EP3237266A1 - Verfahren und ortungseinrichtung zum bestimmen der position eines spurgeführten fahrzeugs, insbesondere eines schienenfahrzeugs - Google Patents
Verfahren und ortungseinrichtung zum bestimmen der position eines spurgeführten fahrzeugs, insbesondere eines schienenfahrzeugsInfo
- Publication number
- EP3237266A1 EP3237266A1 EP16703946.0A EP16703946A EP3237266A1 EP 3237266 A1 EP3237266 A1 EP 3237266A1 EP 16703946 A EP16703946 A EP 16703946A EP 3237266 A1 EP3237266 A1 EP 3237266A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- determining
- path
- measured values
- track
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000005259 measurement Methods 0.000 claims abstract description 15
- 238000011156 evaluation Methods 0.000 claims description 25
- 238000006073 displacement reaction Methods 0.000 claims description 21
- 230000005284 excitation Effects 0.000 claims description 4
- 239000003550 marker Substances 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000003111 delayed effect Effects 0.000 description 2
- 230000000295 complement effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- 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 vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle 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
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/026—Relative localisation, e.g. using odometer
-
- B61L15/0094—
Definitions
- the invention relates to a method for determining the position of a track-guided vehicle, in particular a rail vehicle, with a readjusted by means of local marks on the track provided placemode information respectively
- Path measuring device on the vehicle for obtaining position-determining path measured values, wherein the location mark information is detected by means of a location mark information sensor connected to the path measuring device.
- tolerance limits are defined for the distance measuring values, above which the track-guided vehicle may no longer use the determined position; It is then considered to be "delocalized.”
- the tolerance limits for the distance measuring values with position encoders are reached if a corresponding path is traversed per distance unit of the respective position encoders because of the measuring error Is this track-carrying? delocalized vehicle, then this means that a belonging to the track-guided vehicle vehicle device - with, for example, vehicle-related components, such as components for vehicle control, for train control and vehicle location can no longer guarantee its monitoring function and a restrictive state occupies.
- satellite navigation data has been used as further absolute location information, with which, however, position determination can only be carried out outside a tunnel.
- the invention is based on the object, a method of the type described in such a way that it allows a relatively simple way an accurate determination of the position of a track-guided vehicle.
- An essential advantage of the method according to the invention is that further position-determining path measuring values can be generated by means of the further location-mark information pick-up, with the possibility of using the more accurate path measuring values to determine the position of the track-guided vehicle, which leads to high accuracy in terms of accuracy Position determination leads.
- the method according to the invention advantageously takes place with a single path measuring device if the path measuring device is excited by the further local mark information pick-up, in each case again being used to generate the further position-determining path measured values.
- a further path measuring device connected to it on the vehicle is excited by the further placemark information sensor, in each case again being used to generate the further position-determining path measured values.
- the one and the further position-determining path measured values are then available at the same time.
- the position-determining path measured values are monitored for compliance with predetermined tolerance limits, and the further position-determining path values are determined at position-determining path measured values at a tolerance limit. measured values used to determine the position of the vehicle when the tolerance of the further position-determining path measured values is smaller than the tolerance limit of the position-determining path measured values.
- the method mentioned above with two path measuring devices is particularly well suited.
- the arrangement and attachment of the two placard information transducers on the track-guided vehicle can be carried out offset in different ways in the inventive method in the vehicle longitudinal direction.
- the one location mark information pickup at the beginning of the track-guided vehicle and the other location mark information pickup at the end of the track-guided vehicle are used.
- the location-determining path measured values and then the further position-determining path measured values are used until the further determination of the position mark of the vehicle by the further local mark information sensor.
- the further placemark information pick-up at the end of the track-guided vehicle reaches the placemark only delayed by the travel time for a corresponding length of the vehicle route and only then energizes the Wegmessirri - or possibly the further Wegmess stimulate - under readjustment to generate the further position-determining path readings ; the position determination is done in this way very accurate.
