EP3160819B1 - Vorrichtung und verfahren zur erfassung einer fahrzeugumgebung eines schienenfahrzeugs sowie schienenfahrzeug - Google Patents

Vorrichtung und verfahren zur erfassung einer fahrzeugumgebung eines schienenfahrzeugs sowie schienenfahrzeug Download PDF

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Publication number
EP3160819B1
EP3160819B1 EP15713736.5A EP15713736A EP3160819B1 EP 3160819 B1 EP3160819 B1 EP 3160819B1 EP 15713736 A EP15713736 A EP 15713736A EP 3160819 B1 EP3160819 B1 EP 3160819B1
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EP
European Patent Office
Prior art keywords
track
rail vehicle
vehicle
profile
position determination
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP15713736.5A
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German (de)
English (en)
French (fr)
Other versions
EP3160819A1 (de
Inventor
Christian TELKE
Matthias Harter
Gero Zechel
Michael Beitelschmidt
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Alstom Transportation Germany GmbH
Original Assignee
Bombardier Transportation GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bombardier Transportation GmbH filed Critical Bombardier Transportation GmbH
Priority to PL15713736T priority Critical patent/PL3160819T3/pl
Publication of EP3160819A1 publication Critical patent/EP3160819A1/de
Application granted granted Critical
Publication of EP3160819B1 publication Critical patent/EP3160819B1/de
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Anticipated expiration legal-status Critical

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Classifications

    • 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
    • B61L23/042—Track changes detection
    • B61L23/045—Rail wear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
    • B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
    • B61K9/08—Measuring installations for surveying permanent way
    • 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
    • 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
    • B61L23/042—Track changes detection
    • 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
    • B61L23/042—Track changes detection
    • B61L23/047—Track or rail movements

Definitions

  • the invention relates to a method and a device for detecting a vehicle environment of a rail vehicle and a rail vehicle.
  • a vehicle environment For the safe operation of rail vehicles, it may be necessary to record a vehicle environment. Such detection can take place in particular in the course of creating a so-called clearance profile. In particular, it can be determined whether a vehicle environment allows the operation of rail vehicles with certain geometric dimensions.
  • the properties of a track for the rail vehicles may be necessary to determine the properties of a track for the rail vehicles, in particular the properties of rails of the track, e.g. monitor a functional condition of the track.
  • a track layer can in particular by a middle of the track, e.g. in the form of a center line between the rails of a track, but also through the center line of a rail of the track.
  • the track position can be a reference line e.g. for detecting a clear space relative to the track position. For example, dimensions of a tunnel passage relative to the track position, in particular a height and / or a width of the tunnel, can be recorded.
  • the GB 2403861 A discloses a system for monitoring and measuring positions of objects along a monitoring route.
  • the system is mounted on a vehicle that runs along the route to be monitored.
  • the system includes a scanner and a data analyzer.
  • the scanner is fixed in place on the rail vehicle and is designed as a so-called 3D scanner, a laser beam being rotated continuously through 360 °.
  • the EP 1544572 A2 discloses a device for contactless detection of distances to objects next to a track system.
  • the device comprises a reference position measuring unit, which has a first laser line generator and a first area camera, which are aligned in the direction of a first rail.
  • the reference position measuring unit is equipped with a second laser line generator and a second area camera, which are aligned in the direction of the second rail. This reference position measuring unit is also fixed to the rail vehicle.
  • the DE 19801311 A1 discloses a track maintenance machine. This can use a measuring device for detecting a rail cross-section, which has laser heads, for example.
  • the DE 4238034 C1 discloses a method for inspecting, contactless scanning of the immediate vicinity of a track with regard to certain measurement criteria.
  • a radially rotating measurement beam is emitted perpendicular to it and the reflecting signals of this measurement beam are received, processed and stored in the area of the transmitter and / or signals emitted by the environment.
  • the location and the position of the transmitter / receiver unit with respect to an earth-fixed coordinate system or reference point are additionally measured synchronously by means of a navigation system arranged on the measuring vehicle and the same data is determined therefrom.
  • the WO 2014/007496 A1 discloses a system for monitoring a train wherein dynamic properties of a train traveling along rails and data for monitoring train equipment are synchronized with a predetermined movement distance. Further disclosed is a repeated accumulation and processing of data with a monitoring device, which comprises a laser generator installed on the train, a camera for generating 3D coordinates and a vibration measuring device.
  • An exemplary imaging system includes a high-speed camera and an evaluation unit that is configured to analyze images from the camera and to detect geometric variations in the structure.
  • the WO 2005/108676 A1 discloses an optical inspection equipment which is mounted on an underside of a rail vehicle body and is supported by the chassis.
  • the equipment is supported by a variable length damping that includes linear actuators so that the equipment can be moved horizontally or vertically and subject to rolling motion.
  • the technical problem arises of creating an apparatus and a method for detecting a vehicle environment of a rail vehicle and a rail vehicle which enable reliable and accurate detection of the vehicle environment.
  • a device for detecting a vehicle environment of a rail vehicle is proposed.
  • the device is used in particular for optical and contactless detection.
  • the device can be used to generate a clearance profile.
  • detection also includes the term determination.
  • the device comprises at least one first image capturing device.
  • the first image capture device generates image data.
  • the image capture device can be arranged on a rail vehicle, in particular on a front, for example on a front of the rail vehicle.
  • the first Image capture device can have a capture area. Objects that are in the detection area can be imaged by the first image capturing device.
  • the first image capturing device can be arranged relative to the rail vehicle, in particular attached to it, in such a way that the capturing area of the image capturing device can spatially capture an area in front of the rail vehicle.
  • an area above the rail vehicle or to the side of the rail vehicle can also be detected.
