausgestaltung der Messeinrichtung also ersatzlos verzichtet werden, wodurch sich Kosten und vor allem Platz einsparen lassen.Alternatively or additionally, 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. In such an embodiment, it is considered advantageous if the image recognition device is suitable Recognize existing in the recorded portion of the cab control command or existing in the recorded portion of the cab control command movement. In this embodiment, a control of the rail vehicle in the cab without using the usual buttons, switches or levers 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.

Darüber hinaus wird es als vorteilhaft angesehen, wenn die Bilderkennungseinrichtung geeignet ist, in dem Bild oder der Bildsequenz ein Steuerschild mit einem darauf befindlichen Steuersymbol zu erkennen und ein dem Steuersymbol entsprechendes Steuersignal zu erzeugen. Bei dem Steuersymbol handelt es sich vorzugsweise um ein optisches Steuersymbol, beispielsweise um ein zeitlich nicht veränderliches (statisches) Steuersymbol oder um ein zeitlich veränderliches (dynamisches) Steuersymbol. Das Steuerschild, auf dem sich das Steuersymbol befindet, kann dabei ortsfest sein oder auch beweglich. Beispielsweise wird das Steuerschild von einer Bedienperson bewegt, so dass eine Bildsequenz entsteht, die die Bewegung des beweglichen Steuerschildes zeigt.Moreover, it is considered advantageous if the image recognition device is suitable for recognizing in the image or the image sequence a control plate with a control symbol located thereon and for generating a control signal corresponding to the control symbol. The control symbol is preferably an optical control symbol, for example a time-invariable (static) control symbol or a time-varying (dynamic) control symbol. The control plate, on which the control symbol is located, can be stationary or movable. For example, the control plate is moved by an operator, so that a picture sequence is produced, which shows the movement of the movable control plate.

Vorzugsweise ist die Bilderkennungseinrichtung geeignet, einen auf dem Steuerschild befindlichen ein- oder zweidimensionalen Barcode zu erkennen und ein dem ein- oder zweidimensionalen Barcode entsprechendes Steuersignal zu erzeugen. Barcodes erlauben es bekanntermaßen, eine sehr hohe Informationsdichte auf einer sehr kleinen Fläche unterzubringen, so dass auch sehr komplexe Steuerbefehle mit Hilfe eines Barcodes übermittelt werden können.Preferably, the image recognition device is suitable for detecting a one-dimensional or two-dimensional barcode located on the control plate and for generating a control signal corresponding to the one-dimensional or two-dimensional barcode. As is known, barcodes allow a very high information density to be accommodated on a very small area, so that even very complex control commands can be transmitted by means of a barcode.

Alternativ oder zusätzlich kann die Bilderkennungseinrichtung geeignet sein, auf dem Steuerschild ein Piktogramm zu erkennen, das beispielsweise einen Fahrbefehl (z. B. Stoppen, Vorwärtsfahrt, Rückwärtsfahrt) definiert, und ein dem Piktogramm entsprechendes Steuersignal zu erzeugen.Alternatively or additionally, the image recognition device may be suitable for recognizing a pictogram on the control plate which defines, for example, a travel command (eg stop, forward travel, reverse travel) and to generate a control signal corresponding to the pictogram.

Die Bilderfassungseinrichtung umfasst vorzugsweise eine Kamera, die im Bereich des optisch sichtbaren Lichts arbeitet.The image capture device preferably comprises a camera which operates in the region of the optically visible light.

Zusätzlich oder alternativ kann die Bilderfassungseinrichtung geeignet sein, Infrarotlicht zu erfassen und Bildsignale zu erzeugen, die ein zweidimensionales Bild des Umgebungsabschnitts oder des Führerstandes beschreiben.Additionally or alternatively, the image capture device may be adapted to detect infrared light and to generate image signals describing a two-dimensional image of the environmental section or the driver's cab.

Zusätzlich oder alternativ kann die Bilderfassungseinrichtung eine Ultraschallsende- und Ultraschallempfangseinrichtung umfassen, die geeignet ist, Ultraschallsignale auszusenden, reflektierte Ultraschallsignale zu messen und Bildsignale zu erzeugen, die ein Bild des Umgebungsabschnitts oder des Führerstandes beschreiben.Additionally or alternatively, the image capture device may include an ultrasound transmitting and receiving device capable of emitting ultrasonic signals, measuring reflected ultrasonic signals, and generating image signals describing an image of the environmental section or the driver's cab.

Mit Blick auf eine Erkennung besonders komplexer Bewegungsabläufe wird es als vorteilhaft angesehen, wenn die Bilderfassungseinrichtung zumindest zwei unterschiedliche Signale verarbeitet, beispielsweise eine Kombination von optisch sichtbarem Licht und infrarotem Licht, eine Kombination von optisch sichtbarem Licht und Ultraschallsignalen oder eine Kombination von infrarotem Licht und Ultraschallsignalen. Besonders bevorzugt wird die Bilderfassungseinrichtung optisch sichtbares Licht, infrarotes Licht und Ultraschallsignale empfangen.With a view to detecting particularly complex movement sequences, it is considered advantageous if the image acquisition device processes at least two different signals, for example a combination of optically visible light and infrared light, a combination of optically visible light and ultrasound signals or a combination of infrared light and ultrasound signals , Particularly preferably, the image capture device will receive optically visible light, infrared light and ultrasonic signals.

