EP3237266B1 - Method and positioning device for determining the position of a track-guided vehicle, in particular a rail vehicle - Google Patents

Method and positioning device for determining the position of a track-guided vehicle, in particular a rail vehicle Download PDF

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Publication number
EP3237266B1
EP3237266B1 EP16703946.0A EP16703946A EP3237266B1 EP 3237266 B1 EP3237266 B1 EP 3237266B1 EP 16703946 A EP16703946 A EP 16703946A EP 3237266 B1 EP3237266 B1 EP 3237266B1
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EP
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Prior art keywords
position marker
marker information
distance measuring
information recorder
measuring device
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EP16703946.0A
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German (de)
French (fr)
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EP3237266A1 (en
Inventor
Florian Haedicke
Andreas STEINGRÖVER
Steffen Ueckert
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Siemens Mobility GmbH
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Siemens Mobility GmbH
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    • 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
    • B61L25/026—Relative localisation, e.g. using odometer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0094—Recorders on the vehicle
    • 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

Definitions

  • the invention relates to a method for determining the position of a rail vehicle, hereinafter also referred to as a short-track guided vehicle or vehicle only, with the features according to the preamble of patent claim 1.
  • the track-guided vehicle is delocalised, then this means that a vehicle device belonging to the track-guided vehicle - with, for example, vehicle-related components, such as components for vehicle control, for train control and vehicle location, for example, is its monitoring function can no longer guarantee and take a restrictive state. In this state, the possibilities for driving monitoring are severely limited. In particular, in driverless train operation, the operational impact is significant because possibly only service personnel must get to the vehicle to restore the operational readiness of the train control system or to control the train ride manually.
  • vehicle-related components such as components for vehicle control, for train control and vehicle location, for example
  • 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.
  • a significant 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 determining the position of the rail vehicle in each case by the more accurate path measured values approach, which leads to a high accuracy in determining the position.
  • 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 position-determining path measured values at a tolerance limit are used to determine the position of the vehicle if the tolerance of the further position-determining path measured values is smaller than the tolerance Tolerance limit of a position-determining path measured values.
  • the above-mentioned method 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 made offset in the inventive method in the vehicle longitudinal direction in different ways.
  • 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 use.
  • one position-determining path measured values and then the further position-determining path measured values are used until the intervention of the further location mark information sensor for determining the position of the vehicle.
  • 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 Wegmess issued - or possibly the further Wegmess worn - 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 can advantageously be used.
  • 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 further relates to a locating device with the features according to the preamble of claim 5.
  • a locating device with the features according to the preamble of claim 5.
  • 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.
  • a further location mark information picker is connected to an evaluation arrangement with both Wegmesseinnraumen and this evaluation arrangement suitable to monitor a position determining Wegmesshong adherence to predetermined tolerance limits and position-determining Wegmess culture at a tolerance limit, the other position determining Wegmesshong for determining the position of the vehicle, if the tolerance of the further position-determining path measured values less than the tolerance limit of a position determining Distance measurement is, then it is given the opportunity to perform particularly accurate position determination.
  • the placard information transducers can be arranged offset in different ways on the track-guided vehicle.
  • a location mark information sensor at the beginning of the vehicle and the further location mark information sensor at the end of the vehicle are arranged in the locating device.
  • 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.
  • This has the advantage that the further placemark sensor at the end of the track-guided vehicle reaches the placard only delayed by the travel time for a route corresponding to the length of the vehicle and only then realigns the path measurement;
  • distance measuring devices are each used with a Wegimpulsgeber, then measures so first one Wegimpulsgeber exactly and then the further Wegimpulsgeber until a placemarks information receiver moves over the next placemark.
  • a common evaluation arrangement can also be provided and suitable for determining the position of the vehicle, in each case initially the one position-determining path measured values of the one path measuring device and after excitation of the further distance measuring device by the further position marker information pickup to use the further position-determining path measured values.
  • the evaluation device of a locating device with only one displacement measuring device can be integrated into 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. However, 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 devices with eddy current scanner 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 Kraft 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 carrying out further vehicle functions, such as train control and train control.
  • the track-guided vehicle 1 is further equipped with a location marker information pickup in the form of a location mark reader 10, which then cooperates with a plotted mark 11 only schematically and provides location information in a manner not shown to the evaluation device 6 when the track-guided vehicle 1 during a movement in the direction of the arrow 12 drives with its placemark reader 10 on the plaza 11 away.
  • a location marker information pickup in the form of a location mark reader 10
  • a plotted mark 11 only schematically and provides location information in a manner not shown to the evaluation device 6 when the track-guided vehicle 1 during a movement in the direction of the arrow 12 drives with its placemark reader 10 on the plaza 11 away.
  • Shown in Fig.1 also schematically wheels 13 and 14 on not shown axes of the track-guided vehicle. 1
  • 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 embodied as a position encoder is distinguished by measured values with high accuracy at the beginning of the path from the placemark 11, so that these path measured values are first used as position-determining path measured values M1 for determining the position.
  • 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 performing other vehicle functions, such as train control and train control.
  • the distance encoder of a distance measuring unit 3 is readjusted and the distance readings provided by this distance measuring unit become position-determining distance readings M1 of FIG used an 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 distance of the placemarks again 500 meters, but if the train has only a length of 100 meters, then 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.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Measurement Of Distances Traversed On The Ground (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Navigation (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Description

