WO2012040794A1 - Véhicule de contrôle de voie de chemin de fer - Google Patents

Véhicule de contrôle de voie de chemin de fer Download PDF

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Publication number
WO2012040794A1
WO2012040794A1 PCT/AU2011/001261 AU2011001261W WO2012040794A1 WO 2012040794 A1 WO2012040794 A1 WO 2012040794A1 AU 2011001261 W AU2011001261 W AU 2011001261W WO 2012040794 A1 WO2012040794 A1 WO 2012040794A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
hazard
speed
track
controller
Prior art date
Application number
PCT/AU2011/001261
Other languages
English (en)
Inventor
Stephen Baines
David Mcmah
Original Assignee
Qr Limited
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
Priority claimed from AU2010904414A external-priority patent/AU2010904414A0/en
Application filed by Qr Limited filed Critical Qr Limited
Priority to AU2011308097A priority Critical patent/AU2011308097B2/en
Publication of WO2012040794A1 publication Critical patent/WO2012040794A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
    • B61L23/042—Track changes detection
    • B61L23/047—Track or rail movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
    • B61L23/041—Obstacle detection

Definitions

  • the present invention generally relates to railroad or railway track inspection vehicles including, for example, track geometry cars and track checkers.
  • railway track inspection vehicles are used to audit the integrity of railway tracks. These vehicles are typically used to test several geometric parameters of the track and structures without obstructing normal railway operations. Some of the parameters generally measured include position, curvature, alignment of the track, smoothness, the cross level of the two rails, features of infrastructure and structure gauge. The vehicles use a variety of sensors, measuring systems, and data management systems to record the measured parameters which are then later used to form a quality index of the inspected track.
  • Some railway track inspection vehicles are unmanned to prevent the possibility of injury in the event of a catastrophic track failure.
  • US 5,627,508 discloses an unmanned Rail track inspection vehicle which acts as a pilot vehicle traveling before a train. Information gathered by the pilot vehicle's sensor array is transmitted to the train to enable the train's driver to have time to react to hazards. The pilot vehicle is remotely controlled from the train and maintains a safe stopping distance from the train as the train speed varies. The speed of the pilot vehicle is reactionary upon the speed of the train and the decisions of the driver, and can undesirably result in the leading pilot vehicle encountering hazards at unreasonably high speeds. It is an object of the present invention to provide an unmanned railway track inspection vehicle with improved speed control and/or hazard recognition.
  • Embodiments of the present invention provide a railway track inspection vehicle which operates independently of a train.
  • a speed control method for an unmanned railway track inspection vehicle including the steps of:
  • the speed control method is improved compared with known methods whereby the speed of the vehicle is automatically reduced when encountering the hazard so that the vehicle does not encounter the hazard at an unreasonably high speed.
  • the hazard may relate to a poor track condition.
  • the method includes the step of communicating the hazard or track condition through alarm, warnings or media.
  • the encountering may involve approaching or coming into contact with the hazard.
  • the hazard may be any one of a railway crossing, a trackside worker or trespasser, an unauthorized passenger, a track obstruction, a track gauge infringement, a track defect, a broken or absent rail, or a local hazard.
  • the hazard may be a railway crossing.
  • the step of determining involves detecting a characteristic of the railway crossing.
  • the characteristic may be flashing signal lights which are visually detected by performing image processing.
  • the characteristic may be a landmark.
  • the characteristic may be a landmark detected using ultrasonic radar.
  • the step of determining may involve comparing the location of the vehicle with the known location of the railway crossing.
  • the location of the vehicle can be determined using Global Positioning System (GPS) or predetermined linear distance measurements (e.g. odometer) for positioning.
  • GPS Global Positioning System
  • predetermined linear distance measurements e.g. odometer
  • the hazard may be one or more trackside workers or trespassers.
  • the step of determining may involve sensing vests worn by respective workers or laser reflection detecting proximity to a trespasser.