Um die Sicherheit der Steuerinformationen zu erhöhen, können Bilder aus unterschiedlichen Quellen gegeneinander plausibilisiert werden.To increase the security of the control information, images from different sources can be made plausible against each other.

Die Bilderkennungseinrichtung ist vorzugsweise derart ausgestaltet, dass sie die von der Bilderfassungseinrichtung aufgenommenen Bilder oder Bildsequenzen separat nach ihrer Quelle (zum Beispiel nach optisch sichtbarem Licht, Infrarotlicht, Ultraschall) auswertet und ein Steuersignal zur Steuerung des Schienenfahrzeugs nur dann erzeugt, wenn die in den Bildern oder Bildsequenzen der unterschiedlichen Kanäle identifizierten Steuerbefehlzeichen oder Steuerbefehlbewegungen einander entsprechen oder sich zumindest nicht widersprechen.The image recognition device is preferably configured such that it evaluates the images or image sequences recorded by the image capture device separately according to their source (for example, according to optically visible light, infrared light, ultrasound) and generates a control signal for controlling the rail vehicle only if the images in the images or picture sequences of the different ones Channels identified control command or control command movements correspond to each other or at least not contradict each other.

Bezüglich des Aufbaus der Bilderkennungseinrichtung wird es als vorteilhaft angesehen, wenn die Bilderkennungseinrichtung eine Recheneinrichtung (Computer) und einen Speicher umfasst, in dem ein Auswertprogramm zur Steuerung der Recheneinrichtung enthalten ist. Das Auswertprogramm wird bei Ausführung durch die Recheneinrichtung das von der Bilderfassungseinrichtung aufgenommene Bild oder die von der Bilderfassungseinrichtung aufgenommene Bildsequenz mit einem Bild- oder Bildsequenzerkennungsverfahren auswerten und erkennen, ob in dem Bild oder der Bildsequenz ein Steuerbefehlzeichen oder eine Steuerbefehlbewegung enthalten ist, und nach Erkennen eines solchen Steuerbefehlzeichens oder einer solchen Steuerbefehlbewegung ein dem Steuerbefehlzeichen oder der Steuerbefehlbewegung entsprechendes Steuersignal zur Steuerung des Schienenfahrzeugs erzeugen.With regard to the structure of the image recognition device, it is considered advantageous if the image recognition device comprises a computing device (computer) and a memory in which an evaluation program for controlling the computing device is included. When executed by the computing device, the evaluation program will evaluate the image recorded by the image capture device or the image sequence captured by the image capture device with an image or image sequence recognition process and recognize whether a control command or control command movement is contained in the image or image sequence, and after recognizing a generate such a control command character or such a control command movement a control signal or the control command movement corresponding control signal for controlling the rail vehicle.

Um eine missbräuchliche Steuerung des Schienenfahrzeugs zu unterbinden, wird es als vorteilhaft angesehen, wenn eine separate Authentifizierung erfolgt. In diesem Zusammenhang wird es als vorteilhaft angesehen, wenn die Bilderkennungseinrichtung zur Gesichtserkennung geeignet ist und ein Steuersignal zur Steuerung des Schienenfahrzeugs nur dann erzeugt, wenn ein Steuerbefehlzeichen oder eine Steuerbefehlbewegung von einer autorisierten Person stammt, deren Gesicht erkannt wurde. Alternativ kann eine Authentifizierung auch mittels Schlüssel, Chipkarte, Fingerabdruckleser, oder Passworteingabe erfolgen.In order to prevent abusive control of the rail vehicle, it is considered advantageous if a separate authentication takes place. In this connection, it is considered advantageous if 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. Alternatively, an authentication can also be effected by means of a key, chip card, fingerprint reader, or password input.

Die Erfindung bezieht sich darüber hinaus auf ein Schienenfahrzeug mit einer Einrichtung, wie sie oben beschrieben worden ist. Bezüglich der Vorteile des erfindungsgemäßen Schienenfahrzeugs sei auf die obigen Erläuterungen zu den Vorteilen der erfindungsgemäßen Einrichtung verwiesen, da die Vorteile der erfindungsgemäßen Einrichtung denen des erfindungsgemäßen Schienenfahrzeugs im Wesentlichen entsprechen.The invention also relates to a rail vehicle having a device as described above. With regard to the advantages of the rail vehicle according to the invention, reference is made to the above explanations of the advantages of the device according to the invention, since the advantages the device according to the invention substantially correspond to those of the rail vehicle according to the invention.

Als vorteilhaft wird es angesehen, wenn in dem Führerstand des Schienenfahrzeugs eine Anzeigeeinrichtung vorhanden ist, die Informationen zur Steuerung des Schienenfahrzeugs anzeigt.It is considered advantageous if in the cab of the rail vehicle, a display device is present, which displays information for controlling the rail vehicle.