- the one and possibly also the further displacement measuring device can be designed in different ways and arranged with respect to the vehicle device of the track-guided vehicle.
- an evaluation device integrated in the vehicle device of the track-guided vehicle and connected to the displacement measuring device is used.
- displacement measuring devices with displacement encoders, radar rangefinders, distance measuring devices with acceleration sensors, distance measurement devices with turbulent current samplers or distance measuring units with optical rail scanner.
- the placemark information can be generated in different ways in the method according to the invention; it is regarded as advantageous if the location mark information is generated by means of fixed location marks present on the track.
- This embodiment of the method according to the invention has the advantage that it can be used on existing on the track fixed placemarks.
- satellite information data may also be advantageous to use satellite information data as placemark information.
- the invention furthermore relates to a locating device for determining the position of a track-guided vehicle, in particular a rail vehicle, with a path measuring device on the vehicle which is respectively newly adjusted on the track for obtaining position-determining path measured values, wherein the path measuring device is provided with a location mark information sensor is connected, as in the aforementioned prior art
- the locating device provides a further location mark information sensor offset in the vehicle longitudinal direction on the vehicle, the further location mark information sensor being capable of detecting the location mark information of the same location mark once again and generating further position-determining distance measurement values to stimulate.
- the further location-marker information pick-up is advantageously suitable for exciting the path-measuring device in each case again to bring about the generation of the further position-determining path measured values.
- This embodiment of the locating device according to the invention thus only requires a displacement measuring device.
- a further path measuring device is connected to the vehicle with the further location mark information picker and the further location mark information pickup is suitable for exciting the further path measuring device under respectively renewed adjustment for generating the further position-determining path measured values. Is in such a locating device an evaluation arrangement with both
- Wegmessinnraumen connected and this evaluation arrangement suitable to monitor the position determining Wegmesshong on compliance with predetermined tolerance limits and position determining path measured values at a tolerance limit, the other position determining Wegmesshong for
- the placard information transducers can be arranged offset in different ways on the track-guided vehicle.
- the displacement measuring device is advantageously suitable for taking the position determination of the vehicle up to its excitation by the further placemark information sensor for determining the position determining path measured values and then the further position-determining path measured values.
- a common evaluation device may also be provided and suitable for determining the position of the vehicle, in each case initially the one position-determining path measured values of one path measuring device and after excitation of the other
- the evaluation device of a locating device with only one path measuring device can be integrated in the vehicle device of the track-bound vehicle; The same applies with regard to an evaluation arrangement in a locating device with two path measuring devices.
- the evaluation device or the evaluation arrangement can also be accommodated independently in the vehicle.
- the displacement measuring devices are provided with position encoders, radar rangefinders, distance measuring devices with acceleration sensors, distance measuring arrangements with eddy current scanners or distance measuring units with optical rail scanner.
- the fixed placemarks may be present on the track; but it may also be advantageous if the placemark information is satellite navigation panels.
- FIGURE an exemplary embodiment of a locating device according to the invention, each with matching path measuring devices and location mark information transducers at the beginning and at the end of the track-guided vehicle, is shown in the FIGURE.
- the figure shows a track-guided vehicle 1, which is equipped at its beginning 2 with a displacement measuring unit 3 in the form of a only schematically reproduced Wegimpulsgebers.
- a further travel measuring unit 4 is arranged, which is formed here by a radar sensor.
- Both Wegmessein pulp 3 and 4 form a path measuring device 5 and are connected in a manner not shown with an evaluation device 6, which forms a Wegmessan extract 7 with the path measuring device 5.
- the evaluation device 6 is part of a vehicle device 8, which also has an arrangement 9 for executing further vehicle functional, such as train control and train control.