Die Erfindung betrifft ein Verfahren zum Bestimmen der Position eines Schienenfahrzeugs, nachfolgend auch kurz spurgeführtesFahrzeug bzw. nur Fahrzeug genannt, mit den Merkmalen gemäß dem Oberbegriff des Patentanspruchs 1.The invention relates to a method for determining the position of a rail vehicle, hereinafter also referred to as a short-track guided vehicle or vehicle only, with the features according to the preamble of patent claim 1.

Ein Verfahren dieser Art lässt sich dem Buch " Bahnsicherungstechnik" von S. Fenner, B. Naumann, J. Trinckauf, 2003, Seiten 424 und 425 entnehmen. Bei diesem bekannten Verfahren wird zur Gewinnung einer für moderne Zugbeeinflussungssysteme erforderlichen Ortungsgenauigkeit die Messung des zurückgelegten Weges jeweils an Ortsmarken angestoßen. Dabei wird offensichtlich davon ausgegangen, dass die Wegmessung entweder klassisch über die Erfassung der Radumdrehungen mittels eines Rad- oder Drehimpulsgebers oder durch Radarsensoren auf dem Triebfahrzeug erfolgt.A method of this kind can be found in the book " Bahnsicherungstechnik "by S. Fenner, B. Naumann, J. Trinckauf, 2003, pages 424 and 425 remove. In this known method, the measurement of the distance covered is triggered at each location mark to obtain a required for modern train control systems location accuracy. It is obviously assumed that the distance measurement is done either classically on the detection of Radumdrehungen means of a wheel or rotary encoder or by radar sensors on the locomotive.

Es ist ferner bekannt, dass bei der Wegmessung insbesondere mittels Wegimpulsgebers technisch bedingt Ungenauigkeiten auftreten, die sich mit der zurückgelegten Wegstrecke kumulieren. Deshalb sind Toleranzgrenzwerte für die Wegmesswerte festgelegt, bei deren Überschreitung das Schienenfahrzeug die ermittelte Position nicht mehr verwenden darf; es wird dann als "delokalisiert" betrachtet. Die Toleranzgrenzwerte für die Wegmesswerte mit Wegimpulsgebern sind erreicht, wenn wegen des Messfehlers pro Wegstreckeneinheit des jeweiligen Wegimpulsgebers ein entsprechender Weg zurück gelegt ist. Eine Delokalisierung ergibt sich auch dann, wenn an der Wegmessung beteiligte Sensoren ausfallen. Ist das spurgeführte Fahrzeug delokalisiert, dann bedeutet dies, dass ein zu dem spurgeführten Fahrzeug gehörendes Fahrzeuggerät - mit beispielsweise fahrzeugbezogenen Komponenten, wie beispielsweise Komponenten für die Fahrzeugsteuerung, für die Zugbeeinflussung und für die Fahrzeugortung seine Überwachungsfunktion nicht mehr garantieren kann und einen restriktiven Zustand einnimmt. In diesem Zustand sind die Möglichkeiten zur Fahrtüberwachung stark eingeschränkt. Insbesondere bei fahrerlosem Bahnbetrieb sind die betrieblichen Auswirkungen erheblich, da gegebenenfalls erst Servicepersonal zum Fahrzeug gelangen muss, um die Betriebsbereitschaft des Zugbeeinflussungssystems wiederherzustellen oder die weitere Zugfahrt manuell zu steuern.It is also known that in the path measurement, in particular by means of position encoders technically caused inaccuracies occur that cumulate with the distance traveled. For this reason, tolerance limits are defined for the distance measuring values, above which the rail vehicle may no longer use the determined position; it is then considered "delocalized". The tolerance limits for the position measured values with position encoders are reached if, due to the measurement error per distance unit of the respective position encoder, a corresponding path is laid back. Delocalization also occurs when sensors involved in the path measurement fail. If the track-guided vehicle is delocalised, then this means that a vehicle device belonging to the track-guided vehicle - with, for example, vehicle-related components, such as components for vehicle control, for train control and vehicle location, for example, is its monitoring function can no longer guarantee and take a restrictive state. In this state, the possibilities for driving monitoring are severely limited. In particular, in driverless train operation, the operational impact is significant because possibly only service personnel must get to the vehicle to restore the operational readiness of the train control system or to control the train ride manually.

Um die Lokalisierung zu erhalten hat man bisher häufig Ortsmarken in relativ kurzen Abständen vorgesehen, bei der Linienzugbeeinflussung LZB 80 zum Beispiel eine Kreuzungsstellendistanz im Abstand von 100 m und bis zu 12,8 km Schleifenlänge und bei der H-Bahn 25,6 cm Kreuzungsstellendistanz und bis zu 200 m Schleifenlänge.In order to obtain the localization has previously been frequently provided location marks in relatively short distances, in the Linienzugbeeinflussung LZB 80, for example, a crossing distance at a distance of 100 m and up to 12.8 km loop length and the H-Bahn 25.6 cm intersection distance and up to 200 m loop length.