Als besonders vorteilhaft wird es angesehen, wenn die Anzeigeeinrichtung mit der Bilderkennungseinrichtung in Verbindung steht und die Bilderkennungseinrichtung auf der Anzeigeeinrichtung das jeweils aktuell erkannte Steuerbefehlzeichen oder die jeweils aktuell erkannte Steuerbefehlbewegung anzeigt.It is considered to be particularly advantageous if the display device is connected to the image recognition device and the image recognition device displays on the display device the respectively currently recognized control command symbol or the respectively currently recognized control command movement.

Die Erfindung bezieht sich darüber hinaus auf ein Verfahren zum Steuern eines Schienenfahrzeugs. Erfindungsgemäß ist vorgesehen, dass mit einer Bilderfassungseinrichtung ein Bild oder eine Bildsequenz aufgenommen wird und geprüft wird, ob in dem Bild oder der Bildsequenz ein Steuerbefehlzeichen oder eine Steuerbefehlbewegung gezeigt wird und - im Falle des Erkennens eines Steuerbefehlzeichens oder einer Steuerbefehlbewegung - ein dem erkannten Steuerbefehlzeichen oder der erkannten Steuerbefehlbewegung entsprechendes Steuersignal erzeugt wird, das einen Steuerbefehl zum Steuern des Schienenfahrzeugs beschreibt. Erfindungsgemäß wird hierbei eine in der Bildsequenz gezeigte Bedienbewegung einer Bedienperson (100) erkannt und ein der Bedienbewegung entsprechendes Steuersignal (ST, ST') erzeugt.The invention also relates to a method for controlling a rail vehicle. According to the invention, an image or an image sequence is recorded with an image capture device and it is checked whether a control command or control command movement is shown in the image or the image sequence and - in the case of recognition of a control command or control command movement - a recognized control command or the control command movement detected corresponding control signal is generated which describes a control command for controlling the rail vehicle. According to the invention, an operating movement of an operator (100) shown in the image sequence is detected and a control signal (ST, ST ') corresponding to the operating movement is generated.

Bezüglich der Vorteile des erfindungsgemäßen Verfahrens sei auf die obigen Ausführungen zur erfindungsgemäßen Einrichtung verwiesen, da die Vorteile des erfindungsgemäßen Verfahrens denen der erfindungsgemäßen Einrichtung im Wesentlichen entsprechen.With regard to the advantages of the method according to the invention, reference is made to the above statements on the device according to the invention, since the advantages of the method according to the invention essentially correspond to those of the device according to the invention.

Als vorteilhaft wird es angesehen, wenn zum Steuern des Schienenfahrzeugs ein einen gewünschten Fahrtbefehl für das Schienenfahrzeug definierendes Steuerbefehlzeichen oder eine einen gewünschten Fahrtbefehl für das Schienenfahrzeug definierende Steuerbefehlbewegung erkannt wird.It is considered advantageous if, for controlling the rail vehicle, a desired travel command for the Rail vehicle defining control command or a command for a desired travel command for the rail vehicle defining control command movement is detected.

Vorzugsweise werden zusätzlich zu dem Steuerbefehl (Fahrtbefehl) für das Schienenfahrzeug auch Informationen, die das zu steuernde Schienenfahrzeug eindeutig identifizieren, übermittelt. Dadurch lässt sich vermeiden, dass versehentlich andere als das zu steuernde Schienenfahrzeug mitgesteuert werden.Preferably, in addition to the control command (travel command) for the rail vehicle, information which uniquely identifies the rail vehicle to be controlled is also transmitted. As a result, it is possible to avoid inadvertently driving along other than the rail vehicle to be controlled.

Die Erfindung wird nachfolgend anhand von Ausführungsbeispielen näher erläutert; dabei zeigen beispielhaft