  • a central acquisition direction or acquisition axis of the acquisition region of the first image acquisition device can be oriented parallel to a longitudinal axis of the rail vehicle.
  • the first image capture device is designed as a 3D image capture device.
  • a 3D image acquisition device enables an acquisition of an environment in three dimensions. 3D information of a vehicle environment can thus be determined at a later point in time from the generated 3D image data.
  • a distance of an object to be imaged in the acquisition area can also be acquired from the image acquisition device.
  • the design of the first image capture device as a 3D image capture device results in a number of advantages.
  • a vehicle environment can be detected optically reliably and as completely as possible by a detection device. Due to the three-dimensionality, e.g. a clearance profile can be created.
  • the image data generated can be evaluated, for example, using known image processing methods.
  • objects in the vehicle environment can be detected.
  • properties, in particular geometric properties, and / or the position and / or orientation of the objects relative to the rail vehicle or, as will be explained in more detail below can be determined relative to a global reference coordinate system and / or relative to a track position.
  • the first image capture device can also be arranged on the rail vehicle in such a way that a track section, in particular a track section spatially in front of the rail vehicle, is arranged in the detection area of the first image capture device.
  • a track section in particular a track section spatially in front of the rail vehicle
  • rails of the track can also be detected in the generated images.
  • a track position in particular a position of a track center or a center line of the track or a rail, can also be determined on the basis of or as a function of the image data generated, that is to say image-based. This enables the detection of the vehicle surroundings, in particular a position and / or orientation of objects in the vehicle surroundings, relative to the track position.
  • 3D image capture device result from a rapid acquisition of image data, an easy-to-implement combinability with output signals from other sensors, a high level of robustness against interference, e.g. due to environmental influences such as dirt, especially leaves, dust or rain. Further advantages are good detectability of color information and simple object detection as well as inexpensive provision of the 3D image acquisition device. A complete point cloud can also be generated per scanning step of the detection area.
  • the proposed device can advantageously be attached to any street, subway or full train.
  • the detection can take place during a journey or while the rail vehicle is in operation.
  • an environment around a track can be detected when operating any rail vehicle.
  • the device further comprises at least one track position determination device.
  • the track position determination device here designates a device for determining or detecting the track position that is different from the first image capture device.
  • the track position determination device serves to determine a position of the track, in particular one or both rails of the track, relative to the vehicle coordinate system.
  • a track position can e.g. denote a position and / or orientation of a track center or a center line of the track.
  • the track position determination device can also be fastened to the rail vehicle, in particular to a body of the rail vehicle, furthermore in particular to an underside of the rail vehicle.
  • image data generated by an image capture device and / or the profile data generated by the laser scanning device can advantageously be assigned to a specific position relative to the track position, for example relative to a track coordinate system.
  • the track position determination device comprises at least one profile detection device for detecting a profile of at least one rail of the track. Furthermore, the track position determination device comprises at least one positioning device, the at least one profile detection device being movable by the positioning device, in particular relative to the rail vehicle.
  • the profile detection device is a device that differs from the laser scan device explained above, in particular a device that is structurally separate from it.
  • a profile can in particular be a two-dimensional profile.
  • the profile can e.g. represent an outer contour of the rail.
  • the profile is preferably a transverse profile of the rail, the transverse profile being detected in a plane which is arranged perpendicular to a longitudinal axis of the rail.
  • the profile detection device can in particular be an optical profile detection device. The profile detection device can thus enable contactless detection of the profile.
  • the positioning device can in particular include a stationary part and a part of the positioning device that is movable relative to the stationary part, e.g. a sled.
  • the profile detection device can be attached to or on the positioning device, in particular on or on the movable part.
  • the profile detection device can be detachably or permanently attached to the positioning device.
  • a position and / or orientation of the profile detection device can be changed or unchangeable relative to the positioning device.
  • the positioning device in particular the stationary part, can be fastened to the rail vehicle, in particular to a car body of the rail vehicle, furthermore in particular to an underside of the rail vehicle.
  • the positioning device in particular the stationary part, can have at least one fastening means.
  • the positioning device can in this case preferably be fastened to the rail vehicle in such a way that the at least one profile detection device can be moved along a trajectory with a desired, in particular rectilinear, movement, which is oriented parallel to a vehicle transverse axis of the rail vehicle.
  • the at least one profile detection device can be movable by the positioning device along a predetermined, in particular rectilinear, trajectory.
  • the profile detection device can be moved along a number of, in particular rectilinear, trajectories by the positioning device or a number of positioning devices.
  • an orientation of the Profile detection device can be changed by the positioning device or at least one further positioning device.
  • the positioning device can comprise at least one means for generating drive energy.
  • the means can be, for example, an electric motor, in particular a stepper motor or a direct current motor or a synchronous motor or an asynchronous motor.
  • the positioning device can comprise at least one means for guiding the movement.
  • the device can comprise at least one guide means for guiding the movement of the profile detection device along a, in particular rectilinear, trajectory.
  • the guide means can be, for example, a bearing device or can comprise such a device.
  • the guide means can in particular enable a linear guide.
  • the bearing device can enable a sliding guide, a roller guide, a rail guide, a shaft guide.
  • the positioning device can also comprise a means for transmitting drive energy.
  • the positioning device can comprise at least one cable, drive energy being able to be transmitted from the means for generating drive energy to the movable part via the cable.
  • the positioning device can e.g. be designed as a linear unit, the term linear unit encompassing the stationary part, the movable part and the means for generating and / or transmitting drive energy.
  • the profile detection device can have a detection area, in particular a two-dimensional detection area, wherein a profile of objects located in the detection area is detected by the profile detection device.
  • Profile data can thus be generated which represent or code the profile of an object.
  • the positioning device and / or the profile detection device can be arranged or fastened relative to the rail vehicle in such a way that the detection area covers at least a partial area below the rail vehicle.