Außerdem hat man Satellitennavigationsdaten als weitere absolute Ortsinformation herangezogen, mit denen sich allerdings nur außerhalb eines Tunnels eine Positionsbestimmung durchführen lässt.In addition, satellite navigation data has been used as further absolute location information, with which, however, position determination can only be carried out outside a tunnel.

Weitere Ortungsverfahren sind aus den Druckschriften DE 197 29 981 A1 und US 2007/203640 A1 bekannt.Further locating methods are from the documents DE 197 29 981 A1 and US 2007/203640 A1 known.

Der Erfindung liegt die Aufgabe zu Grunde, ein Verfahren der eingangs angegebenen Art derart auszugestalten, dass es auf vergleichsweise einfache Art und Weise eine genaue Bestimmung der Position eines spurgeführten Fahrzeugs ermöglicht.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.

Die Aufgabe wird bei dem Verfahren der eingangs angegebenen Art erfindungsgemäß durch die Merkmale des Patentanspruchs 1 gelöst.The object is achieved in the method of the type specified according to the invention by the features of claim 1.

Ein wesentlicher Vorteil des erfindungsgemäßen Verfahrens besteht darin, dass mittels des weiteren Ortsmarkeninformationen-Aufnehmer weitere positionsbestimmende Wegmesswerte erzeugt werden können mit der Möglichkeit, zum Bestimmen der Position des Schienenfahrzeugs jeweils die genaueren Wegmesswerte heran zu ziehen, was zu einer hohen Genauigkeit bei der Positionsbestimmung führt.A significant 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 determining the position of the rail vehicle in each case by the more accurate path measured values approach, which leads to a high accuracy in determining the position.

Das erfindungsgemäße Verfahren kommt in vorteilhafter Weise mit einer einzigen Wegmesseinrichtung aus, wenn von dem weiteren Ortsmarkeninformationen-Aufnehmer die Wegmesseinrichtung unter jeweils erneuter Justierung zur Erzeugung der weiteren positionsbestimmenden Wegmesswerte angeregt wird.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.

Es kann aber auch vorteilhaft sein, wenn von dem weiteren Ortsmarkeninformationen-Aufnehmer eine mit ihm verbundene weitere Wegmesseinrichtung am Fahrzeug unter jeweils erneuter Justierung zur Erzeugung der weiteren positionsbestimmenden Wegmesswerte angeregt wird. Es stehen dann jeweils die einen und die weiteren positionsbestimmenden Wegmesswerte gleichzeitig zur Verfügung.However, it may also be advantageous if 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.

Bei einer vorteilhaften Ausgestaltung des erfindungsgemäßen Verfahrens werden die einen positionsbestimmenden Wegmesswerte auf die Einhaltung vorgegebener Toleranzgrenzen überwacht, und es werden bei positionsbestimmenden Wegmesswerten an einer Toleranzgrenze die weiteren positionsbestimmenden Wegmesswerte zum Bestimmen der Position des Fahrzeugs herangezogen, wenn die Toleranz der weiteren positionsbestimmenden Wegmesswerte kleiner als die Toleranzgrenze der einen positionsbestimmenden Wegmesswerte ist. Hierfür eignet sich besonders gut das oben erwähnte Verfahren mit zwei Wegmesseinrichtungen.In an advantageous embodiment of the method according to the invention, the position-determining path measured values are monitored for compliance with predetermined tolerance limits, and the position-determining path measured values at a tolerance limit are used to determine the position of the vehicle if the tolerance of the further position-determining path measured values is smaller than the tolerance Tolerance limit of a position-determining path measured values. For this purpose, the above-mentioned method with two path measuring devices is particularly well suited.

Die Anordnung und Anbringung der beiden Ortsmarkeninformationen-Aufnehmer am spurgeführten Fahrzeug kann bei dem erfindungsgemäßen Verfahren in Fahrzeuglängsrichtung in unterschiedlicher Weise versetzt erfolgen.The arrangement and attachment of the two placard information transducers on the track-guided vehicle can be made offset in the inventive method in the vehicle longitudinal direction in different ways.

Um die Vorteile des erfindungsgemäßen Verfahrens optimal auszunutzen, wird es erfindungsgemäss vorgesehen, den einen Ortsmarkeninformationen-Aufnehmer am Anfang des spurgeführtes Fahrzeugs und den anderen Ortsmarkeninformationen-Aufnehmer am Ende des spurgeführtes Fahrzeugs einzusetzen.In order to make optimum use of the advantages of the method according to the invention, it is provided according to the invention that 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 use.