Figur 1
ein Ausführungsbeispiel für ein erfindungsgemäßes Schienenfahrzeug mit einer erfindungsgemäßen Einrichtung zum Steuern des Schienenfahrzeugs, die eine Steuerung von außerhalb des Schienenfahrzeugs ermöglicht, wobei in der Figur 1 die Übermittlung eines Stoppsignals dargestellt ist,
Figur 2
das Schienenfahrzeug gemäß Figur 1, wobei die Übermittlung des Fahrtbefehls "Vorwärtsfahrt" von außerhalb des Schienenfahrzeugs dargestellt ist,
Figur 3
ein Ausführungsbeispiel für ein Schienenfahrzeug, bei dem die Steuerung innerhalb eines Führerstandes des Schienenfahrzeugs erfolgt, wobei in der Figur 3 die Übermittlung eines Stoppbefehls vom Führerstand aus dargestellt ist,
Figur 4
das Schienenfahrzeug gemäß Figur 3, wobei die Übermittlung des Fahrtbefehls "Vorwärtsfahrt" vom Führerstand aus dargestellt ist,
Figur 5
ein Ausführungsbeispiel für ein Schienenfahrzeug, bei dem zwei Bilderfassungseinrichtungen eine Steuerung des Schienenfahrzeugs sowohl vom Führerstand als auch von außerhalb des Führerstands aus ermöglichen,
Figur 6
ein Ausführungsbeispiel für ein Schienenfahrzeug, bei dem eine Bilderfassungseinrichtung eine Steuerung des Schienenfahrzeugs sowohl vom Führerstand als auch von außerhalb des Führerstands aus ermöglicht,
Figur 7
ein Ausführungsbeispiel für eine Steuerung des Schienenfahrzeugs mittels eines eindimensionalen Barcodes und
Figur 8
ein Ausführungsbeispiel für eine Steuerung des Schienenfahrzeugs mittels eines zweidimensionalen Barcodes.
The invention will be explained in more detail with reference to embodiments; thereby show by way of example
FIG. 1
an embodiment of a railway vehicle according to the invention with a device according to the invention for controlling the rail vehicle, which allows a control from outside the rail vehicle, wherein in the FIG. 1 the transmission of a stop signal is shown,
FIG. 2
the rail vehicle according to FIG. 1 in which the transmission of the travel command "forward travel" from outside the rail vehicle is shown,
FIG. 3
an embodiment of a rail vehicle, wherein the control is carried out within a cab of the rail vehicle, wherein in the FIG. 3 the transmission of a stop command is shown from the driver's cab,
FIG. 4
the rail vehicle according to FIG. 3 wherein the transmission of the drive command "forward drive" is shown from the driver's cab,
FIG. 5
an exemplary embodiment of a rail vehicle, in which two image capture devices enable control of the rail vehicle both from the driver's cab and from outside the driver's cab,
FIG. 6
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,
FIG. 7
an embodiment of a control of the rail vehicle by means of a one-dimensional barcode and
FIG. 8
an embodiment of a control of the rail vehicle by means of a two-dimensional barcode.

In den Figuren werden der Übersicht halber für identische oder vergleichbare Komponenten stets dieselben Bezugszeichen verwendet.For the sake of clarity, the same reference numbers are always used in the figures for identical or comparable components.

In der Figur 1 sieht man ein Schienenfahrzeug 10, das mit einer technischen Einrichtung zum Steuern des Schienenfahrzeugs ausgestattet ist. Diese Einrichtung umfasst eine Bilderfassungseinrichtung 20, die mit einer technischen und ohne menschliche Mithilfe arbeitenden Bilderkennungseinrichtung 30 verbunden ist. Die Bilderfassungseinrichtung 20 ist an dem Schienenfahrzeug 10 derart angeordnet und derart ausgerichtet, dass sie einen Umgebungsabschnitt U der Umgebung des Schienenfahrzeugs 10 erfassen kann. Hierzu weist die Bilderfassungseinrichtung 20 beispielsweise drei Bilderfassungsmodule 21, 22 und 23 auf, zum Beispiel in Form einer Kamera (vgl. Bezugszeichen 21) zum Aufnehmen bzw. Erfassen von sichtbarem Licht, einer Infrarotkamera (vgl. Bezugszeichen 22) zum Aufnehmen bzw. Erfassen von infrarotem Licht und einem Ultraschallmodul (vgl. Bezugszeichen 23) mit einer Ultraschallsende- und Ultraschallempfangseinrichtung.In the FIG. 1 One can see a rail vehicle 10, which is equipped with a technical device for controlling the rail vehicle. This device comprises an image capture device 20 which is connected to a technical and without human assistance image recognition device 30. The image capture device 20 is arranged on the rail vehicle 10 and aligned such that it can detect a surrounding portion U of the surroundings of the rail vehicle 10. For this purpose, the image capturing device 20 has, for example, three image capture modules 21, 22 and 23, for example in the form of a camera (see reference numeral 21) for capturing or detecting visible light, an infrared camera (see reference numeral 22) for capturing or capturing infrared light and an ultrasonic module (see reference numeral 23) with an ultrasonic transmitting and ultrasonic receiving device.

Auf Basis der Informationen von den Bilderfassungsmodulen erzeugt die Bilderfassungseinrichtung 20 Bildsignale B, die zu einer Recheneinrichtung 40 (Computer) der Bilderkennungseinrichtung 30 übermittelt werden. Die Recheneinrichtung 40 steht mit einem Speicher 50 in Verbindung, in dem ein Computerprogramm P zur Steuerung der Recheneinrichtung 40 abgespeichert ist. Führt die Recheneinrichtung 40 das Computerprogramm P aus, so wird sie die Bildsignale B der Bilderfassungseinrichtung 20 auswerten und prüfen, ob in dem von der Bilderfassungseinrichtung 20 aufgenommenen Bild bzw. in der von der Bilderfassungseinrichtung 20 aufgenommenen Bildsequenz ein Steuerbefehlzeichen oder eine Steuerbefehlbewegung erkennbar sind, die in dem Computerprogramm P vordefiniert und in dem Speicher 50 hinterlegt sind. Die Bildsignale B der Bilderfassungseinrichtung 20 können unverarbeitet oder bereits vorverarbeitet sein, beispielsweise vorgefiltert oder vorinterpretiert.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 for controlling the computing device 40 is stored. If the computing device 40 executes the computer program P, then it will evaluate the image signals B of the image capture device 20 and check whether in the of 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.