  • a central detection direction or detection axis of the detection area can be oriented parallel to a vertical axis of the rail vehicle. Objects can therefore be detected below the rail vehicle, in particular the at least one rail, by the profile detection device.
  • the movable part can be arranged in the vertical direction below the stationary part.
  • the vertical direction can be oriented parallel to a vertical vehicle axis.
  • the vertical direction can be oriented from bottom to top if it is oriented from a vehicle floor to a vehicle roof. In this case, the vertical direction can also be oriented against a direction of the gravitational force.
  • a slide of the movable part is arranged in the vertical direction below a means for guiding the movement.
  • the means for guiding the movement can be attached to the rail vehicle, in particular on the underside.
  • the profile detection device can be attached directly or indirectly. In this way, a distance between the profile detection device and a rail of the track can advantageously be reduced, which is particularly advantageous in vehicles with high floors.
  • a carriage of the movable part is arranged in the longitudinal direction in front of or behind the stationary part, in particular in front of or behind a means for guiding the movement. This can advantageously ensure a desired distance between the profile detection device and a rail of the track, which is particularly advantageous in vehicles with low-lying floors.
  • the longitudinal direction can be oriented parallel to a vehicle longitudinal axis.
  • the longitudinal direction can be oriented from the rear to the front if it is oriented from a vehicle rear to a vehicle front.
  • the vehicle transverse axis explained above can be oriented perpendicular to the longitudinal axis of the vehicle and perpendicular to the vertical axis of the vehicle.
  • a position and / or orientation of a coordinate system of the profile detection device relative to a coordinate system of the positioning device can be known or can be determined.
  • a position and / or orientation of a coordinate system of the positioning device relative to the vehicle coordinate system can also be known or determinable.
  • profile data for at least one rail of the track can be generated by the profile detection device of the track position determination device.
  • a position and / or Orientation of the track relative to the profile detection device and thus also to the positioning device can be determined. This in turn enables the position and / or orientation of the track to be determined relative to the vehicle coordinate system.
  • the profile data generated by the profile detection device of the track position determination device not only enable a determination of the track position. Rather, depending on the profile data, at least one property of the track can also be determined.
  • a property of the track can e.g. be a property of one rail of the track or both rails of the track. The device can thus also be used for rail measurement.
  • a property of the track can be wear of the track, e.g. can be determined by comparing an actual profile of the track with a target profile of the track.
  • Another property can be a track gauge.
  • Another feature can be a track elevation, e.g. can denote a relative height difference between a first and a further rail surface of the track.
  • Another characteristic can be an arc radius of the track or a vertical curvature.
  • Another property can be a gradient of the track, through which e.g. an incline or descent of the track can be represented.
  • the property can also be a rail profile, in particular a rail cross profile.
  • the at least one property can thus be a geometric property of the track or a further property that can be determined as a function of at least one geometric property.
  • the proposed device also includes a device for determining at least one property of a track, which can be attached to any rail vehicle, in particular to its underside, and which enables the property to be detected during a standstill or while the rail vehicle is traveling.
  • the mobility of the profile detection device by means of the at least one positioning device advantageously enables a position and / or orientation of the profile detection device, in particular by the positioning device, to be changed even during or after a change in the relative position of the rail vehicle to the track, such that the Track, in particular a rail, are further in the detection area of the profile detection device. If the rail vehicle travels, for example, through a curve and the relative position between the profile detection device and a track of the rail changes as a result, a position of the profile detection device can be changed or tracked such that the rail is still in the detection area, in particular does not leave it , This can be achieved in particular by the previously explained movement parallel to a vehicle transverse axis.
  • undesired changes in the property can be detected, for example by comparing the determined property with a desired target property.
  • the track position determination device can comprise at least one image acquisition device of the track position determination device.
  • the image acquisition device of the track position determination device can also be attached to the positioning device, in particular to a movable part of the positioning device.
  • the at least one image capturing device of the track position determination device can also be movable by the positioning device, for example along a, in particular rectilinear, trajectory.
  • the image capture device of the track position determination device can be attached to the positioning device in a detachable or non-detachable manner.
  • a position and / or orientation of the image capturing device of the track position determining device can be changeable or unchangeable relative to the positioning device.
  • the image detection device of the track position determination device can also have a detection area. Objects that are in the detection area can be imaged by the image detection device of the track position determination device. Thus, images or image data of these objects can be generated.
  • the positioning device and / or the image detection device of the track position determination device can be arranged relative to the rail vehicle, in particular attached to it, in such a way that the detection area of the image detection device of the track position determination device can detect an area below the rail vehicle.
  • a central detection direction or detection axis of the detection area of the image detection device of the track position determination device can also be oriented parallel to a vertical axis of the rail vehicle.
  • the Image capture device of the track position determination device objects below the rail vehicle, in particular thus the at least one rail are captured.
  • the profile detection device and the image detection device of the track position determination device can preferably be arranged relative to one another such that the detection areas overlap at least partially.
  • a relative position and / or orientation of the image detection device of the track position determination device to the profile detection device and thus also a relative position and / or orientation of their detection areas relative to one another can be known or determinable.
  • a coordinate system of the image detection device of the track position determination device and a coordinate system of the profile detection device can be registered with respect to one another.
  • a relative position and / or orientation of a coordinate system of the image acquisition device of the track position determination device relative to the coordinate system of the positioning device can be known or can be determined.
  • a position and / or orientation of a coordinate system of the image acquisition device of the track position determination device relative to the coordinate system of the positioning device can be known or determined.
  • the position and / or orientation of the coordinate systems of the image detection device of the track position determination device relative to the profile detection device can also be known or determinable.
  • the profile detection device may be disturbed by ambient conditions, for example by leaves on the rail.