  • the step of automatically reducing the speed may involve stopping the vehicle upon detecting that the separation between the workers and the vehicle is less than a safe distance.
  • the method may further involve the step of sending an alarm responsive to determining that the vehicle encounters the hazard.
  • the hazard may be an unauthorized passenger riding on the vehicle.
  • the step of determining may involve sensing the weight of the passenger boarding the vehicle.
  • the step of automatically reducing the speed may involve stopping the vehicle upon sensing the presence of the passenger.
  • the presence of the passenger may be determined using either weight or proximity sensors.
  • the hazard may be a track gauge infringement.
  • the step of determining may involve a laser sweep of a track corridor.
  • the step of automatically reducing the speed may involve stopping the vehicle upon sensing an obstruction that will cause damage to the vehicle and cannot be passed.
  • the hazard may be a local hazard not within the track gauge.
  • the step of determining may involve video and photo analysis to determine hazards including any one of water buildup, landslides, debris and other irregular objects.
  • the step of automatically reducing the speed may involve bringing the vehicle to a stop at a predetermined or landmark position, recording stopping data and sending information relating to the stop.
  • the hazard may be a track obstruction.
  • the step of determining may involve the vehicle colliding with the track obstruction.
  • the hazard may be a broken rail of the track along which the vehicle travels.
  • an unmanned railway track inspection vehicle including a controller for reducing the speed of the vehicle subsequent to determining that the vehicle encounters a hazard.
  • the vehicle may further include an image capture system for capturing at least one image of the hazard.
  • the hazard may be a railway crossing and the controller may be configured to perform image processing on the image to identify flashing signal lights.
  • the hazard may be a trackside worker and the controller may be configured to perform image processing on the image to identify a vest worn by the worker.
  • the vehicle may further include radar system for detecting a landmark located proximal to the hazard to thereby determine that the vehicle is approaching the hazard.
  • the vehicle may further include a Global Positioning System (GPS) for determining the location of the vehicle.
  • GPS Global Positioning System
  • the vehicle may include a storage media storing the known location of the hazard and the controller may determine that the vehicle is approaching the hazard by comparing the location of the vehicle with the location of the hazard.
  • the vehicle may further include a transceiver for sending the location of the vehicle to a central command center and the controller may determine that the vehicle is approaching the hazard when the transceiver receives a hazard alert message from the central command center or operator station.
  • the railway track inspection vehicle may operate independently of a train.
  • the vehicle may include a passenger detector for detecting a passenger riding on the vehicle.
  • the passenger detector may include scales for sensing the weight of the passenger boarding the vehicle and the vehicle may be stopped upon sensing the presence of the passenger.
  • the vehicle may include an emergency stop arrangement and the vehicle may be stopped upon triggering the emergency stop arrangement when the vehicle comes into contact with an object.
  • the emergency stop arrangement may include emergency stop buttons located around the periphery of the vehicle.
  • the vehicle may include a gyroscope, accelerometer and altimeter for measuring vehicle pitch, roll and yaw readings, vehicle acceleration and braking, and vehicle altitude and the vehicle may be stopped responsive to determining that the vehicle has come into contact with the hazard in accordance with a sudden change in the readings.
  • the vehicle may include a marker sensor for sensing a marker positioned on or near the track proximal to the hazard, the speed of the vehicle being automatically reduced or the vehicle may be stopped responsive to sensing the marker.
  • the marker may be a magnet.
  • the vehicle may also include a rail proximity sensor for sensing the proximity of rails along which the vehicle travels.
  • the speed of the vehicle may be automatically reduced or the vehicle may be stopped responsive to sensing that the proximity of a rail exceeds a predetermined threshold in the event of a derailment of the vehicle.
  • a speed control system for an unmanned railway track inspection vehicle configured to reduce the speed of the vehicle subsequent to determining that the vehicle encounters a hazard.