Erkennt die Recheneinrichtung 40 ein vordefiniertes Steuerbefehlzeichen oder eine vordefinierte Steuerbefehlbewegung, so erzeugt sie ein entsprechendes Steuersignal ST, mit dem das Schienenfahrzeug 10 gesteuert wird. Beispielsweise wird das Steuersignal ST unmittelbar oder mittelbar über ein nicht gezeigtes Zugsteuerungssystem zu einem Antrieb 70 des Schienenfahrzeugs 10 übermittelt, um die Fahrbewegung des Schienenfahrzeugs 10 zu steuern.If the computing device 40 detects a predefined control command signal or a predefined control command movement, then it generates a corresponding control signal ST with which the rail vehicle 10 is controlled. For example, the control signal ST is transmitted directly or indirectly via a train control system (not shown) to a drive 70 of the rail vehicle 10 in order to control the travel movement of the rail vehicle 10.

In der Figur 1 sieht man außerdem eine Bedienperson 100, die ihre Hand 110 kreisförmig schwenkt. Diese kreisförmige Schwenkbewegung soll beispielsweise den Steuerbefehl "Stopp" übermitteln. Sobald die Bilderfassungseinrichtung 20 den Umgebungsabschnitt U mit der Bedienperson 100 sowie die Kreisbewegung erfasst und ein entsprechendes Bildsignal B zu der Recheneinrichtung 40 der Bilderkennungseinrichtung 30 übermittelt, wird die Recheneinrichtung 40 die kreisförmige Bewegung der Bedienperson 100 erkennen und den entsprechenden Steuerbefehl "Stopp" ermitteln. Der entsprechende Stoppbefehl wird in Form des Steuersignals ST an den Antrieb 70 übermittelt, so dass das Schienenfahrzeug 10 zum Stehen kommt.In the FIG. 1 one also sees an operator 100 pivoting her hand 110 in a circular manner. This circular pivoting movement is to transmit, for example, the control command "stop". As soon as the image capture device 20 detects the surrounding section U with the operator 100 and the circular motion and transmits a corresponding image signal B to the computing device 40 of the image recognition device 30, the computing device 40 will detect the circular movement of the operator 100 and determine the corresponding control command "Stop". 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 stop.

Das Computerprogramm P kann mit Blick auf die Erkennung von Steuerbefehlzeichen oder Steuerbefehlbewegungen analog zu heutzutage im Bereich der Spielkonsolen bekannten Bilderkennungsverfahren programmiert sein. So ist beispielsweise von der Spielkonsole "XBox Kinect" der Firma Microsoft bekannt, dass Bewegungen von Personen erkannt und entsprechende Steuersignale erzeugt werden können.The computer program P may 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. Thus, for example, from the game console "XBox Kinect" Microsoft company known that movements of persons detected and corresponding control signals can be generated.

Bei dem Ausführungsbeispiel gemäß Figur 1 weist die Bilderfassungseinrichtung 20 drei Bilderfassungsmodule 21, 22 und 23 auf. Alternativ kann die Bilderfassungseinrichtung 20 auch nur ein einziges oder nur zwei der drei genannten Bilderfassungsmodule aufweisen.In the embodiment according to FIG. 1 The image acquisition device 20 has three image acquisition modules 21, 22 and 23. Alternatively, the image capture device 20 may also comprise only a single or only two of the three image acquisition modules mentioned.

In der Figur 1 lässt sich erkennen, dass der Führerstand 130 des Schienenfahrzeugs 10 nicht besetzt sein muss, wenn ein Übermitteln von Steuerbefehlen von außerhalb des Schienenfahrzeugs 10, also von der Umgebung U aus, erfolgt.In the FIG. 1 It can be seen that the driver's cab 130 of the rail vehicle 10 does not have to be occupied when transmission of control commands from outside the rail vehicle 10, ie from the surroundings U, takes place.

Die Figur 2 zeigt beispielhaft das Schienenfahrzeug 10 gemäß Figur 1, wenn sich in der Umgebung U eine Bedienperson 100 befindet, die einen anderen Fahrtbefehl, nämlich "Vorwärtsfahrt", übermittelt. Dieser Fahrtbefehl kann beispielsweise durch ein Heben und Senken der Hand 110 der Bedienperson 100 angezeigt werden. Sobald die Bilderfassungseinrichtung 20 die Bedienperson 100 mit der sich hebenden und senkenden Hand 110 detektiert und die Handbewegung von der Recheneinrichtung 40 entsprechend erkannt wird, wird ein Steuersignal ST' zur Infahrtsetzung des Schienenfahrzeugs 10 an den Antrieb 70 übermittelt.The FIG. 2 shows by way of example the rail vehicle 10 according to FIG. 1 if there is an operator 100 in the vicinity U, 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. As soon as the image capture device 20 detects the operator 100 with the hand 110 raised and lowered and the hand movement is correspondingly detected by the computing device 40, a control signal ST 'is transmitted to the drive 70 for starting the rail vehicle 10.

Auch bei der Steuerung gemäß Figur 2 kann (darf) der Führerstand 130 des Schienenfahrzeugs 10 unbesetzt sein, wenn ein Übermitteln der Steuerbefehle von außerhalb des Schienenfahrzeugs 10 aus erfolgt.Also in the control according to FIG. 2 the driver's cab 130 of the rail vehicle 10 may be unoccupied when transmitting the control commands from outside the rail vehicle 10.