  • the at least one property can be determined as a function of images generated by the image capture device of the track position determination device.
  • edges of the rail can be detected in images generated by the image capture device of the track position determination device. Also can be in profile data by the Profile detection device are generated, these edges of the rail are detected. Furthermore, a position of these edges can be determined relative to the coordinate system of the positioning device. If these relative positions deviate from each other by more than a predetermined amount, then for example only the position determined from the profile data or only the position determined from image data can be used to determine the track position and / or the at least one property of the track.
  • a merged property in particular position, can also be determined.
  • a merged property can be determined, for example, by averaging or by weighted averaging.
  • a fused position can also be determined by suitable estimation methods, for example by a Kalman filter method. Of course, other methods of fusion are also conceivable. This advantageously increases accuracy when determining the at least one property of the track.
  • the track position determination device can comprise at least one position determination device of the track position determination device for determining an absolute position and / or orientation of the rail vehicle.
  • This position determination device can correspond to the position determination device explained above.
  • the position determination device of the track position determination device can also be different from the previously described position determination device, for example a structurally separate component. In this case, however, the position determination device of the track position determination device has the same functionality as the position determination device explained above.
  • the rail vehicle and thus also the profile data or image data generated by the profile detection device and / or the image detection device of the track position determination device can be located in the global reference coordinate system.
  • a relative position and / or orientation of the coordinate system of the positioning device relative to the vehicle coordinate system can be known or can be determined.
  • the track position determination device can comprise a further position determination device for determining the position and / or orientation of the positioning device, in particular also the profile detection device and / or the image detection device, relative to the vehicle coordinate system.
  • the profile data generated by the profile detection device and / or the image data generated by the image detection device of the track position determination device e.g. can be assigned to a specific position in the global reference coordinate system after the rail vehicle has traveled. This simplifies the subsequent evaluation and assignment of this profile data or image data, e.g. to a certain section of the route.
  • the track position determination device can comprise at least one further position determination device of the track position determination device for determining a position and / or orientation of the positioning device and / or profile detection device and / or the image detection device of the track position determination device relative to the rail vehicle.
  • the further position determination device of the track position determination device enables the relative position and / or orientation of the positioning device and / or the profile detection device and / or the image detection device of the track position determination device to be determined relative to the rail vehicle, in particular relative to a vehicle coordinate system of the rail vehicle.
  • the track position determination device can comprise at least one distance detection device for detecting a distance of the profile detection device and / or the positioning device and / or the image detection device of the track position determination device from a reference point or a reference section of the rail vehicle.
  • the at least one distance detection device can e.g. be designed as an optical distance sensor.
  • the positioning device comprises a cable pull for driving the movable part
  • the distance detection device can also be designed as a cable travel sensor device.
  • a relative position and / or orientation of the profile detection device and / or image detection device of the track position determination device relative to a coordinate system of the positioning device is preferably known or determinable.
  • the at least one further position determination device of the track position determination device can be used to determine a position and / or orientation of the positioning device relative to the rail vehicle.
  • the track position determination device can have at least one storage device, wherein the profile data generated by the profile detection device and / or the image data generated by the image detection device of the track position determination device and, if appropriate, information on a spatial position and / or orientation of this data can be stored in one of the coordinate systems described above.
  • the profile detection device is preferably designed as a two-dimensional profile detection device.
  • no three-dimensional profile can be generated by the profile detection device. So it is e.g. possible to generate three-dimensional profile data from two-dimensional profile data that were generated at different, in particular successive times.
  • the profile detection device can be arranged on the rail vehicle such that the two-dimensional profile is arranged in a plane perpendicular to a vehicle longitudinal axis.
  • the two-dimensional profile detection device is preferably designed as a laser scanner.
  • the laser scanner is a device which differs from the laser scanner device explained above, in particular a device which is structurally separate from it. This results in a particularly simple and reliable detection of the profile in an advantageous manner.
  • the track position determination device can comprise at least one lighting device.
  • the lighting device can also be movable by the positioning device.
  • the lighting device can be attached to the positioning device, e.g. be detachably or permanently attached.
  • a position and / or orientation of the lighting device can also be changeable or unchangeable relative to the positioning device.
  • the lighting device can, for example, be arranged on the positioning device, in particular on the movable part of the positioning device, in such a way that the lighting device illuminates at least a part of the previously described detection areas of the profile detection device or the image detection device of the track position determination device. This advantageously results in an improved optical detection of the profile of the at least one rail.
  • the track position determination device can comprise at least one means for beam guidance and / or beam shaping.
  • the means for beam guidance and / or beam shaping serves in particular for guiding and / or shaping a light beam emitted and / or to be received by the profile detection device, in particular a laser beam emitted and / or to be received.
  • An emitted light beam can also be referred to as an emitted light beam and a light beam to be received can also be referred to as an imitating light beam.
  • the means for beam guidance and / or beam shaping can be attached to the positioning device, in particular to the moving part of the positioning device, e.g. removable or non-removable.
  • a position and / or orientation of the means for beam guidance and / or beam shaping relative to the positioning device and thus also a beam direction can preferably be changed.
  • an installation space of the track position determination device can be minimized, since the profile detection device does not necessarily have to be arranged on the positioning device in such a way that the detection area is already aligned in this position and / or orientation of the profile detection device such that the at least one rail of the track is detectable.
  • the means for beam guidance and / or beam shaping can change a spatial position and / or orientation of the detection area, which means e.g. a height of the track position determination device in the vertical direction below the rail vehicle can be reduced.
  • the position (s) or the orientation (s) of the profile detection device and / or the image detection device of the track position determination device and / or the means for beam guidance / beam shaping and / or the at least one lighting device can be changed relative to the positioning device, a change can be made manually, for example, by manual operation by operating personnel, or actuator-based.