Bei erfindungsgemäßen Verfahren werden bis jeweils zum Eingreifen des weiteren Ortsmarkeninformationen-Aufnehmers zur Positionsbestimmung des Fahrzeugs die einen positionsbestimmenden Wegmesswerte und danach die weiteren positionsbestimmenden Wegmesswerte herangezogen werden. Der weitere Ortsmarkeninformationen-Aufnehmer am Ende des spurgeführten Fahrzeugs erreicht die Ortsmarke erst um die Fahrzeit für eine der Länge des Fahrzeugs entsprechende Fahrstrecke verzögert und regt erst dann die Wegmesseinrichtung - oder ggf. die weitere Wegmesseinrichtung - unter erneuter Justierung zur Erzeugung der weiteren positionsbestimmenden Wegmesswerte an; die Positionsbestimmung erfolgt auf diese Weise besonders genau.In the case of methods according to the invention, one position-determining path measured values and then the further position-determining path measured values are used until the intervention of the further location mark information sensor for determining the position of the vehicle. 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 Wegmesseinrichtung - or possibly the further Wegmesseinrichtung - under readjustment to generate the further position-determining path readings ; the position determination is done in this way very accurate.

Bei dem erfindungsgemäßen Verfahren können die eine und ggf. auch die weitere Wegmesseinrichtung in unterschiedlicher Weise ausgebildet und in Bezug auf das Fahrzeuggerät des spurgeführten Fahrzeugs angeordnet sein. So kann es vorteilhaft sein, wenn eine in das Fahrzeuggerät des spurgeführten Fahrzeugs integrierte und mit der Wegmesseinrichtung verbundene Auswerteeinrichtung verwendet wird. Entsprechendes gilt für das erfindungsgemäße Verfahren mit zwei Wegmesseinrichtungen mit jeweils einer Auswerteeinrichtung.In the method according to the invention, 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. Thus, it can be advantageous if an evaluation device integrated in the vehicle device of the track-guided vehicle and connected to the displacement measuring device is used. The same applies to the method according to the invention with two path measuring devices each having an evaluation device.

Es kann bei dem erfindungsgemäßen Verfahren auch vorteilhaft sein, wenn eine im spurgeführten Fahrzeug eigenständig vorhandene und mit der Wegmesseinrichtung verbundene Auswerteeinrichtung verwendet wird. Auch Auswerteeinrichtungen zu zwei Wegmesseinrichtungen können entsprechend eigenständig angeordnet verwendet werden.It may also be advantageous in the method according to the invention if an evaluation device which is provided independently in the track-guided vehicle and is connected to the displacement measuring device is used. Also evaluation to two displacement measuring devices can be used according arranged independently.

Bei dem erfindungsgemäßen Verfahren können vorteilhaft Wegmesseinrichtungen mit Wegimpulsgebern, Radar-Entfernungsmessgeräten, Entfernungsmesseinrichtungen mit Beschleunigungssensoren, Entfernungsmessanordnungen mit Wirbelstromabtaster oder Entfernungsmesseinheiten mit optischem Schienenabtaster verwendet werden.In the method according to the invention, displacement measuring devices with displacement encoders, radar rangefinders, distance measuring devices with acceleration sensors, distance measuring devices with eddy current scanners or distance measuring units with optical rail scanner can advantageously be used.

Die Ortsmarkeninformationen können bei dem erfindungsgemäßen Verfahren in unterschiedlicher Weise generiert werden; als vorteilhaft wird es angesehen, wenn die Ortmarkeninformationen mittels am Gleis vorhandener fester Ortmarken erzeugt werden. Diese Ausführungsform des erfindungsgemäßen Verfahrens hat den Vorteil, dass auf am Gleis vorhandene feste Ortsmarken zurückgegriffen werden kann.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.

Es ist aber gegebenenfalls auch vorteilhaft, als Ortsmarkeninformationen Satelliteninformationsdaten zu verwenden.However, it may also be advantageous to use satellite information data as placemark information.

Die Erfindung betrifft ferner eine Ortungseinrichtung mit den Merkmalen gemäß dem Oberbegriff des Patentanspruchs 5. Um die die Aufgabe zu lösen, diese Ortungseinrichtung derart fortzuentwickeln, dass mit ihr die Position eines spurgebundenen Fahrzeugs mit vergleichsweise geringem Aufwand genau ermittelt werden kann, sind die Merkmale des Anspruchs 5 vorgesehen.The invention further relates to a locating device with the features according to the preamble of claim 5. In order to solve the task of further developing this locating device so that with her the position of a track-bound vehicle can be accurately determined with relatively little effort, the features of the claim 5 provided.

Mit der erfindungsgemäßen Ortungseinrichtung lassen sich sinngemäß dieselben Vorteile erzielen, wie sie eingangs zum erfindungsgemäßen Verfahren aufgeführt sind.With the locating device according to the invention can be mutatis mutandis achieve the same advantages as listed at the beginning of the inventive method.

Bei der erfindungsgemäßen Ortungseinrichtung ist der weitere Ortsmarkeninformationen-Aufnehmer vorteilhafterweise geeignet, die Wegmesseinrichtung unter jeweils erneuter Justierung zur Erzeugung der weiteren positionsbestimmenden Wegmesswerte anzuregen. Diese Ausführungsform der erfindungsgemäßen Ortungseinrichtung benötigt also lediglich eine Wegmesseinrichtung.In the case of the locating device according to the invention, 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.