  • Figure 1 is a schematic diagram of a control system for controlling an unmanned railway track inspection vehicle in accordance with an embodiment of the present invention
  • Figure 2 is a block diagram of the unmanned railway track inspection vehicle shown in Figure 1 ;
  • Figure 3 is a flowchart of a speed control method for the unmanned railway track inspection vehicle shown in Figures 1 and 2;
  • Figure 4 is a flowchart of a speed control routine of the speed control method of Figure 3, the routine being performed for each identifiable hazard.
  • a control system 100 shown in Figure 1 for controlling an unmanned railway track inspection vehicle 102 includes a central command centre 104 which is in two-way communication with the vehicle 102 via a communications network 106.
  • the communications network 106 includes both a radio frequency (RF) radio network, as well as a mobile telephone network which can be instead be used in the event that the RF network becomes unavailable or the vehicle 102 is out of range.
  • the lightweight inspection vehicle 102 is a drone that can be remotely controlled by the central command centre 104, and independently of a train.
  • the unmanned railway track inspection vehicle 102 includes a controller 200 for determining that the vehicle encounters a hazard.
  • the controller 200 is configured to automatically (i.e.
  • the speed of the vehicle 102 is automatically reduced when encountering the hazard so that the vehicle does not encounter the hazard at an unreasonably high speed.
  • the controller 200 contains a software product 202 in resident memory.
  • the software product 202 contains computer readable instructions for execution by a processor 204 of the controller 200 to perform the speed control method outlined below.
  • the processor 204 is interfaced to a storage device (e.g. hard disc) containing a hazard database 206 of known hazard locations.
  • the vehicle 102 further includes a Global Positioning System (GPS) 208 for determining the location of the vehicle 2.
  • GPS Global Positioning System
  • the controller 200 can determine that the vehicle 102 is approaching a hazard by comparing the determined location of the vehicle 102 with the location of the hazard stored in the hazard database 206.
  • the onboard database also stores event information and other data relating to the operation of the vehicle 102.
  • the vehicle 102 further includes a transceiver 210, in turn, including both an RF and a mobile phone (Next Generation) modem for communicating with the central command centre 104 via the communications network 106.
  • the transceiver 210 also provides two-way audio communication to workers on the track.
  • the vehicle 102 further includes an image capture system 212 for capturing at least one image of the hazard.
  • the image capture system 212 includes an upper camera 108 mounted on a telescopic pole 110 to capture images of the track an its surrounds, and a pair of lower cameras 112 mounted to capture images of respective rails of the track along which the vehicle 102 travels.
  • the hazard can be a railway crossing and the controller 200 is configured to perform image processing of the captured images to identify flashing signal lights at the crossing. The image processing involves identifying a flashing frequency and/or color of the signal lights.
  • the image capture system 212 further includes pan-tilt-zoom control so that an operator can manually control camera positioning and zoom.
  • the hazard can be a trackside worker and the controller 200 is configured to perform image processing of the captured images to identify a vest worn by the worker.
  • the image processing involves identifying a distinctive pattern and/or color of the vest.
  • the vehicle 102 further includes an ultrasonic radar system 214 for detecting a landmark located proximal to the hazard to thereby determine that the vehicle is approaching the hazard.
  • the vehicle 102 also includes a passenger detector 216 for detecting a passenger riding on the vehicle 102.
  • the passenger detector 216 includes electronic scales for sensing the weight of the passenger boarding the vehicle 102, and the vehicle 102 is immediately stopped by the controller 200 upon sensing the presence of the passenger. In this manner, unauthorised persons jumping onto the vehicle 102 cannot ride on the vehicle 102 which can be extremely dangerous.
  • the vehicle 102 further include a emergency stop button arrangement 218 and the controller 200 immediately stops the vehicle 102 upon triggering the emergency stop button arrangement when the vehicle collides and comes into contact with a track obstruction.
  • the emergency stop button arrangement 218 includes emergency stop buttons located around the periphery of the vehicle 102.
  • the vehicle 102 further includes a gyroscope 220 for measuring vehicle pitch, roll and yaw readings.
  • the vehicle 02 further includes an accelerometer and altimeter for respectively measuring vehicle acceleration and braking, and vehicle altitude.
