EP2998184B1 - System und Verfahren zur automatischen Ortung und Aufzeichnen einer Bake - Google Patents

System und Verfahren zur automatischen Ortung und Aufzeichnen einer Bake Download PDF

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Publication number
EP2998184B1
EP2998184B1 EP14380028.2A EP14380028A EP2998184B1 EP 2998184 B1 EP2998184 B1 EP 2998184B1 EP 14380028 A EP14380028 A EP 14380028A EP 2998184 B1 EP2998184 B1 EP 2998184B1
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EP
European Patent Office
Prior art keywords
track
autonomous system
beacon
camera
processing unit
Prior art date
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Active
Application number
EP14380028.2A
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English (en)
French (fr)
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EP2998184A1 (de
Inventor
David Celestino Salmeron
Jose Luis Munoz Munoz
Maria Saiz Munoz
Rocio Sanchiz Redondo
Faustino Frechiall Daza
Jaime Rodriguez Urbieta
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Siemens Rail Automation SA
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Siemens Rail Automation SA
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Filing date
Publication date
Application filed by Siemens Rail Automation SA filed Critical Siemens Rail Automation SA
Priority to ES14380028T priority Critical patent/ES2780623T3/es
Priority to PT143800282T priority patent/PT2998184T/pt
Priority to EP14380028.2A priority patent/EP2998184B1/de
Priority to PCT/EP2015/060496 priority patent/WO2016041645A1/en
Publication of EP2998184A1 publication Critical patent/EP2998184A1/de
Application granted granted Critical
Publication of EP2998184B1 publication Critical patent/EP2998184B1/de
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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
    • B61L3/08—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 electrically
    • B61L3/12—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 electrically using magnetic or electrostatic induction; using radio waves
    • B61L3/121—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 electrically using magnetic or electrostatic induction; using radio waves using magnetic induction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
    • B61L23/041—Obstacle detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L2205/00—Communication or navigation systems for railway traffic
    • B61L2205/04—Satellite based navigation systems, e.g. global positioning system [GPS]