Vorteilhaft erscheint es auch, wenn mit dem weiteren Ortsmarkeninformationen-Aufnehmer eine weitere Wegmesseinrichtung am Fahrzeug verbunden ist und der weitere Ortsmarkeninformationen-Aufnehmer geeignet ist, die weitere Wegmesseinrichtung unter jeweils erneuter Justierung zur Erzeugung der weiteren positionsbestimmenden Wegmesswerte anzuregen. Ist bei einer solchen Ortungseinrichtung eine Auswerteanordnung mit beiden Wegmesseinnrichtungen verbunden und diese Auswerteanordnung geeignet, die einen positionsbestimmenden Wegmesswerte auf die Einhaltung vorgegebener Toleranzgrenzen zu überwachen und bei positionsbestimmenden Wegmesswerten an einer Toleranzgrenze die weiteren positionsbestimmenden Wegmesswerte zum Bestimmen der Position des Fahrzeugs heranzuziehen, wenn die Toleranz der weiteren positionsbestimmenden Wegmesswerte kleiner als die Toleranzgrenze der einen positionsbestimmenden Wegmesswerte ist, dann ist dadurch die Möglichkeit gegeben, jeweils besonders genau die Positionsbestimmung durchzuführen.It also appears advantageous if 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 at one Such locating device is connected to an evaluation arrangement with both Wegmesseinnrichtungen and this evaluation arrangement suitable to monitor a position determining Wegmesswerte adherence to predetermined tolerance limits and position-determining Wegmesswerten at a tolerance limit, the other position determining Wegmesswerte for determining the position of the vehicle, if the tolerance of the further position-determining path measured values less than the tolerance limit of a position determining Distance measurement is, then it is given the opportunity to perform particularly accurate position determination.

Die Ortsmarkeninformationen-Aufnehmer können in unterschiedlicher Weise am spurgeführten Fahrzeug versetzt angeordnet werden.The placard information transducers can be arranged offset in different ways on the track-guided vehicle.

Erfindungsgemäss wird bei der Ortungseinrichtung der eine Ortsmarkeninformationen-Aufnehmer am Anfang des Fahrzeugs und der weitere Ortsmarkeninformationen-Aufnehmer am Ende des Fahrzeugs angeordnet.According to the invention, a location mark information sensor at the beginning of the vehicle and the further location mark information sensor at the end of the vehicle are arranged in the locating device.

Ist diese Ausführungsform mit einer einzigen Wegmesseinrichtung ausgerüstet, dann ist die Wegmesseinrichtung vorteilhafterweise geeignet, bis zu ihrer Anregung durch den weiteren Ortsmarkeninformationen-Aufnehmer zur Positionsbestimmung des Fahrzeugs die einen positionsbestimmenden Wegmesswerte und danach die weiteren positionsbestimmenden Wegmesswerte heranzuziehen. Dies hat den Vorteil, dass der weitere Ortsmarkeninformationen-Aufnehmer am Ende des spurgeführten Fahrzeugs die Ortsmarke erst um die Fahrzeit für eine der Länge des Fahrzeugs entsprechende Fahrstrecke verzögert erreicht und erst dann eine Neujustierung der Wegmessung vornimmt; werden beispielweise Wegmesseinrichtungen mit jeweils einem Wegimpulsgeber verwendet, dann misst also zunächst der eine Wegimpulsgeber genau und dann der weitere Wegimpulsgeber bis der eine Ortsmarkeninformationen-Aufnehmer die nächste Ortsmarke überfährt.If this embodiment is equipped with a single displacement measuring device, then 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. This has the advantage that the further placemark sensor at the end of the track-guided vehicle reaches the placard only delayed by the travel time for a route corresponding to the length of the vehicle and only then realigns the path measurement; For example, distance measuring devices are each used with a Wegimpulsgeber, then measures so first one Wegimpulsgeber exactly and then the further Wegimpulsgeber until a placemarks information receiver moves over the next placemark.

Bei einer Ortungseinrichtung mit zwei Wegmesseinrichtungen kann auch eine gemeinsame Auswerteanordnung vorgesehen und geeignet sein, zur Positionsbestimmung des Fahrzeugs zunächst jeweils die einen positionsbestimmenden Wegmesswerte der einen Wegmesseinrichtung und nach Anregung der weiteren Wegmesseinricht durch den weiteren Ortsmarkeninformationen-Aufnehmer die weiteren positionsbestimmenden Wegmesswerte heranzuziehen.In the case of a locating device with two path measuring devices, a common evaluation arrangement can also be provided and suitable for determining the position of the vehicle, in each case initially the one position-determining path measured values of the one path measuring device and after excitation of the further distance measuring device by the further position marker information pickup to use the further position-determining path measured values.