  • the position and / or orientation relative to the positioning device is manually set before the track position determination device is operated, in particular before the rail vehicle is in operation, the position and / or orientation remaining unchanged during operation. This concerns in particular the setting of a position and / or orientation of the profile detection device, the image detection device of the track position determination device and the lighting device.
  • the position and / or orientation can also be changed during operation of the track position determination device, in particular while the rail vehicle is in operation, in particular can be changed with the aid of an actuator.
  • This relates in particular to the position and / or orientation of the means for beam guidance and / or beam shaping.
  • the proposed device preferably comprises at least two of the described track position determination devices.
  • the track position determination devices can be arranged relative to one another in such a way that detection areas of the profile detection devices of the track position determination devices do not overlap.
  • the track position determination devices can be arranged on a rail vehicle such that a first rail of a track for the rail vehicle can be detected by the profile detection device of a first track position determination device and a further rail of the track can be detected by the profile detection device of a further track position determination device.
  • the track position determination devices can be arranged on the rail vehicle with a, in particular variable, distance from one another, the distance being measured along a vehicle transverse direction.
  • the track position determination devices can be arranged at a distance from one another along a straight line parallel to the transverse direction of the vehicle. In particular, this enables a track position to be recorded independently of the track width.
  • the movement of the profile detection devices of both track position determination devices can be guided by a common guide means or by guide means that differ from one another.
  • the device comprises at least one further image capture device, the at least one further image capture device being designed as a 2D image capture device.
  • the 2D image acquisition device enables two-dimensional imaging of a vehicle environment, in particular, therefore, acquisition without distance or depth information.
  • the further image capturing device can also be arranged on a rail vehicle, in particular on a front, for example on a front of the rail vehicle.
  • the further image capture device can also have a capture area.
  • the further image capture device can be arranged relative to the rail vehicle, in particular attached to it, in such a way that the capture area of the image capture device can spatially capture an area in front of the rail vehicle.
  • an area above the rail vehicle and / or to the side of the rail vehicle can also be detected.
  • a central acquisition direction or acquisition axis of the acquisition region of the further image acquisition device can be oriented parallel to a longitudinal axis of the rail vehicle.
  • the device preferably comprises a plurality of further image acquisition devices designed as 2D image acquisition devices. These can be arranged with predetermined positions and / or orientations relative to one another and / or relative to the first image capturing device.
  • the detection areas of the first image detection device and the at least one further image detection device can preferably overlap at least partially. Alternatively, the detection areas cannot overlap.
  • the provision of at least one 2D image capturing device advantageously results in redundant capturing of image data and direct, fast and reliable imaging of a scene.
  • the device comprises at least one laser scanning device.
  • the laser scanning device can be used to detect a profile of a vehicle environment, in particular a profile of objects in the vehicle environment.
  • a profile can be a two- or three-dimensional profile.
  • the profile can e.g. represent an outer contour of an object.
  • the laser scanning device can in particular enable contactless detection of the profile.
  • the laser scanning device can also be arranged on the rail vehicle, in particular on a front, for example on a front of the rail vehicle.
  • the laser scanning device can also have a detection area.
  • the laser scanning device can be arranged relative to the rail vehicle, in particular attached to it, in such a way that the detection area of the laser scanning device can cover a region spatially in front of the rail vehicle.
  • an area above the rail vehicle and / or to the side of the rail vehicle can also be detected.
  • a central detection direction or detection axis of the Detection area of the laser scanning device to be oriented parallel to a longitudinal axis of the rail vehicle.
  • the laser scanning device can be arranged with a predetermined position and / or orientation relative to the first image capturing device.
  • the detection areas of the first image detection device and / or the at least one further image detection device and the laser scanning device can preferably overlap at least partially. Alternatively, the detection areas cannot overlap.
  • At least one laser scanning device advantageously results in a high level of robustness of the detection in relation to solar radiation, in particular direct solar radiation. There is also redundancy in the optical detection. Furthermore, sections with little ambient light, e.g. in tunnels, reliable detection can be guaranteed. Another vehicle that approaches the rail vehicle, for example, can also be easily detected by the laser scanning device.
  • the laser scanning device is designed as a rotating laser scanning device.
  • a laser beam is rotated about a reference axis, in particular continuously, to detect the surroundings.
  • a complete rotation can have a rotation angle of 360 °.
  • the reference axis of the rotation laser scanning device can be oriented parallel to the longitudinal axis of the rail vehicle.
  • the laser beam can be oriented perpendicular to the reference axis or enclose an angle of less than 90 ° but greater than 0 ° with the reference axis.
  • the provision of at least one rotary laser scanning device advantageously results in a high level of robustness of the detection against solar radiation, in particular direct solar radiation. There is also redundancy in the optical detection. Furthermore, sections with little ambient light, e.g. in tunnels, reliable detection can be guaranteed. Furthermore, three-dimensional detection is advantageously ensured.
  • the device comprises at least one position determination device for determining an absolute position and / or orientation of the rail vehicle.
  • the absolute position can be a position in denote a global reference coordinate system.
  • the absolute orientation can refer to an orientation in the global reference coordinate system.
  • the position determination device can be designed, for example, as an inertial sensor (INS).
  • INS inertial sensor
  • the position determination device can also be designed as a GNNS sensor. In the sense of this invention, a position can thus designate a position and / or orientation.
  • the rail vehicle can have a vehicle coordinate system.
  • the proposed position determination device can be used to determine a relative position and / or orientation of this vehicle coordinate system relative to the global reference coordinate system.
  • the rail vehicle and thus also the profile data or image data generated by the first image capturing device, a further image capturing device and / or the laser scanning device can be located in the global reference coordinate system.