Definitions

  • the present invention concerns a system and a method for automatically locating and recording beacons installed at points along a route followed by a guided vehicle.
  • the present invention is directed to the detection, localization and recording of beacons or balises installed on the route or way followed by the guided vehicle and which are configured for exchanging data with the guided vehicle by means of an electromagnetic signal each time the guided vehicle passes near, for example above/over, said balise or beacon.
  • said balise is an Eurobalise, i.e. a balise which complies with the European Train Control System, and is installed between rails of a railway followed by the guided vehicle.
  • Guided vehicle refers to public transport means such as buses, trol-leybuses, streetcars, subways, trains or train units, etc., as well as load transporting means such as, for example, overhead traveling cranes, freight trains, for which safety is a very important factor and which are guided along a route or railway by guiding means, for example at least one rail, in particular by two rails between which beacons/balises are placed.
  • public transport means such as buses, trol-leybuses, streetcars, subways, trains or train units, etc.
  • load transporting means such as, for example, overhead traveling cranes, freight trains, for which safety is a very important factor and which are guided along a route or railway by guiding means, for example at least one rail, in particular by two rails between which beacons/balises are placed.
  • balises are recorded using a manual procedure, wherein at least one operator has to be physically present on the track or route followed by the guided vehicle in order to record each balise by means of a portable device that has to be carried to the railway track, placed on top of the balise and then, via induction, used to upload the balise data into the portable device.
  • This task is time consuming and might be risky for the operator.
  • Benedikt Wenzel, et al. in "SAT.VALID - A New Data Validation Tool For Communication Based Train Control Systems” (Proceedings, IRSE ASPECT Conference - 2012 ) disclose a system mounted on-board a train for capturing an updated topology model of a track.
  • An objective of the present invention is to propose a method and system for automatically locating and recording balises or beacons installed at points along a route followed by a guided vehicle.
  • the present invention proposes to make use of an autonomous system, e.g. a robot, for automatically carrying out the detection, the localization and the recording of each beacon/balise installed at points along a route followed by a guided vehicle.
  • an autonomous system e.g. a robot
  • the invention concerns an autonomous system for automatically detecting, locating and recording at least one beacon or balise installed at a point along a route designed for a guided vehicle, according to claim 1.
  • the present invention also concerns a method for automatically detecting, locating and recording at least one beacon or balise installed at a point along a route designed for a guided vehicle like a train or metro, according to claim 10.
  • the present invention refers thus to an autonomous system, i.e. a system that does not require to be driven by an operator.
  • the processing unit according to the invention is configured for driving the autonomous system along the track by controlling the moving means, for detecting, locating and recording balises identified by means of the camera, free of any operator input.
  • the autonomous system comprises at least two cameras, a first camera pointing forward for taking images of the track in front of the autonomous system and identifying approaching balises, and a second camera pointing perpendicularly to the track, i.e. to the ground, used for a precise location of the balise.
  • FIG. 1 shows a preferred embodiment of an autonomous system 1 according to the invention, wherein the autonomous system 1 is in particular a robot.
  • Said autonomous system 1 comprises a frame or body 11 in, or on, which is installed at least one camera 12 configured for taking images of a route or track 2, said track 2 comprising guiding means for guiding a guided vehicle along a path defines by said track 2, said guiding means being for example one or several rails configured for guiding the guided vehicle, and in particular the autonomous system 1 according to the invention.
  • the autonomous system 1 according to the invention is thus configured for using the same guiding means provided by the track 2 as those used by the guided vehicle, e.g. said rails 21, in order to move on the same path as the guided vehicle along the track 2.
  • One or several balises 3 are installed at points along the track 2 and are configured for exchanging data with the guided vehicle when the latter passes at proximity, e.g. above, said balise 3.
  • the autonomous system 1 comprises moving means for autonomously moving its body 11 along the track 2.
  • Said moving means may comprise a connection to a power source and/or a power source, a motor 10 for converting the power of the power source into mechanical energy capable of moving the body 11, and therefore the autonomous system 1.
  • the motor converts the power of the power source, e.g. electric power, into a mechanical energy that makes a shaft rotating, and wherein the rotation of said shaft drives at least one wheel 13 into rotation.
  • the moving means of the autonomous system 1 according to the invention are configured for making use of an identical type of interaction with the track 2 as the guided vehicle has with said track 2 for moving the body 11, and therefore the autonomous system 1.
  • the autonomous system 1 comprises wheel 13, that are configured for being supported by the same rails 21.
  • the moving means according to the invention are in particular configured for cooperating with the guiding means of the track 2 that are configured for guiding the guided vehicle along the path defined by said track 2.
  • the wheels 13 of the moving means are configured for being supported and guided by the rails 21 of the track 2.
  • the present invention is not restricted to autonomous systems 1 using the guiding means of the track 2 for being guided along said track 2, but is also open to autonomous systems 1 like a drone capable of identifying the track 2 by means of the camera 12, and to follow the path described by said track 2.
  • the moving means according to the invention are in particular controlled by a processing unit 14 of the autonomous system 1 according to the invention.
  • said processing unit 14 is connected to the camera 12 for processing each image taken by the camera 12 during the displacement of the autonomous system 1 along the track 2.