Die Auswerteeinrichtung einer Ortungseinrichtung mit nur einer Wegmesseinrichtung kann in das Fahrzeuggerät des spurgebundenen Fahrzeugs integriert sein; Entsprechendes gilt hinsichtlich einer Auswerteanordnung bei einer Ortungseinrichtung mit zwei Wegmesseinrichtungen. Die Auswerteeinrichtung bzw. die Auswerteanordnung können aber auch eigenständig im Fahrzeug untergebracht sein.The evaluation device of a locating device with only one displacement measuring device can be integrated into 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. However, the evaluation device or the evaluation arrangement can also be accommodated independently in the vehicle.

Vorteilhaft ist es ferner, wenn die Wegmesseinrichtungen mit Wegimpulsgebern, Radar-Entfernungsmessgeräten, Entfernungsmesseinrichtungen mit Beschleunigungssensoren, Entfernungsmessanordnungen mit Wirbelstromabtaster oder Entfernungsmesseinheiten mit optischem Schienenabtaster versehen sind.It is also advantageous if the displacement measuring devices are provided with position encoders, radar rangefinders, distance measuring devices with acceleration sensors, distance measuring devices with eddy current scanner or distance measuring units with optical rail scanner.

Die festen Ortsmarken können am Gleis vorhanden sein; es kann aber auch vorteilhaft sein, wenn die Ortsmarkeninformation Satellitennavigationstafeln sind.The fixed placemarks may be present on the track; but it may also be advantageous if the placemark information is satellite navigation panels.

Zur weiteren Erläuterung der Erfindung ist in der Figur ein Ausführungsbeispiel einer erfindungsgemäßen Ortungseinrichtung mit jeweils übereinstimmenden Wegmesseinrichtungen und Ortsmarkeninformationen-Aufnehmern am Anfang und am Ende des spurgeführten Fahrzeugs dargestellt.To further explain the invention, 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.

Die Figur zeigt ein spurgeführtes Fahrzeug 1, das an seinem Anfang 2 mit einer Wegmesseinheit 3 in Form eines nur schematisch wiedergegebenen Wegimpulsgebers ausgerüstet ist. Außerdem ist benachbart zu der einen Wegmesseinheit 3 eine weitere Wegmesseinheit 4 angeordnet, die hier von einem Radarsensor gebildet ist. Beide Wegmesseinheiten 3 und 4 bilden eine Wegmesseinrichtung 5 und sind in nicht dargestellter Weise mit einer Auswerteeinrichtung 6 verbunden, die mit der Wegmesseinrichtung 5 eine Wegmessanordnung 7 bildet. Die Auswerteeinrichtung 6 ist Bestandteil eines Fahrzeuggerätes 8, das außerdem eine Anordnung 9 zur Ausführung weiterer Fahrzeugfunktionen, wie beispielsweise Zugsteuerung und Zugbeeinflussung, aufweist.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. In addition, adjacent to the one travel measuring unit 3, a further travel measuring unit 4 is arranged, which is formed here by a radar sensor. Both Wegmesseinheiten 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 Wegmessanordnung 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 carrying out further vehicle functions, such as train control and train control.

Das spurgeführte Fahrzeug 1 ist ferner mit einem Ortsmarkeninformationen-Aufnehmer in Form eines Ortsmarkenlesers 10 ausgerüstet, der mit einer nur schematisch dargestellten Ortsmarke 11 dann zusammenwirkt und Ortsinformationen in nicht dargestellter Weise an die Auswerteeinrichtung 6 liefert, wenn das spurgeführte Fahrzeug 1 bei einer Bewegung in Richtung des Pfeiles 12 mit seinem Ortsmarkenleser 10 über die Ortsmarke 11 hinweg fährt. Dargestellt sind in Fig.1 ferner schematisch Räder 13 und 14 auf nicht gezeigten Achsen des spurgeführten Fahrzeugs 1.The track-guided vehicle 1 is further equipped with a location marker information pickup in the form of a location mark reader 10, which then cooperates with a plotted mark 11 only schematically and provides location information in a manner not shown to the evaluation device 6 when the track-guided vehicle 1 during a movement in the direction of the arrow 12 drives with its placemark reader 10 on the plaza 11 away. Shown in Fig.1 also schematically wheels 13 and 14 on not shown axes of the track-guided vehicle. 1

Gelangt das spurgeführte Fahrzeug 1 bei seiner Fahrt in den Bereich der Ortsmarke 11, dann werden Ortsmarkeninformationen zur Auswerteeinrichtung 6 übertragen. Dabei werden in nicht dargestellter Weise sowohl der Wegimpulsgeber der einen Wegmesseinheit 3 als auch der Radarsensor der weiteren Wegmesseinheit 4 neu justiert; sie setzen ihre Wegmessung unter Erzeugung von Wegmesswerten fort. Die eine als Wegimpulsgeber ausgebildete Wegmesseinheit 3 zeichnet sich durch Messwerte mit hoher Genauigkeit zu Beginn der Wegstrecke von der Ortsmarke 11 ab aus, so dass diese Wegmesswerte als positionsbestimmende Wegmesswerte M1 zunächst zur Positionsbestimmung herangezogen werden. Der Radarsensor der weiteren Wegmesseinheit 4 ist zunächst relativ ungenau, insbesondere bei geringen Geschwindigkeiten. Allerdings ändert sich dies bei höheren Geschwindigkeiten.If the track-guided vehicle 1 arrives in the area of the placemark 11 during its journey, placemark information is transmitted to the evaluation device 6. In this case, 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 embodied as a position encoder is distinguished by measured values with high accuracy at the beginning of the path from the placemark 11, so that these path measured values are first used as position-determining path measured values M1 for determining the position. 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.