  • the image data generated by an image acquisition device and / or the profile data generated by the laser scanning device e.g. can be assigned to a specific position in the global reference coordinate system after the rail vehicle has traveled. This simplifies the subsequent evaluation and assignment of this profile data or image data, e.g. to a certain section of the route.
  • a rail vehicle comprising at least one device for detecting a vehicle environment according to one of the previously described embodiments.
  • the device in particular the first image acquisition device, the at least one further image acquisition device, the laser scanning device and / or the at least one track position determination device is / are attached to the rail vehicle.
  • the first image capturing device, the at least one further image capturing device and / or the laser scanning device can be attached in a front region, in particular on a front side, of the rail vehicle.
  • the first image capturing device, the at least one further image capturing device and / or the laser scanning device are attached in a rear region, in particular on a rear side, of the rail vehicle.
  • the at least one track position determination device can be attached to an underside, in particular to an underside of a car body of the rail vehicle.
  • a stationary part of the positioning device can be fastened to the rail vehicle, in which case a movable part can be moved relative to the stationary part and thus relative to the rail vehicle.
  • the at least one track position determination device can be attached to the rail vehicle in such a way that the profile detection device can be moved parallel to a vehicle transverse axis, in particular along a straight trajectory parallel to the vehicle transverse axis.
  • a position of the first image capturing device, the at least one further image capturing device, the laser scanning device and / or the at least one track position determining device relative to a vehicle coordinate system can be previously known or determinable.
  • the situation can also be fixed or changeable.
  • the rail vehicle can comprise two track position determination devices.
  • a first track position determination device can be arranged on the rail vehicle such that a profile of the first rail can be detected by the profile detection device of the first track position determination device and / or at least one property of a first rail of a track can be determined by the first track position determination device.
  • the further track position determination device can be arranged on the rail vehicle in such a way that a profile of the further rail can be detected by the profile detection device of the further track position determination device and / or at least one property of another rail of the track can be determined by the further track position determination device.
  • a position and / or orientation of the middle of the track can be determined in a simple manner, in particular if a relative position and / or orientation of both positioning devices or both profile detection devices and / or image detection devices with respect to one another, for example in the vehicle coordinate system, is known or can be determined are.
  • the position and / or orientation of the middle of the track can then, as already explained above, be relative to a vehicle coordinate system or relative to a global reference coordinate system can be determined and stored.
  • a method for detecting a vehicle environment of a rail vehicle is also proposed, the vehicle environment being imaged by at least one first image capture device. This can mean that corresponding image data are generated.
  • the first image capture device is designed as a 3D image capture device.
  • the proposed method can in particular be carried out by a device according to one of the previously described embodiments.
  • a position and / or orientation of the generated image data and / or profile data can be determined relative to a vehicle coordinate system or relative to a global reference coordinate system.
  • the profile data and possibly the associated information regarding the position and / or orientation can be stored in one of the coordinate systems mentioned above, e.g. in a storage device of the proposed device.
  • a track position of a track for the rail vehicle is determined.
  • a profile detection device detects a profile of at least one rail of the track.
  • at least one property of the track can also be determined.
  • the at least one profile detection device can be moved by a positioning device before and / or during and / or after the detection of the profile.
  • the profile detection device can be moved by the positioning device relative to the rail vehicle, in particular parallel to a vehicle transverse axis of the rail vehicle.
  • the profile detection device can be moved along a predetermined, in particular rectilinear, trajectory.
  • a position and / or orientation of the generated profile data can be determined relative to a coordinate system of the positioning device or relative to a vehicle coordinate system or relative to a global reference coordinate system.
  • the profile data and where appropriate, the associated information regarding the position and / or orientation is stored in one of the coordinate systems mentioned above.
  • the profile data can be evaluated in such a way that at least one of the properties of the track explained at the beginning is determined.
  • the property can also be checked by comparing the property determined according to the invention with a predetermined target property.
  • the specific property or a deviation, in particular an undesirable deviation can be displayed to a vehicle driver and / or maintenance personnel, for example, via a display device.
  • the device can have at least one communication device, for example a wireless or wired communication device.
  • This can e.g. serve to transfer the profile data, information on the position and / or orientation and / or further information.
  • the device already includes an evaluation device which is designed to determine the at least one property. In this case, the specific property and possibly an undesired deviation can also be transmitted via the communication device.
  • FIG. 1 A schematic front view of a rail vehicle 4 with two track position determination devices 1a, 1b is shown, only the positioning devices 11 and in particular their stationary parts 11a and movable parts 11b being shown for the sake of clarity.
  • the track position determination devices 1a, 1b are arranged along a vehicle transverse direction yf on opposite sides of the body 14 of the rail vehicle 4.
  • the formation of the track position determination devices 1a, 1b is detailed in Fig. 3 shown and described in the corresponding description.
  • the track position determination devices 1a, 1b are part of a device 19 for detecting a vehicle environment of the rail vehicle 4.
  • Wheels 17 of the rail vehicle 4, which run on rails 3, are also shown.
  • the wheels 17 can here on a bogie 18 (see Fig. 2 ) of the rail vehicle 4. If the rail vehicle 4 is turning, at least the relative position between a car body 14 of the rail vehicle 4 and the tracks 3 changes.
  • the laser scanners 2 and the camera 6 of the respective devices 1 can be moved by the positioning devices 11 such that the rails 3 remain in the detection areas 5, 7 or are moved into them again.
  • a first track position determination device 1a is used to detect a first rail 3a and a further track position determination device 1b is used to detect a further rail 3b.
  • the detection of the profiles of both the first rail 3a and the further rail 3b further enables the detection of a position and / or orientation of a track center, in particular a center line between the tracks 3.
  • This track center or center line can be used as a reference point or reference line for a clearance measurement by further systems, in particular by further detection devices of the device 19 for detecting a vehicle environment of the rail vehicle 4.