Die Figur 3 zeigt ein Ausführungsbeispiel für ein Schienenfahrzeug, bei dem die Bilderfassungseinrichtung 20 nicht auf die Umgebung U des Schienenfahrzeugs 10 hin ausgerichtet ist, sondern sich innerhalb des Führerstandes 130 des Schienenfahrzeugs 10 befindet und zumindest einen Abschnitt des Führerstandes 130 zeigt.The FIG. 3 1 shows an exemplary embodiment of a rail vehicle in which the image capture device 20 is not aligned with the surroundings U of the rail vehicle 10, but is located inside the driver's cab 130 of the rail vehicle 10 and shows at least a section of the driver's cab 130.

Es lässt sich in der Figur 3 erkennen, dass durch Schwenken der Hand der im Führerstand 130 befindlichen Bedienperson 100 im Kreis ein "Stopp"-Befehl erzeugt und über die Bilderfassungseinrichtung 20 zu der Bilderkennungseinrichtung 30 hin übermittelt werden kann. Die Recheneinrichtung 40 wird die kreisförmige Schwenkbewegung der Hand der Bedienperson 100 erkennen und ein Steuersignal ST zum Stoppen des Antriebs 70 des Schienenfahrzeugs 10 erzeugen.It settles in the FIG. 3 recognize that by pivoting the hand of the operator located in the cab 130 100th a "stop" command generated in the circle and can be transmitted via the image capture device 20 to the image recognition device 30 out. The computing device 40 will detect the circular pivoting movement of the operator's hand 100 and generate a control signal ST to stop the drive 70 of the rail vehicle 10.

In der Figur 3 erkennt man darüber hinaus eine Anzeigeeinrichtung (Display) 140, die über eine nicht gezeigte Steuerleitung mit der Recheneinrichtung 40 in Verbindung stehen kann. Auf der Anzeigeeinrichtung 140 kann die Recheneinrichtung 40 beispielsweise Informationen anzeigen, die zur Steuerung des Schienenfahrzeugs nützlich sein können (z. B. Informationen zum aktuellen Fahrzustand, Zustand der Gleisanlage, usw.). Alternativ oder zusätzlich können auf der Anzeigeeinrichtung 140 Befehlselemente angezeigt werden, die durch vorgegebene Bewegungen (z. B. Handbewegungen) der im Führerstand 130 befindlichen Bedienperson 100 "bewegt" werden können, um die Steuerung des Schienenfahrzeugs 10 vorzunehmen.In the FIG. 3 In addition, a display device (display) 140, which can communicate with the computing device 40 via a control line (not shown), can be recognized. On the display 140, for example, the computing device 40 may display information that may be useful for controlling the rail vehicle (eg, information about the current driving condition, condition of the track system, etc.). Alternatively or additionally, command elements can be displayed on the display device 140, which can be "moved" by predetermined movements (eg, hand movements) of the operator 100 located in the driver's cab 130 in order to control the rail vehicle 10.

Anstelle der Anzeigeeinrichtung 140 kann auch eine Projektionseinrichtung vorhanden sein, die die anzuzeigenden Informationen, den erkannten Steuerbefehl und/oder die Befehlselemente auf die Frontscheibe oder eine andere Fläche des Schienenfahrzeugs projiziert.Instead of the display device 140 may also be present a projection device which projects the information to be displayed, the detected control command and / or the command elements on the windscreen or another surface of the rail vehicle.

Darüber hinaus ist es möglich, dass die Recheneinrichtung 40 auf der Anzeigeeinrichtung 140 den jeweils erkannten Steuerbefehl ST zur Steuerung des Schienenfahrzeugs anzeigt, um der im Führerstand 130 befindlichen Bedienperson 100 anzuzeigen, welcher Bedienbefehl jeweils aktuell erkannt worden ist.In addition, it is possible for the computing device 40 to 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.

Die Figur 4 zeigt das Schienenfahrzeug 10 nochmals mit einer im Führerstand 130 befindlichen Bedienperson 100, wobei diese jedoch anstelle eines Stoppbefehls einen "Fahrt"-Befehl übermittelt. Hierzu hebt und senkt die Bedienperson 100 ihre Hand, was von der Bilderfassungseinrichtung 20 erfasst und in Form von Bildsignalen B zur Recheneinrichtung 40 übermittelt wird. Die Recheneinrichtung 40 erkennt die entsprechende Geste der Bedienperson 100 und erzeugt ein Steuersignal ST' für den Antrieb 70, um das Schienenfahrzeug 10 in Bewegung zu setzen.The FIG. 4 shows the rail vehicle 10 again with an operator 100 located in the cab 130, but this instead of a stop command transmits a "ride" command. For this purpose, 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 gesture of the operator 100 and generates a control signal ST 'for the drive 70 to set the rail vehicle 10 in motion.