Das dargestellte Fahrzeug 1 weist eine weitere Wegmessanordnung 20 an seinem Ende 21 auf. Diese Wegmessanordnung 20 ist entsprechend der einen Wegmessanordnung 7 aufgebaut, enthält also eine weitere Wegmesseinrichtung 22 mit einer ergänzenden Wegmesseinheit 23 in Form eines Wegimpulsgebers sowie eine weitere ergänzende Wegmesseinheit 24 als einen weiteren Radarsensor. Bestandteil der weiteren Wegmessanordnung 20 ist ferner eine weitere Auswerteeinrichtung 25 entsprechend der einen Auswerteeinrichtung 6. Die Auswerteeinrichtung 25 ist Bestandteil eines weiteren Fahrzeuggerätes 26, das außerdem eine Anordnung 27 zur Ausführung weiterer Fahrzeugfunktionen, wie beispielsweise Zugsteuerung und Zugbeeinflussung, aufweist.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 performing other vehicle functions, such as train control and train control.

Gelangt das spurgeführte Fahrzeug 1 bei einer Fahrt in Richtung des Pfeiles 12 mit seinem Ortsmarkenleser 10 in den Bereich der Ortsmarke 11, dann wird der Wegimpulsgeber der einen Wegmesseinheit 3 neu justiert, und es werden die von dieser Wegmesseinheit gelieferten einen Wegmesswerte als positionsbestimmende Wegmesswerte M1 von der einen Auswerteeinrichtung 6 zur Positionsbestimmung herangezogen. Dies erfolgt solange, bis das spurgeführte Fahrzeug 1 mit seinem weiteren Ortsmarkenleser 28 in den Bereich der Ortsmarke 11 kommt. Zu diesem Zeitpunkt wird durch die von der weiteren Auswerteeinrichtung 25 empfangenen Ortsmarkeninformationen der Ortsmarke 11 der Wegimpulsgeber der einen ergänzenden Wegmesseinheit 23 neu justiert, und es werden seine Wegmesswerte als weitere positionsbestimmende Wegmesswerte M2 zu der weiteren Auswerteinrichtung 25 übertragen. Die weitere Auswerteinrichtung 25 übernimmt nun die Positionsbestimmung des spurgeführten Fahrzeugs 1. Dies währt so lange, bis das spurgeführte Fahrzeug 1 mit seinem Ortsmarkenleser 10 eine weitere, in der Figur 2 nicht dargestellte Ortsmarke passiert, woraufhin dann wieder die eine Wegmesseinheit 3 neu justiert wird und ihre Wegmesswerte als die einen positionsbestimmenden Wegmesswerte nunmehr wieder zur Positionsbestimmung von der Auswerteinrichtung 6 herangezogen werden. Dies bedeutet, dass beispielsweise bei einem Abstand von 500 Metern der Ortsmarke 11 von einer nächsten in Richtung des Pfeiles 12 positionierten weiteren Ortsmarke und einer Zuglänge von beispielsweise 300 Metern mit der einen Wegmesseinheit 3 300 Meter Wegstrecke des spurgeführten Fahrzeuges 1 und von der einen ergänzenden Wegmesseinheit 23 in der weiteren Wegmesseinrichtung 22 der Wegmessanordnung 20 am Ende 21 des Fahrzeugs 1 die restlichen 200 Meter hinsichtlich der Positionsbestimmung des spurgeführtes Fahrzeugs 1 kontrolliert werden. Beträgt in einem anderen angenommenen Fall der Abstand der Ortsmarken wiederum 500 Meter, hat aber der Zug nur eine Länge von 100 Metern, dann werden die Wegmesswerte der einen Wegmesseinheit 3 über 100 Meter und die weiteren Wegmesswerte der einen ergänzenden Wegmesseinheit 23 für die restlichen 400 Meter benutzt. Das spurgeführte Fahrzeug 1 misst also überwiegend mit der einen ergänzenden Wegmesseinheit 23 am Ende 21 des Fahrzeugs 1 und nur für eine Fahrzeuglänge nach der Überfahrt der jeweiligen Ortsmarke mit der einen Wegmesseinheit 3 am Anfang 2 des spurgeführtes Fahrzeugs. Dadurch ergibt sich eine erhebliche Verbesserung der Genauigkeit bei der Positionsbestimmung des Fahrzeugs 1.If the track-guided vehicle 1 arrives with its location mark reader 10 in the region of the placemark 11 during a travel in the direction of the arrow 12, then the distance encoder of a distance measuring unit 3 is readjusted and the distance readings provided by this distance measuring unit become position-determining distance readings M1 of FIG used an 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. At this point in time, 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. This lasts until the track-guided vehicle 1 with its placemark reader 10 passes another, not shown in the figure 2 placer, whereupon then again a distance measuring unit 3 is readjusted and their path measured values are used again as the position-determining path measured values for position determination by the evaluation device 6. This means that, for example, at a distance of 500 meters of the placemark 11 from a next positioned in the direction of arrow 12 further placemark and a train length of, for example, 300 meters with the one Wegmesseinheit 3 300 meters distance of the track-guided vehicle 1 and of a complementary Wegmesseinheit 23 in the further path measuring device 22 of the Wegmessanordnung 20 at the end 21 of the vehicle 1, the remaining 200 meters with respect to the position determination of the track-guided vehicle 1 are controlled. Is in another assumed case, the distance of the placemarks again 500 meters, but if the train has only a length of 100 meters, then the Wegmesswerte the one Wegmeßinheit 3 are used over 100 meters and the other path readings of a complementary Wegmesseinheit 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.