  • a center line of a rail 3a, 3b of the track 3 can also serve as a reference line.
  • the position and orientation of the middle of the track can also be determined in relation to the global reference coordinate system in accordance with the preceding statements and, if necessary, stored.
  • the device 19 for capturing a vehicle environment of the rail vehicle 4 is also shown.
  • the device 19 comprises a 3D image capturing device which is designed as a stereo camera system, the stereo camera system comprising a first 2D camera of the stereo camera system 20a and a further 2D camera 20b of the stereo camera system ,
  • a detection area 21 of the 3D image detection device is shown schematically. It can be seen that the detection area 21 comprises at least a part of the vehicle environment that is spatially in front of and to the side of the rail vehicle 4.
  • the device 19 further comprises a rotary laser scanning device 22.
  • a laser beam 23 generated by this rotary laser scanning device 22 (see Fig. 2 ) for scanning the vehicle environment rotates around an axis that is parallel to a vehicle longitudinal direction xf (see Fig. 2 ) is oriented.
  • a direction of the laser beam 23 can also contain components in the vehicle longitudinal direction xf.
  • a detection area (not shown) of the rotary laser scanning device 22 likewise comprises at least a part of the vehicle environment that is located in front of and to the side of the rail vehicle 4.
  • the device 19 further comprises a first 2D camera 24 and a further 2D camera 25, with detection regions 26, 27 of these 2D cameras 24, 25 being shown schematically.
  • the detection areas 26, 27 of the 2D cameras 24, 25 each comprise at least a part of the vehicle environment that is located on the side of the rail vehicle 4, the detection areas 26, 27 comprising different side areas of the rail vehicle 4.
  • the 2D cameras 20a, 20b of the stereo camera system, the rotation laser scanning device 22 and the 2D cameras 24, 25 are arranged on a vehicle front of the rail vehicle 4.
  • the 2D cameras 20a, 20b of the stereo camera system, the rotation laser scanning device 22 and the 2D cameras 24, 25 are arranged in the roof area of the rail vehicle 4.
  • vehicle transverse direction yf and a vehicle vertical direction zf which form a vehicle coordinate system.
  • an inertial unit 16 for global referencing of a vehicle coordinate system and thus also the position and orientation of the 2D cameras 20a, 20b of the stereo camera system, the rotation laser scanning device 22 and the 2D cameras 24, 25 of the profile data and image data generated by them.
  • a schematic side view of a rail vehicle 4 with a device 19 according to the invention is shown. It is shown here that wheels 17 are arranged on a bogie 18. The wheels 17 run on rails 3.
  • a track position determination device 1 with a positioning device 11, which has a stationary part 11a and a movable part 11b, is arranged on an underside 15 of a car body 14 of the rail vehicle 4.
  • the Track position determination device 1 can here like that in Fig. 3 described track position determination device 1 may be formed.
  • a vehicle longitudinal direction xf and a vehicle vertical direction zf are also shown.
  • a device 19 for detecting the vehicle environment around the rail vehicle 4 only one rotation laser scanning device 22 and one exemplary laser beam 23 emitted by the rotation laser scanning device being shown.
  • the device 19 enables the determination of a track center and the determination of a clearance profile. This makes it possible to determine the information about the available clear space relative to the middle of the track.
  • a schematic representation of a track position determination device 1 is shown.
  • the track position determination device 1 comprises a profile detection device designed as a two-dimensional laser scanner 2 for detecting a cross profile of a rail 3 of a track for a rail vehicle 4.
  • a detection area 5 of the laser scanner 2 is shown schematically.
  • a detection area 7 of the camera 6 is also shown schematically.
  • the track position determination device 1 further comprises two lighting devices 8, lighting areas 9 of the light sources also being shown schematically.
  • the track position determination device 1 comprises a distance sensor 10.
  • a mirror 13 for guiding the light beams emitted by the laser scanner 2 and to be received.
  • the mirror 13 is also arranged on the movable part 11b, in particular in the housing 12.
  • the mirror 13 here forms the means for beam guidance and / or beam shaping described above.
  • the mirror 13 can in particular be displaceable, that is to say movable with one or more translational movements, and rotatable, that is to say movable with one or more rotational movements.
  • the device 1 further comprises a positioning device 11.
  • the positioning device 11 comprises a stationary part 11a and a movable part 11b which is movable relative to the stationary part 11a.
  • the movable part 11b can be fixed to the fixed part 11c by means of a movable slide.
  • the movable part 11b comprises or has a housing 12.
  • the movable part 11b may further comprise or form a carrier device.
  • the housing 12 can thus also be referred to as a carrier housing.
  • the laser scanner 2, the camera 6, the lighting devices 8 and the distance sensor 10 are arranged on the movable part 11b, in particular within the housing 12.
  • An arrangement of the distance sensor 10 outside the carrier housing 12 is of course conceivable. In this case, at least a part of the distance sensor 10 can be arranged outside an outer wall of the carrier housing 12.
  • the housing 12 can have corresponding openings, in particular on an underside of the housing 12, in order to enable the detection and / or illumination of a rail 3 from the housing 12, that is to say from an inner volume of the housing 12.
  • the laser scanner 2 and the camera 6 are attached to the positioning device 11 such that the detection areas 5, 7 overlap and each encompass the rail 3.
  • the lighting devices 8 are arranged on the positioning device 11 such that the lighting areas 9 also overlap with the detection areas 5, 7 and thus illuminate the rail 3.
  • a position and / or orientation of the laser scanner 2, the camera 6 and the lighting devices 8 relative to the coordinate system of the positioning device 11 can be adjustable.
  • a desired position and / or orientation can be set in time before the track position determination device 1 is operated, in particular before the rail vehicle 4 is in operation, this position and / or orientation remaining unchanged during the operation of the track position determination device 1.