  • the processing unit 14 preferentially comprises communication means for communicating with a remote communication device installed for instance in a remote command center.
  • the camera 12 is notably configured for taking images of track sections in front of the body 11 (hereafter also called downstream section) compared to its direction of displacement (indicated by the arrow A in the particular case of Fig. 1 ).
  • the processing unit 14 is connected to storing means 15 which may comprise a database for storing data and/or uploading data and/or modifying data already recorded in said storing means 15 and/or database.
  • said camera 12 is configured for capturing in real time at least one image of a downstream section of said track 2, said downstream section being a track portion extending from a first point of said track 2 located downstream of said body 11 to a second point of said track 2 located downstream of said body 11, the distance separating the camera 12 from the second point being greater than the distance separating the camera 12 from said first point.
  • the processing unit 14 is able to automatically analyze each image taken by each camera 12, to identify and locate said downstream section therein and to determine in real time if a balise 3 is located in said downstream section, notably between said first point and second point.
  • the processing unit 14 is able to digitize each image captured by the camera 12 for transforming said captured image into a format that can be used for localizing the balise 3.
  • the processing unit 14 is configured for detecting if a balise 3 is comprised in the image acquired by the camera and optionally for detecting and identifying the track 2.
  • the processing unit 14 uses in particular an object recognition algorithm.
  • the identification of the track 2 in each image may help detecting balises 3, since the position of a balise 3 compared to the track position might be used as a parameter for searching balises in the images acquired by the camera, said parameter being for example used by the object recognition algorithm.
  • said camera 12 might be configured and installed for taking images of portions of track that are located under the body 11 of the autonomous system 1.
  • said camera 12 may point perpendicularly to the track or ground (optical axis of the camera perpendicular to the track).
  • This configuration of the camera 12 may help in determining the position of the balise 3 compared to the position of the body 11. Indeed, it is then easier to determine the center of the balise 3 by making at least one part of the balise coinciding with the optical axis of the camera 12.
  • the autonomous system 1 comprises two cameras, a first camera pointing forward as previously described, and a second camera having its optical axis pointing perpendicularly to the track 2 as described above, so that the first camera provides a first approximation of the location and position of the balise and is used for controlling the approach of the autonomous system 1 toward the balise 3, and the second camera is used for the precise determination of the location/position of the balise under the body 11 of the autonomous system 1.
  • the images of both cameras might be processed by means of object recognition algorithm in order to determine balise characteristics and position.
  • first camera will refer to a camera pointing forwards
  • second camera will refer to a camera pointing perpendicularly to the track as previously described.
  • the processing unit 14 uses said object recognition algorithm for identifying a presence or absence of balise 3 in each image captured by the camera 12, for example by the first and/or second camera.
  • the recognition algorithm uses geometric recognition techniques applied to each image or to a part of each image (for example only to the part comprising the track, or only to the part comprised between two rails 21 of a track 2) for identifying for example the balise 3, and in particular the downstream section of the track 2.
  • the object recognition algorithm is in particular capable of first searching for a track 2 (e.g.
  • the object recognition algorithm preferentially uses automatic learning techniques such as boosting for identifying objects, like the track 2 or the balise 3, in the images taken by the camera 12. Techniques such as boosting for identifying objects in images are well known by the skilled man and do not need further explanations.
  • the recognition algorithm is able to make a correlation or matching between a set of pixels of the image captured by said camera and a set of features of the balise 3, and preferentially also of the track 2, wherein said features might be previously saved in the database of the autonomous system 1 according to the invention.
  • said features define for example specific geometric shapes of the balise 3, and preferentially also of the track 2, said features facilitating the track/balise identification by means of the object recognition algorithm by comparing features of the images with the features recorded for the balise/track in said database.
  • said method according to the invention may in particular include a learning phase intended to create said database.
  • the learning phase may comprise an acquisition of images by the camera of the autonomous system 1 when the latter is moving on a track 2 comprising beacons/balises installed at known points along the track 2. Said images acquired during the learning phase might be used as "learning" images (i.e. typical images representing a track comprising balises) for the detection by the object recognition algorithm of the balise and/or the track during the learning phase.
  • track/balise features like specific geometric shapes of the balise 3 and/or of the track 2, might be automatically stored in the database by the processing unit 14.
  • said database is used by the object recognition algorithm for the identification in real time of balise/track features in images captured by the camera.
  • said database might be upgradable and adaptive in that, once said learning phase is completed, it can be updated in real time using new images acquired by said camera during subsequent runs of the autonomous system 1 along the track 2 in order to complete the database and to improve the identification process of balises 3 by means of the object recognition algorithm.
  • the processing unit 14 may carry out at least one of the following steps:
  • the present invention proposes a system and a method for automatically detecting beacons at points along a route of a guided vehicle, wherein a processing unit is used for detecting beacons in images taken by at least two cameras on-board said system.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Image Analysis (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Claims (15)