Claims (5)

  1. Method for determining the position of a rail vehicle, wherein in the method a distance measuring device (5) containing position marker information which is provided by means of position markers (11) on the track is readjusted in each case and the distance measurement values supplied by the distance measuring device are used as position-determining distance measurement values (M1) for position determination after the adjustment, wherein the position marker information is captured by means of a position marker information recorder (10) which is connected to the distance measuring device (5), characterised in that
    a further position marker information recorder (28), which is offset relative to the first position marker information recorder (10) in the longitudinal direction of the vehicle, captures the position marker information from the same position marker (11) again in each case,
    wherein the first position marker information recorder (10) is deployed at the front (2) of the rail vehicle (1) and the further position marker information recorder (28) is deployed at the tail (2) of the rail vehicle (1), and
    wherein in the method
    when one of the position markers is passed by the first position marker information recorder (10) the distance measuring device is adjusted using the position marker information captured by the first position marker information recorder (10) and until the same position marker is passed by the further position marker information recorder (28) for determining the position of the rail vehicle (1) the position-determining distance measurement values (M1) of the previously adjusted distance measuring device are used, and
    when the same position marker is passed by the further position marker information recorder (28) the distance measuring device or a further distance measuring device connected to the further position marker information recorder (28) is readjusted by the position marker information from the respective position marker captured by the further position marker information recorder (28) and after the adjustment the position-determining distance measurement values (M2) supplied by said distance measuring device are used for position determination.
  2. Method according to claim 1,
    characterised in that
    evaluation devices (6,25) which are integrated in a vehicle device of the rail vehicle and are connected to the distance measuring devices (5,22) are used.
  3. Method according to one of the preceding claims,
    characterised in that
    evaluation devices which are included in the distance measuring arrangements and are independently present in the rail vehicle are used.
  4. Method according to one of the preceding claims,
    characterised in that
    distance measuring devices (5,22) with odometer pulse generators (3,23), radar range-finding devices (4,24), range-finding equipment with acceleration sensors, range-finding arrangements with eddy current samplers, or range-finding units with optical rail samplers are used.
  5. Positioning device for determining the position of a rail vehicle, having a distance measuring device (5) on the rail vehicle (1) for obtaining position-determining distance measurement values (M1), wherein the distance measuring device (5) is connected to a position marker information recorder (10) and when position markers (11) on the track are passed is in each case readjusted using available position marker information,
    characterised in that
    a further position marker information recorder (28) is provided on the rail vehicle (1) and is offset relative to the first position marker information recorder (10) in the longitudinal direction of the vehicle, wherein the further position marker information recorder (28) is able to capture the position marker information from the same position marker (11) again in each case, and to initiate generation of further position-determining distance measurement values (M2), wherein the first position marker information recorder (10) is arranged at the front (2) of the rail vehicle (1) and the other position marker information recorder (28) is arranged at the tail (2) of the rail vehicle (1) and
    wherein the positioning device is designed such that when one of the position markers is passed by the first position marker information recorder (10) the distance measuring device is adjusted using the position marker information captured by the first position marker information recorder (10) and until the same position marker is passed by the further position marker information recorder (28) for determining the position of the rail vehicle (1) the position-determining distance measurement values (M1) of the previously adjusted distance measuring device are used, and
    when the same position marker is passed by the further position marker information recorder (28) the distance measuring device or a further distance measuring device connected to the further position marker information recorder (28) is readjusted by the position marker information from the respective position marker captured by the further position marker information recorder (28) and after the adjustment the position-determining distance measurement values (M2) supplied by said distance measuring device are used for position determination.
EP16703946.0A 2015-02-26 2016-02-04 Method and positioning device for determining the position of a track-guided vehicle, in particular a rail vehicle Active EP3237266B1 (en)

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EP3237266A1 (en) 2017-11-01
US20180037242A1 (en) 2018-02-08
ES2745492T3 (en) 2020-03-02
US10919550B2 (en) 2021-02-16
WO2016134940A1 (en) 2016-09-01
BR112017017537A2 (en) 2018-04-17
CN107257759B (en) 2019-08-30
DE102015203476A1 (en) 2016-09-01
CN107257759A (en) 2017-10-17

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