- the track-guided vehicle 1 is further equipped with a location marker pickup in the form of a location mark reader 10, which then cooperates with a plotted mark 11 only schematically and location information in a manner not shown to the evaluation device 6 supplies when the track-guided vehicle 1 during a movement in the direction of arrow 12 with its placemark reader 10 moves over the placemark 11 away. Shown are in Fig.l also schematically wheels 13 and 14 on not shown axes of the track-guided vehicle 1. If the track-guided vehicle 1 when driving in the
- placemark information is transmitted to the evaluation device 6.
- both the position encoder of a distance measuring unit 3 and the radar sensor of the further distance measuring unit 4 are readjusted in a manner not shown; they continue their path measurement generating path measurements.
- the path measuring unit 3 designed as a position encoder is characterized by measured values with high accuracy at the beginning of the path from the placemark 10, so that these path measured values are first used to determine the position as position-determining path measured values M1.
- the radar sensor of the further travel measuring unit 4 is initially relatively inaccurate, in particular at low speeds. However, this changes at higher speeds.
- the illustrated vehicle 1 has a further displacement measuring arrangement 20 at its end 21.
- This displacement measuring arrangement 20 is constructed in accordance with the one displacement measuring arrangement 7, thus containing a further displacement measuring device 22 with a supplementary displacement measuring unit 23 in the form of a position encoder and a further supplementary displacement measuring unit 24 as a further radar sensor.
- Component of the further displacement measuring arrangement 20 is also a further evaluation device 25 corresponding to an evaluation device 6.
- the evaluation device 25 is part of a further vehicle device 26, which also has an arrangement 27 for carrying out further vehicle functions, such as train control and train control, up.
- the position encoder 3 of the distance measuring unit 3 is readjusted, and the distance measurement values supplied by this distance measuring unit become the position-determining distance measurement values Ml used by the one evaluation device 6 for position determination. This takes place until the track-guided vehicle 1 comes with its further placemark reader 28 in the area of the placemark 11.
- the position encoder of the one plausible measuring unit 23 is readjusted by the placemode information received by the further evaluating device 25, and its path measured values are transmitted to the further evaluating device 25 as further position-determining path measured values M2.
- the further evaluation device 25 now assumes the position determination of the track-guided vehicle 1.
- the Wegmess uncomfortable the one Wegmeßinheit 3 are used over 100 meters and the other path readings of a complementary Wegmessaku 23 for the remaining 400 meters.
- the track-guided vehicle 1 thus measures predominantly with the one additional path measuring unit 23 at the end 21 of the vehicle 1 and only for one vehicle length after the passage of the respective placemark with the one path measuring unit 3 at the beginning 2 of the track-guided vehicle. This results in a considerable improvement in the accuracy in determining the position of the vehicle 1.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015203476.3A DE102015203476A1 (de) | 2015-02-26 | 2015-02-26 | Verfahren und Ortungseinrichtung zum Bestimmen der Position eines spurgeführten Fahrzeugs, insbesondere eines Schienenfahrzeugs |
