EP3378726A1 - Verfahren und anordnung zur bestimmung der geschwindigkeit eines schienenfahrzeugs - Google Patents

Verfahren und anordnung zur bestimmung der geschwindigkeit eines schienenfahrzeugs Download PDF

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Publication number
EP3378726A1
EP3378726A1 EP17162797.9A EP17162797A EP3378726A1 EP 3378726 A1 EP3378726 A1 EP 3378726A1 EP 17162797 A EP17162797 A EP 17162797A EP 3378726 A1 EP3378726 A1 EP 3378726A1
Authority
EP
European Patent Office
Prior art keywords
rail vehicle
speed
frequency
oscillations
vehicle
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.)
Withdrawn
Application number
EP17162797.9A
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English (en)
French (fr)
Inventor
Tamim Haroun
Johan Malm
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 EP17162797.9A priority Critical patent/EP3378726A1/de
Publication of EP3378726A1 publication Critical patent/EP3378726A1/de
Withdrawn legal-status Critical Current

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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
    • B61L25/021—Measuring and recording of train speed
    • 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
    • B61L15/0081—On-board diagnosis or maintenance

Definitions

  • the present invention relates to a method for determining the speed of a rail vehicle moving along a track with rails resting on sleepers mutually separated by a distance known, as well as an arrangement for obtaining such speed determination.
  • the rail vehicle may be any type of tracks-bound vehicle driven on railways.
  • Satellite aided navigation such as a GPS
  • sensors may neither be used alone and they will encounter problems when the rail vehicle is driving through tunnels or in cities with high buildings, besides the fact that speed measuring systems including these may be rather complex.
  • the object of the present invention is to provide a method and an arrangement of the type defined in the introduction being improved in at least some aspect with respect to such methods and arrangements already known by addressing any of the problems mentioned above.
  • the invention is based on the understanding that a rail vehicle will carry out vertical oscillations caused by the passage of sleepers by each wheel axle thereof. These oscillations may not be noticeable for the passengers inside the rail vehicle, but a rail vehicle axle moving along a railway will oscillate up and down with the peaks occurring when the axle is directly above a sleeper and the troughs occurring when the axle is exactly half-way between two sleepers. Accordingly, these vertical oscillations are sensed when the rail vehicle is moving over a railway and the measuring signals are treated to filter out oscillations emanating from passages of sleepers by a wheel set of the rail vehicle for by that determine the frequency of the oscillations filtered out. The speed of the rail vehicle may then be determined by multiplying the frequency determined by the distance between adjacent sleepers.
  • Distance does here of course mean centre to centre distance of two consecutive sleepers. This distance is mostly known for a certain railway section and may even be the same in a large region such as within one country.
  • This way of determining the speed of a rail vehicle will not be dependent upon the type of wheels on the rail vehicle and not encounter problems associated with the existence of tunnels or high buildings, and the method may be carried out by simple and cost efficient means as explained further below.
  • the method may preferably be combined with arrangements measuring speeds of a rail vehicle in other ways, not at least since the rail vehicle may reach railway sections having no sleepers, for instance where the rails are resting on a concrete ground.
  • it is vertical accelerations of a rail vehicle part that are sensed for sensing said vertical oscillations caused by sleeper passages of rail vehicle axles.
  • this system may be used to determine the speed of the rail vehicle by carrying out the method according to the invention while using data available anyway from this system.
  • a Fourier transformation of the measuring signals is carried out in step d) to obtain a signal of oscillation amplitudes versus frequency. This constitutes a useful way of filtering out the oscillations to be used for the speed determination.
  • oscillations within a restricted frequency window are considered when carrying out said filtering out of oscillations in step b). This will facilitate the search for and discrimination of the oscillations to be found from other possible oscillations not associated with sleeper passages of rail vehicle axles.
  • said frequency window is established by determining a lower limit as the frequency of sleeper passages of a wheel axle of the rail vehicle at a lower threshold speed, such as 5 m/sec or 10 m/sec, and an upper limit as a frequency of sleeper passages of the wheel axle at a maximum speed of the rail vehicle. This measure will facilitate a reliable detection of the oscillations useful for determining the speed of the vehicle.
  • accelerations of the rail vehicle in the direction of movement of the vehicle are measured and the result of these measurements are used to restrict said frequency window.
  • data relating to the speed of the rail vehicle is collected from devices providing such information, such as a tachometer arranged on board the rail vehicle or a GPS-device, and these data are used to define lower and upper limits of said frequency window. This will make it very easy to reliably find the oscillations associated with sleeper passages of rail vehicle axles.
  • step b) the amplitude of peaks of oscillations in said measuring signals within a frequency window are compared and a peak is determined to derive from wheel axle sleeper passages when having an amplitude exceeding other peaks within said frequency window by at least a predetermined amount, such as 100 %, and otherwise to not derive from wheel axle sleeper passages.
  • a predetermined amount such as 100 %
  • the speed determined in step d) is compared with speed data collected by a said other device and it is determined that the speed information obtained in step d) is not credible if the difference of that speed and said speed data exceeds a predetermined level.
  • step d) speed values determined by carrying out step d) are used to calculate values of accelerations of the rail vehicle in the direction of movement of the vehicle and acceleration values so calculated are compared with possible accelerations of the rail vehicle in said direction and if an acceleration value calculated exceeds a highest possible acceleration value for the rail vehicle it is determined that the actual sleeper distance deviates from said sleeper distance assumed to be known and that the speed determined in step d) is not credible.
  • the sensor of the arrangement is an inertial navigation sensor configured to obtain measuring signals by measuring vertical accelerations of a rail vehicle part to which it is secured.
  • an inertial navigation sensor may already be arranged in the rail vehicle for measuring accelerations of the rail vehicle in the moving direction thereof and for integration of these measurements for obtaining speed values, so that the arrangement according to the invention does then only use data already available from this sensor but with a new approach to consider vertical accelerations of the rail vehicle.
  • the inertial navigation sensor is configured to also measure accelerations of the rail vehicle in the direction of movement of the vehicle, the processing member is configured to use the results of the acceleration measurements last mentioned to define a frequency window, and the processing member is configured to consider oscillations in the measuring signals of a frequency within this frequency window.