  1. Autonomes System (1) zum automatischen Erkennen, Orten und Aufzeichnen mindestens einer Bake (3), die an einer Stelle entlang eines Gleises (2) installiert ist, welches für ein spurgebundenes Fahrzeug ausgelegt ist, wobei das System Folgendes umfasst:
    - einen Körper (11),
    - Bewegungsmittel zum autonomen Bewegen des Körpers (11) entlang des Gleises (2),
    - eine erste und ein zweite Kamera, die an dem Körper (11) installiert und zum Aufnehmen von Bildern vom Gleis (2) konfiguriert sind, wobei die erste Kamera so konfiguriert ist, dass sie zum Aufnehmen von Bildern vom Gleis (2) vor dem autonomen System nach vorn weist, und die zweite Kamera so konfiguriert ist, dass ihre optische Achse senkrecht zum Gleis (2) weist,
    - eine Verarbeitungseinheit (14) zum Ansteuern des Bewegungsmittels (14), Analysieren der Bilder, Erfassen der an Stellen entlang des Gleises (2) installierten Bake (3) in den Bildern und Bestimmen der Position jeder Bake (3),
    - ein Aufzeichnungsmittel (15) zum Aufzeichnen von Informationen zu jeder erfassten Bake (3),
    wobei die erste Kamera von dem autonomen System zum Identifizieren herannahender Baken und die zweite Kamera für eine genaue Ortung der Bake benutzt wird,
    wobei die Verarbeitungseinheit (14) so konfiguriert ist, dass sie die von der ersten Kamera aufgenommenen Bilder zum Steuern des Herannahens des autonomen Systems (1) an die Bake (3) benutzt, und so konfiguriert ist, dass sie, sobald das autonome System (1) oberhalb der Bake (3) vorbeigefahren ist, die zweite Kamera zum Bestimmen des genauen Standorts der Bake (3) benutzt.
  2. Autonomes System (1) nach Anspruch 1, das zum Zusammenwirken mit Führungsmitteln des Gleises (2) konfiguriert ist, die zum Führen des spurgebundenen Fahrzeugs ausgelegt sind, damit dieses an dem Gleis (2) entlang geführt wird.
  3. Autonomes System nach Anspruch 1 oder 2, wobei die Verarbeitungseinheit (14) Kommunikationsmittel umfasst.
  4. Autonomes System nach einem der Ansprüche 1 bis 3, wobei das Aufzeichnungsmittel (15) eine Datenbank enthält.
  5. Autonomes System nach einem der Ansprüche 1 bis 4, wobei die Verarbeitungseinheit (14) zum Identifizieren mindestens eines Abschnitts des Gleises (2) in jedem Bild konfiguriert ist.
  6. Autonomes System nach einem der Ansprüche 1 bis 5, wobei die Verarbeitungseinheit (14) einen Objekterkennungsalgorithmus umfasst.
  7. Autonomes System nach einem der Ansprüche 4 bis 6, wobei die Datenbank Informationen zu Merkmalen der Bake (3) und/oder des Gleises (2) umfasst.
  8. Autonomes System nach einem der Ansprüche 1 bis 7, das eine Vorrichtung (16) zum Kommunizieren und Austauschen von Informationen mit der Bake (3) umfasst.
  9. Autonomes System nach einem der Ansprüche 1 bis 8, das ein Geoortungssystem zum Bestimmen der Position der Bake (3) umfasst.
  10. Verfahren zum automatischen Erkennen, Orten und Aufzeichnen mindestens einer Bake (3), die an einer Stelle entlang eines Gleises (2) installiert ist, welches zum Führen eines spurgebundenen Fahrzeugs ausgelegt ist, wobei das Verfahren Folgendes umfasst:
    - Bewegen eines autonomen Systems (1) entlang des Gleises (2), wobei das autonome System (1) in der Lage ist, sich autonom das Gleis (2) entlang zu bewegen,
    - Aufnehmen von Bildern vom Gleis (1) mithilfe einer ersten und einer zweiten Kamera an Bord des autonomen Systems (1), wobei die erste Kamera so konfiguriert ist, dass sie zum Aufnehmen von Bildern vom Gleis (2) vor dem autonomen System nach vorn weist, und die zweite Kamera so konfiguriert ist, dass ihre optische Achse senkrecht zum Gleis (2) weist,
    - Erfassen und Orten von an einer Stelle entlang des Gleises (2) installierten Baken (3) durch Analysieren der Bilder vom Gleis (2), die von den Kameras aufgenommen werden, wenn sich das autonome System (1) das Gleis (2) entlang bewegt, mithilfe einer Verarbeitungseinheit (14) des autonomen Systems (1), wobei die erste Kamera von dem autonomen System zum Identifizieren herannahender Baken und die zweite Kamera für eine genaue Ortung der Bake benutzt wird, wobei die Verarbeitungseinheit (14) so konfiguriert ist, dass sie die von der ersten Kamera aufgenommenen Bilder zum Steuern des Herannahens des autonomen Systems (1) an die Bake (3) benutzt, und so konfiguriert ist, dass sie, sobald das autonome System (1) oberhalb der Bake (3) vorbeigefahren ist, die zweite Kamera zum Bestimmen des genauen Standorts der Bake (3) benutzt,
    - Aufzeichnen von Informationen zu jeder erfassten Bake (3) in einem Aufzeichnungsmittel (15) des autonomen Systems (1).
  11. Verfahren nach Anspruch 10, das das Steuern einer Vorrichtung (16) zum Kommunizieren mit der Bake (3) mithilfe der Verarbeitungseinheit (14) umfasst.
  12. Verfahren nach Anspruch 10 oder 11, das das Steuern eines Geoortungssystems zum Bestimmen der Position jeder Bake (3) umfasst.
  13. Verfahren nach einem der Ansprüche 10 bis 12, das das Verwenden eines Objekterkennungsalgorithmus zum Erfassen mindestens eines Teils des Gleises (2) und/oder der Bake (3) in den von den Kameras (12) aufgenommenen Bildern umfasst.
  14. Verfahren nach einem der Ansprüche 10 bis 13, das eine Lernphase zum automatischen Sammeln von Informationen zu dem Gleis (2) und/oder der Bake und Speichern der Informationen in einer Datenbank umfasst.
  15. Verfahren nach Anspruch 14, wobei der Objekterkennungsalgorithmus die in der Datenbank gespeicherten Informationen zum Identifizieren des Gleises (2) und/oder der Bake (3) in den von den Kameras (12) aufgenommenen Bildern nutzt.
EP14380028.2A 2014-09-18 2014-09-18 System und Verfahren zur automatischen Ortung und Aufzeichnen einer Bake Active EP2998184B1 (de)