PCT/EP2016/052379 WO2016134940A1 (de) | 2015-02-26 | 2016-02-04 | Verfahren und ortungseinrichtung zum bestimmen der position eines spurgeführten fahrzeugs, insbesondere eines schienenfahrzeugs |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3237266A1 true EP3237266A1 (de) | 2017-11-01 |
EP3237266B1 EP3237266B1 (de) | 2019-06-12 |
Family
ID=55349806
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16703946.0A Active EP3237266B1 (de) | 2015-02-26 | 2016-02-04 | Verfahren und ortungseinrichtung zum bestimmen der position eines spurgeführten fahrzeugs, insbesondere eines schienenfahrzeugs |
Country Status (7)
Country | Link |
---|---|
US (1) | US10919550B2 (de) |
EP (1) | EP3237266B1 (de) |
CN (1) | CN107257759B (de) |
BR (1) | BR112017017537A2 (de) |
DE (1) | DE102015203476A1 (de) |
ES (1) | ES2745492T3 (de) |
WO (1) | WO2016134940A1 (de) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102015203476A1 (de) * | 2015-02-26 | 2016-09-01 | Siemens Aktiengesellschaft | Verfahren und Ortungseinrichtung zum Bestimmen der Position eines spurgeführten Fahrzeugs, insbesondere eines Schienenfahrzeugs |
EP3510461B1 (de) * | 2016-09-12 | 2021-04-28 | SEW-EURODRIVE GmbH & Co. KG | Verfahren und system zur positionserfassung |
DE102016223439A1 (de) * | 2016-11-25 | 2018-05-30 | Siemens Aktiengesellschaft | Verfahren zur Positionsbestimmung eines Schienenfahrzeugs und Schienenfahrzeug mit Positionsbestimmungseinrichtung |
JP6667723B2 (ja) * | 2017-05-15 | 2020-03-18 | 三菱電機株式会社 | 列車位置測定システム、車上装置、および列車位置測定方法 |
US11332172B2 (en) * | 2018-10-09 | 2022-05-17 | Westinghouse Air Brake Technologies Corporation | Method of wheel calibration |
PE20220269A1 (es) * | 2019-06-27 | 2022-02-23 | Abb Schweiz Ag | Vehiculo ferroviario no tripulado y metodo para determinar su posicion |
CN111174785B (zh) * | 2020-01-19 | 2023-07-18 | 广东自来物智能科技有限公司 | 一种索道穿梭机定位系统及定位方法 |
DE102021114656A1 (de) | 2021-06-08 | 2022-12-08 | Max Bögl Stiftung & Co. Kg | Verfahren und Vorrichtung zur Ortung eines spurgebundenen Fahrzeugs |
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DE19532104C1 (de) | 1995-08-30 | 1997-01-16 | Daimler Benz Ag | Verfahren und Vorrichtung zur Bestimmung der Position wenigstens einer Stelle eines spurgeführten Fahrzeugs |
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DE19729981A1 (de) * | 1997-07-12 | 1999-01-14 | Alsthom Cge Alcatel | Verfahren zur Bestimmung der zurückgelegten Wegstrecke und der Geschwindigkeit von Körpern sowie Vorrichtung hierfür |
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US9227641B2 (en) * | 2013-05-03 | 2016-01-05 | Thales Canada Inc | Vehicle position determining system and method of using the same |
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CN103770808B (zh) | 2014-01-26 | 2016-05-04 | 北京交通大学 | 基于北斗导航的辅助列车防护系统及方法 |
DE102015203476A1 (de) * | 2015-02-26 | 2016-09-01 | Siemens Aktiengesellschaft | Verfahren und Ortungseinrichtung zum Bestimmen der Position eines spurgeführten Fahrzeugs, insbesondere eines Schienenfahrzeugs |
-
2015
- 2015-02-26 DE DE102015203476.3A patent/DE102015203476A1/de not_active Withdrawn
-
2016
- 2016-02-04 CN CN201680012423.2A patent/CN107257759B/zh active Active
- 2016-02-04 EP EP16703946.0A patent/EP3237266B1/de active Active
- 2016-02-04 US US15/554,138 patent/US10919550B2/en active Active
- 2016-02-04 BR BR112017017537-1A patent/BR112017017537A2/pt not_active IP Right Cessation
- 2016-02-04 WO PCT/EP2016/052379 patent/WO2016134940A1/de active Application Filing
- 2016-02-04 ES ES16703946T patent/ES2745492T3/es active Active
Also Published As
Publication number | Publication date |
---|---|
WO2016134940A1 (de) | 2016-09-01 |
BR112017017537A2 (pt) | 2018-04-17 |
ES2745492T3 (es) | 2020-03-02 |
CN107257759A (zh) | 2017-10-17 |
US10919550B2 (en) | 2021-02-16 |
DE102015203476A1 (de) | 2016-09-01 |
US20180037242A1 (en) | 2018-02-08 |
EP3237266B1 (de) | 2019-06-12 |
CN107257759B (zh) | 2019-08-30 |
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