Die Figur 5 zeigt ein Ausführungsbeispiel für ein Schienenfahrzeug 10, bei dem zwei Bilderfassungseinrichtungen vorhanden sind, von denen eine mit dem Bezugszeichen 20 und die andere mit dem Bezugszeichen 20' gekennzeichnet ist. Die eine Bilderfassungseinrichtung 20 ist auf die Umgebung U des Schienenfahrzeugs 10 hin ausgerichtet und ermöglicht eine Erfassung von Steuerbefehlzeichen oder Steuerbefehlbewegungen (vgl. Bildsignal B), die außerhalb des Schienenfahrzeugs in der Umgebung U erzeugt werden.The FIG. 5 shows an embodiment of a rail vehicle 10, in which two image sensing devices are present, one of which is denoted by the reference numeral 20 and the other by the reference numeral 20 '. The one image capture device 20 is aligned with the surroundings U of the rail vehicle 10 and enables a detection of control command or control command movements (see image signal B), which are generated outside the rail vehicle in the environment U.

Die Bilderfassungseinrichtung 20' befindet sich innerhalb des Führerstandes 130 und zeigt mit Bildsignalen B' zumindest einen Abschnitt des Führerstandes, so dass Steuerbefehlzeichen oder Steuerbefehlbewegungen auch innerhalb des Führerstandes 130 erzeugt, erfasst und umgesetzt werden können. Im Übrigen sei auf die obigen Ausführungen im Zusammenhang mit den Figuren 1-4 verwiesen, die hier entsprechend gelten.The image capture device 20 'is located inside the driver's cab 130 and shows with image signals B' at least a portion of the cab, so that control commands or commands can also be generated, detected and implemented within the driver's cab 130. Incidentally, I refer to the above observations in connection with Figures 1-4 referred, which apply here accordingly.

Die Figur 6 zeigt ein Ausführungsbeispiel für ein Schienenfahrzeug 10, das eine verstellbare Bilderfassungseinrichtung 20 umfasst. So kann die Bilderfassungseinrichtung 20 auf den Führerstand 130 hin ausgerichtet werden (z. B. durch Schwenken, vgl. Pfeil), um eine im Führerstand 130 befindliche Bedienperson 100 zu erfassen. Alternativ kann die Bilderfassungseinrichtung 20 auch nach draußen hin ausgerichtet werden (z. B. durch Schwenken, vgl. Pfeil), um eine außerhalb des Schienenfahrzeugs befindliche Bedienperson 100 erfassen zu können.The FIG. 6 shows an exemplary embodiment of a rail vehicle 10, which comprises an adjustable image capture device 20. Thus, the image capture device 20 can be aligned with the driver's cab 130 (eg by swiveling, see arrow) in order to detect an operator 100 located in the driver's cab 130. Alternatively, the image capture device 20 can also be oriented outward (eg by pivoting, see arrow) in order to be able to detect an operator 100 located outside the rail vehicle.

Die Figur 7 zeigt beispielhaft ein von einer Bedienperson 100 vor die Bilderfassungseinrichtung 20 gehaltenes Steuerschild 300, auf dem ein eindimensionaler Barcode 310 als Steuersymbol abgebildet ist. Wird das Steuerschild 300 in den Bereich der Bilderfassungseinrichtung 20 gebracht, so wird diese entsprechende Bildsignale B zur Recheneinrichtung 40 übertragen. Die Recheneinrichtung 40 wird den Barcode 310 erkennen und einen entsprechenden Steuerbefehl in Form des Steuersignals ST für den Antrieb 70 erzeugen.The FIG. 7 shows an example of an operator 100 held in front of the image capture device 20 control plate 300, on which a one-dimensional barcode 310 is shown 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.

Die Figur 8 zeigt ein Ausführungsbeispiel zur Steuerung des Schienenfahrzeugs 10, bei dem von einer Bedienperson 100 ein Steuerschild 400 mit einem zweidimensionalen Barcode 410 zur Steuerung des Schienenfahrzeugs 10 eingesetzt wird. Sobald das Steuerschild 400 in den Bereich der Bilderfassungseinrichtung 20 gebracht wird, wird diese Bildsignale B erzeugen, die zur Recheneinrichtung 40 der Bilderkennungseinrichtung 30 gelangen. Die Recheneinrichtung 40 wird das Steuersymbol erkennen und ein dem Steuersymbol entsprechendes Steuersignal ST für den Antrieb 70 erzeugen.The FIG. 8 1 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. 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.

Obwohl die Erfindung im Detail durch die bevorzugten Ausführungsbeispiele näher illustriert und beschrieben wurde, so ist die Erfindung nicht durch die offenbarten Beispiele eingeschränkt und andere Variationen können vom Fachmann hieraus abgeleitet werden, ohne den Schutzumfang der Erfindung zu verlassen.While the invention has been further illustrated and described in detail by the preferred embodiments, the invention is not limited by the disclosed examples, and other variations can be derived therefrom by those skilled in the art without departing from the scope of the invention.