  • the senor is configured to be secured to a rail vehicle part close to a wheel axle of the rail vehicle, and it may be configured to be secured to a vehicle body or a wheel bogie of the rail vehicle.
  • the senor is realized in the form of a MEMS (Micro Electro Mechanical System) device or a piezo-electric sensor available at a competitive cost.
  • MEMS Micro Electro Mechanical System
  • the invention also relates to a computer program, which when executed by a computer causes the computer to carry out the method according to the invention.
  • a computer-rendable medium comprising instructions, which when executed by a computer, cause the computer to carry out the method according to the invention is also covered.
  • the invention also covers an electronic control unit comprising an execution means, a memory connected to the execution means, and a computer-readable medium which is connected to the execution means and on which the computer program code of a computer program according to the invention is stored.
  • an inertial navigation sensor arranged onboard a rail vehicle to measure vertical accelerations of the rail vehicle emanating from passages of sleepers by a wheel set of the rail vehicle for determining the speed of the rail vehicle through knowledge of the distance (d) separating adjacent sleepers of a track along which the rail vehicle is moving, and a rail vehicle provided with an arrangement for determining the speed of the rail vehicle or an electronic control unit according to the invention are also covered.
  • Fig. 1 illustrates schematically a railway wagon 1 of a rail vehicle 2 moving over a railway 3 with rails 4, 5 resting on sleepers 6 mutually separated by a distance d known, such as 0.6 m.
  • the rail vehicle is provided with an arrangement for determining the speed of the rail vehicle according to an embodiment of the invention, and this arrangement has at least one sensor 7 configured to be secured to a part of the rail vehicle, such as the vehicle body 8 or a wheel bogie 9.
  • This sensor would when Fig. 1 were drawn to scale not be visible, since it is preferably but not necessarily a MEMS device in the form of a semiconductor device, and it is configured to sense vertical oscillations of the vehicle part to which it is secured within a time window for producing measuring signals of oscillations versus time as shown in Fig. 2 in the form of vertical acceleration Va versus time t.
  • the sensor is arranged close to a wheel axle 20 to improve the sensitivity to the ups and downs thereof when passing a sleeper. It is illustrated by arrows A, B, C how the wheel axle moving along the railway oscillates up and down with peaks occurring when the axle is directly above a sleeper and a trough (arrow B) occurring when the axle is halfway between two sleepers.
  • the arrangement comprises further a processing member 10 configured to treat measuring signals obtained through the sensor 7 and shown in Fig. 2 so as to determine the frequency of oscillations therein emanating from passages of sleepers by a wheel axle of the rail vehicle, and the processing member will do this by carrying out a Fourier transformation of the measuring signals, which will then result in a graph shown in Fig. 3 of oscillation amplitudes Am versus frequency f.
  • the processing member 10 may then be configured to compare the amplitude of peaks of oscillations in the measuring signals within a frequency window and determine that the highest peak at the frequency f 1 emanates from sleeper passages of the axle under the condition that the highest peak exceeds the second highest peak by a predetermined amount.
  • the processing member may consider the measurement unreliable if this is not the case, since sensing said vertical accelerations should indicate a distinct, continuous oscillation, which can be discriminated from other types of oscillations deriving from noise.
  • a calculating unit 11 will receive the information shown in Fig. 3 from the processing member and is configured to determine the speed of the rail vehicle by multiplying the frequency f 1 determined by the processing member by the distance d between adjacent sleepers.
  • the arrangement according to the invention determines the speed of the rail vehicle by counting sleepers passed per time unit.
  • a frequency f 1 of for instance 92.5 Hz as obtained by testing the arrangement on a railway section in the Czech Republic means that 92.5 sleepers were passed per second.
  • a time window of 0.1 s will do for obtaining an accurate speed value, so that the speed determined will substantially be the instantaneous speed, whereas a longer time window may be necessary for lower speeds.
  • the processing member and the calculating unit may very well be combined in the same on-board computer of the rail vehicle.
  • the arrangement for determining the speed by "sleeper counting" according to the present invention may be combined with other speed measuring devices 12, such as a tachometer arranged on board the rail vehicle or a GPS-device, for collecting data relating to speed of the rail vehicle from such a device. These data may be used to define lower and upper limits of said frequency window and also to decide if the speed determined by the arrangement according to the invention is credible or not. These devices are external in the sense that they are not influenced by the function of the sensor 7 measuring vertical accelerations, whereas use of the inertial navigation sensor 7 to measure accelerations in the moving direction of the vehicle for being used to check the proper function of the arrangement according to the invention will be dependent upon the function of the sensor 7 included in the arrangement according to the invention.
  • Computer program code for implementing a method according to the invention is with advantage included in a computer program, which can be read into the internal memory of a computer, e.g. the internal memory of an electronic control unit of a motor vehicle.
  • a computer program is with advantage provided via a computer program product comprising a data storage medium, which can be read by a computer and which has the computer program stored on it.
  • Said data storage medium is for example an optical data storage medium in the form of a CD ROM disc, a DVD disc etc., a magnetic data storage medium in the form of a hard disc, a diskette, a cassette tape etc., or a flash memory or a memory of the ROM, PROM, EPROM or EEPROM type.
  • FIG. 4 illustrates very schematically an electronic control unit 13 comprising an execution means 14, e.g. a central processor unit (CPU), for execution of computer software.
  • the execution means 14 communicates with a memory 15, e.g. of the RAM type, via a data bus 16.
  • the control unit 13 comprises also a non-transitory computer-readable medium 17, e.g. in the form of a flash memory or a memory of the ROM, PROM, EPROM or EEPROM type.
  • the execution means 14 communicates with the computer-readable medium 17 via the data bus 16.
  • a computer program comprising computer program code for implementing a method according to the invention is stored on the computer-readable medium 17.
  • the method according to the invention may be realized using an Application Specific Integrated Circuit (ASIC) or a Field Programmable Gate Array (FPGA) configured using Hardware Decription Language (HDL).
  • ASIC Application Specific Integrated Circuit
  • FPGA Field Programmable Gate Array
  • HDL Hardware Decription Language
  • the rail vehicle may have more than one said sensor sensing vertical oscillations associated with different wheel axles for redundancy.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • General Health & Medical Sciences (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
EP17162797.9A 2017-03-24 2017-03-24 Verfahren und anordnung zur bestimmung der geschwindigkeit eines schienenfahrzeugs Withdrawn EP3378726A1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP17162797.9A EP3378726A1 (de) 2017-03-24 2017-03-24 Verfahren und anordnung zur bestimmung der geschwindigkeit eines schienenfahrzeugs