  • a position and / or orientation of the mirror 13 relative to the coordinate system of the positioning device 11 can also be changed, in particular actuator-based changeable.
  • a change can in particular also take place during operation of the track position determination device 1, in particular while the rail vehicle 4 is in operation, in particular during operation of the laser scanner 2.
  • the stationary part 11a of the positioning device 11 can, for example, comprise parts of a linear drive, in particular a stepper motor for driving the movable part 11b. Furthermore, the positioning device can comprise or form guide means for linearly guiding the movable part 11b relative to the stationary part 11a. A linear drive is thus provided by the positioning device 11.
  • the positioning device 11 in particular the stationary part 11a, is fastened to a car body 14, in particular to an underside of the car body 14, of the rail vehicle 4.
  • a vehicle coordinate system with a vehicle transverse direction yf and a vehicle vertical direction zf being shown.
  • a vehicle longitudinal direction xf (see Fig. 2 ) is in Fig. 1 oriented orthogonally to the plane of the drawing and oriented towards a viewer.
  • the positioning device 11 is designed and arranged on the rail vehicle 4 in such a way that the movable part 11b, in particular the laser scanner 2, can be moved along a rectilinear trajectory, the rectilinear trajectory being oriented parallel to the vehicle transverse direction yf.
  • the vehicle longitudinal direction xf can be oriented parallel to a roll axis of the rail vehicle 4
  • the vehicle transverse direction yf can be oriented parallel to a vehicle pitch axis of the rail vehicle 4
  • the vehicle vertical direction zf can be oriented parallel to a vehicle yaw axis of the rail vehicle 4.
  • the distance sensor 10 detects a distance of the movable part 11b from a reference section of the rail vehicle 4, in particular a section of the car body 14. This allows a position and / or orientation of the positioning device 11, in particular the movable part 11b, and thus a position and orientation of the Laser scanner 2, the camera 6 and the other parts of the track position determination device 1 can be detected relative to the vehicle coordinate system.
  • the distance sensor 10 or a further distance sensor, not shown, can alternatively or cumulatively a distance between the two in Fig. 1 Devices 1a, 1b shown, in particular detect a distance between the movable parts 11b of the positioning device 11 of the two devices 1a, 1b.
  • the track position determination device 1 comprises a position determination device of the rail vehicle 4 designed as an inertial unit 16. This corresponds to that in FIG 1 and 2 shown inertial unit 16 of the device 19. This enables a position and / or orientation of the rail vehicle 4 to be determined in a global reference coordinate system, not shown. This in turn enables the position of the laser scanner 2, the camera 6 and the other parts of the track position determination device 1 and in particular the profile data generated by the laser scanner 2 and the image data generated by the camera 6 to be determined relative to the global reference coordinate system.
  • the carrier housing 12 can be moved in translation by a linear unit, which is not shown completely, in order to track the housing 11 and thus the laser scanner 2 and the camera 6 with the rail profile moving relative to the car body 14.
  • the carrier housing 12 can be part of the linear unit or attached to a part, in particular the movable part 11b, of the linear unit.
  • a position and / or orientation of the detection area 5 can be changed by the mirror 13.
  • different distances between the body 14, the housing 12 and the upper edge of the rail 3, for example in the case of different rail vehicles 4, can advantageously be taken into account.
  • the laser scanner 2 is oriented in such a way that the rail 3 lies directly, that is to say without a mirror 13, in the detection area 5 of the laser scanner 2.
  • the images or image data generated by the image detection device of the track position determination device 1, which is designed as a camera 6, can be processed here using known image processing algorithms.
  • an orientation of the movable part 11b of the positioning device 11 relative to the rail 3 can be determined in an image-based manner, that is to say by evaluating the image data.
  • An error detection or function of the laser scanner 2 can also be recognized by evaluating the image data.
  • the device 19 and in particular also the track position determination device 1 can be attached to a car body of any street, subway or full train.
  • the track position determination device 1 enables the determination or detection of a track width, a radius, a vertical curvature and a gradient of the rail or the track. Furthermore, a rail profile and its quality can also be determined.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Machines For Laying And Maintaining Railways (AREA)
EP15713736.5A 2014-06-25 2015-03-31 Vorrichtung und verfahren zur erfassung einer fahrzeugumgebung eines schienenfahrzeugs sowie schienenfahrzeug Active EP3160819B1 (de)

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PL15713736T PL3160819T3 (pl) 2014-06-25 2015-03-31 Urządzenie i sposób rejestracji otoczenia pojazdu szynowego, jak również pojazd szynowy

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DE102014212233.3A DE102014212233A1 (de) 2014-06-25 2014-06-25 Vorrichtung und Verfahren zur Erfassung einer Fahrzeugumgebung eines Schienenfahrzeugs sowie Schienenfahrzeug
PCT/EP2015/056973 WO2015197207A1 (de) 2014-06-25 2015-03-31 Vorrichtung und verfahren zur erfassung einer fahrzeugumgebung eines schienenfahrzeugs sowie schienenfahrzeug

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CN111433560B (zh) * 2017-12-01 2022-02-08 沃尔沃卡车集团 用于车辆维护的方法
CN109489584B (zh) * 2018-12-03 2021-02-26 大连维德集成电路有限公司 一种基于3d技术的隧道限界检测系统及隧道限界识别方法
DE102020211735A1 (de) 2020-09-18 2022-03-24 Siemens Mobility GmbH Schienenfahrzeug sowie Verfahren zum Betrieb des Schienenfahrzeugs
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DE102014212233A1 (de) 2015-12-31
CN106794852B (zh) 2019-09-13
WO2015197207A1 (de) 2015-12-30
CN106794852A (zh) 2017-05-31
EP3160819A1 (de) 2017-05-03
ES2784473T3 (es) 2020-09-28

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