Priority Applications (4)

Application Number Priority Date Filing Date Title
ES14380028T ES2780623T3 (es) 2014-09-18 2014-09-18 Sistema y método para localizar y registrar automáticamente una baliza
PT143800282T PT2998184T (pt) 2014-09-18 2014-09-18 Sistema e método para localizar e registar automaticamente um farol
EP14380028.2A EP2998184B1 (de) 2014-09-18 2014-09-18 System und Verfahren zur automatischen Ortung und Aufzeichnen einer Bake
PCT/EP2015/060496 WO2016041645A1 (en) 2014-09-18 2015-05-12 System and method for automatically locating and recording a beacon

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP14380028.2A EP2998184B1 (de) 2014-09-18 2014-09-18 System und Verfahren zur automatischen Ortung und Aufzeichnen einer Bake

Publications (2)

Publication Number Publication Date
EP2998184A1 EP2998184A1 (de) 2016-03-23
EP2998184B1 true EP2998184B1 (de) 2020-01-08

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EP (1) EP2998184B1 (de)
ES (1) ES2780623T3 (de)
PT (1) PT2998184T (de)
WO (1) WO2016041645A1 (de)

Cited By (2)

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WO2024049638A1 (en) * 2022-08-31 2024-03-07 Siemens Mobility, Inc. System and method for managing operations of a train relative to a fouling mark
EP4385852A1 (de) * 2022-12-16 2024-06-19 Siemens Mobility GmbH Verfahren zum erfassen von balisen, und schienenfahrzeug system

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CN111923965B (zh) * 2019-05-13 2022-02-11 株洲中车时代电气股份有限公司 一种机车自动驾驶方法、系统及设备
CN110641522A (zh) * 2019-09-30 2020-01-03 中铁第四勘察设计院集团有限公司 高速磁浮轨道交通的列车定位系统
CN112829799B (zh) * 2021-02-02 2023-04-28 中铁第四勘察设计院集团有限公司 一种自动化车辆基地的信号应答器变位系统及其控制方法
CN113022643B (zh) * 2021-03-23 2022-09-27 上海电气泰雷兹交通自动化系统有限公司 故障导向安全的应答器检测系统及方法

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DE102012203483A1 (de) * 2011-04-27 2012-10-31 Trimble Navigation Ltd. Schienenbahnspurüberwachung

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DE102006062549B4 (de) * 2006-12-29 2016-05-19 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren und Einrichtung zum automatischen Positionieren von streckenseitigen Infrastrukturen
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WO2004028881A1 (de) * 2002-09-23 2004-04-08 Siemens Aktiengesellschaft Sensorsystem und verfahren zur fahrwegüberwachung für eine mobile einheit
DE102012203483A1 (de) * 2011-04-27 2012-10-31 Trimble Navigation Ltd. Schienenbahnspurüberwachung

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024049638A1 (en) * 2022-08-31 2024-03-07 Siemens Mobility, Inc. System and method for managing operations of a train relative to a fouling mark
EP4385852A1 (de) * 2022-12-16 2024-06-19 Siemens Mobility GmbH Verfahren zum erfassen von balisen, und schienenfahrzeug system

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WO2016041645A1 (en) 2016-03-24
EP2998184A1 (de) 2016-03-23
ES2780623T3 (es) 2020-08-26
PT2998184T (pt) 2020-03-02

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