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP17162797.9A EP3378726A1 (de) 2017-03-24 2017-03-24 Verfahren und anordnung zur bestimmung der geschwindigkeit eines schienenfahrzeugs

Publications (1)

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EP3378726A1 true EP3378726A1 (de) 2018-09-26

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114578081A (zh) * 2022-03-04 2022-06-03 安徽省公路桥梁工程有限公司 一种行车测速方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19729990A1 (de) * 1997-07-12 1999-01-14 Alsthom Cge Alcatel Verfahren und Vorrichtung zur Bestimmung der zurückgelegten Wegstrecke und der Geschwindigkeit von Schienenfahrzeugen
EP1197419A1 (de) * 2000-10-12 2002-04-17 Siemens SGP Verkehrstechnik GmbH Verfahren und Vorrichtung zur Bestimmung des Raddurchmessers und/oder der Fahrtgeschwindigkeit eines Schienenfährzeuges

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19729990A1 (de) * 1997-07-12 1999-01-14 Alsthom Cge Alcatel Verfahren und Vorrichtung zur Bestimmung der zurückgelegten Wegstrecke und der Geschwindigkeit von Schienenfahrzeugen
EP1197419A1 (de) * 2000-10-12 2002-04-17 Siemens SGP Verkehrstechnik GmbH Verfahren und Vorrichtung zur Bestimmung des Raddurchmessers und/oder der Fahrtgeschwindigkeit eines Schienenfährzeuges

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114578081A (zh) * 2022-03-04 2022-06-03 安徽省公路桥梁工程有限公司 一种行车测速方法

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