Claims (9)

  1. Device for controlling a rail vehicle (10), having
    - an image capture device (20, 20') for recording an image or an image sequence and
    - an image recognition device (30) connected to the image capture device (20, 20'), the image recognition device being suitable for recognising a control command sign or a control command motion in the image recorded by the image capture device (20, 20') or in the image sequence recorded by the image capture device (20, 20') and for generating a control signal (ST, ST') corresponding to the control command sign or the control command motion for controlling the rail vehicle (10),
    characterised in that
    the image recognition device (30) is designed to recognise an operating motion, shown in the image sequence, of an operator (100) and to generate a control signal (ST, ST') corresponding to the operating motion.
  2. Device according to claim 1,
    characterised in that
    - the image capture device (20, 20') is arranged and aligned on the rail vehicle (10) such that it captures a surrounding section (U) of the surroundings of the rail vehicle (10), and
    - the image recognition device (30) is suitable for recognising a control command sign present in the recorded surrounding section (U) or a control command motion present in the recorded surrounding section (U).
  3. Device according to claim 1 or 2,
    characterised in that
    - the image capture device (20, 20') is arranged and aligned in or on the driver's cab (130) such that it captures a section of the driver's cab (130) of the rail vehicle (10), and
    - the image recognition device (30) is suitable for recognising a control command sign present in the recorded section of the driver's cab (130) or a control command motion present in the recorded section of the driver's cab.
  4. Device according to one of the preceding claims,
    characterised in that
    the image recognition device (30) is suitable for recognising a control plate (300, 400) - having a control symbol thereon - in the image (B, B') or the image sequence and for generating a control signal corresponding to the control symbol.
  5. Device according to claim 4,
    characterised in that
    the image recognition device (30) is suitable for recognising a one- or two-dimensional barcode (310, 410) located on the control plate (300, 400) and for generating a control signal (ST, ST') corresponding to the one- or two-dimensional barcode (310, 410).
  6. Device according to one of the preceding claims,
    characterised in that
    the image capture device (20, 20') comprises a camera which works in the range of optically visible light and/or in the infrared range and is suitable for generating image signals (B, B') which describe a two-dimensional image of the surrounding section (U) or of the driver's cab (130).
  7. Device according to one of the preceding claims,
    characterised in that
    the image capture device (20, 20') comprises an ultrasound transmitting device and an ultrasound receiving device that is suitable for emitting ultrasound signals and capturing reflected ultrasound signals, and for generating image signals which describe an image of the surrounding section or of the driver's cab.
  8. Rail vehicle (10) having a device according to one of the preceding claims.
  9. Method for controlling a rail vehicle (10), wherein
    - an image or an image sequence is recorded using an image capture device (20, 20') and
    - a check is made using an image recognition device (30) as to whether a control command sign or a control command motion is shown in the image or image sequence and - if a control command sign or a control command motion is recognised - a control signal (ST, ST') corresponding to the recognised control command sign or the recognised control command motion is generated, which describes a control command for controlling the rail vehicle (10),
    characterised in that
    an operating motion of an operator (100) shown in the image sequence is recognised and a control signal (ST, ST') corresponding to the operating motion is generated.
EP12750541.0A 2011-08-08 2012-07-27 Device and method for controlling a rail vehicle Not-in-force EP2723622B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE201110080592 DE102011080592A1 (en) 2011-08-08 2011-08-08 Device and method for controlling a rail vehicle
PCT/EP2012/064792 WO2013020837A1 (en) 2011-08-08 2012-07-27 Device and method for controlling a rail vehicle

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EP2723622A1 EP2723622A1 (en) 2014-04-30
EP2723622B1 true EP2723622B1 (en) 2016-04-27

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DE (1) DE102011080592A1 (en)
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DE102012219901A1 (en) * 2012-10-31 2014-04-30 Siemens Aktiengesellschaft Method for increasing positioning accuracy of moving object e.g. rail-mounted vehicle to predetermined stop point, involves approaching optical detection device of moving object to stop to detect generation of output signal
DE102014211851A1 (en) * 2014-06-20 2015-12-24 Robert Bosch Gmbh Method and device for outputting an audible warning signal of a rail vehicle and warning system for a rail vehicle
DE102018210242A1 (en) * 2018-06-22 2019-12-24 Siemens Aktiengesellschaft Arrangement for securing a rail vehicle against acts by unauthorized persons
CN115520247B (en) * 2022-08-19 2024-04-12 昆明聚讯科技有限公司 Railway transportation operation record management platform and method

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Publication number Priority date Publication date Assignee Title
DE19538022C1 (en) * 1995-10-12 1997-01-09 Schaltbau Ag Device for controlling a rail vehicle
US5978718A (en) * 1997-07-22 1999-11-02 Westinghouse Air Brake Company Rail vision system
JP3752246B2 (en) * 2003-08-11 2006-03-08 学校法人慶應義塾 Hand pattern switch device
DE102007038820A1 (en) * 2007-08-16 2009-02-26 Deutsches Zentrum für Luft- und Raumfahrt e.V. Shunting monitoring device for monitoring e.g. goods train, during shunting in railway station, has evaluation unit connected with imaging sensor, where device is arranged for monitoring shunting trip depending on shunting systems
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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EP2723622A1 (en) 2014-04-30
DE102011080592A1 (en) 2013-02-14
ES2585088T3 (en) 2016-10-03

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