  • the vehicle 102 is stopped by the controller 200 responsive to determining that the vehicle has come into contact with the hazard (e.g. a fallen tree across the tracks) in accordance with a sudden change in the readings.
  • the hazard e.g. a fallen tree across the tracks
  • the vehicle includes a marker sensor 222 for sensing a marker positioned on or near the track proximal to the hazard.
  • the speed of the vehicle 102 is automatically reduced or the vehicle 102 is stopped by the controller 200 responsive to sensing the marker.
  • the marker is typically a magnet located near the tracks.
  • the vehicle 102 also includes a rail proximity sensor 224 for sensing the proximity of rails along which the vehicle 102 travels.
  • the speed of the vehicle 02 is automatically reduced or the vehicle 102 is stopped by the controller 200 responsive to sensing that the proximity of a rail exceeds a predetermined threshold in the event of a derailment of the vehicle 2.
  • the vehicle 102 also includes a motor assembly or transmission 226 which is driven by the controller 200 to control the speed of the vehicle 102.
  • the vehicle 102 also includes a pendant control system 228 which enables local wireless control of the vehicle 102 for depot and safety control.
  • a speed control method 300 for the unmanned railway track inspection vehicle 102 is shown in Figure 3.
  • the controller 200 receives an activation message sent from the central command centre 104.
  • the activation message includes the location of the destination to which the vehicle 102 is required to travel.
  • the controller 200 sets the vehicle speed to the desired travel speed (which typically varies between 30 and 45km/hour) and thereby drives the motor assembly 226 accordingly.
  • the controller 200 performs a speed control routine 400 shown in Figure 4 for each identifiable hazard. Speed control routine 400 is later described in detail below.
  • the identifiable hazards relate to a railway crossing, a trackside worker, an unauthorized passenger, a track obstruction and an absent or broken rail.
  • the controller 200 queries whether the destination location has been reached using GPS 208. If the destination has been reached, the controller 200 sets the vehicle speed to zero at step 310 and thereby applies vehicle brakes and stops driving the motor assembly 226.
  • controller 200 continues to drive the motor assembly 226 and the method 300 returns to step 306 where a speed control routine 400 for each hazard is once again performed.
  • the controller 200 queries whether the vehicle 102 encounters a hazard.
  • the encountering can involve approaching or coming into contact with the hazard.
  • the controller 200 determines that the vehicle 102 encounters a hazard, the controller 200 automatically sets the vehicle speed to the reduced hazard speed (which is typically 20km/hour) and thereby drives the motor assembly 226 and vehicle brakes accordingly. If the hazard speed was already set, the vehicle merely maintains the hazard speed as the hazard is still being encountered.
  • the reduced hazard speed which is typically 20km/hour
  • the controller 200 determines that the vehicle 102 does not encounter a hazard, the controller 200 automatically sets the vehicle speed to the desired travel speed and thereby either maintains the desired travel speed or increases the travel speed from the hazard speed as the hazard is no longer encountered.
  • the controller 200 drives the motor assembly 226 accordingly.
  • the controller 200 send a alarm message to the command centre 104 indicating the hazard was encountered.
  • the image capture system 212 can be used to detect a distinctive characteristic of the railway crossing.
  • the distinctive characteristic can be flashing signal lights which are visually detected by performing image processing.
  • the distinctive characteristic can be a landmark (e.g. crossing gate-operators tower) located in close proximity to the crossing.
  • the radar system 214 can detect the landmark.
  • the controller 200 can determine that the vehicle 102 approaches and encounters the railway crossing, by comparing the location of the vehicle 102 determined using GPS 208 with the known location of the railway crossing stored in the hazard database 206.
  • the controller 200 automatically reduces the speed of the vehicle 102 from the travel speed to the railway crossing hazard speed, responsive to determining that the vehicle 102 encounters the railway crossing.
  • the controller 200 can identify the presence of one or more trackside workers.
  • the controller 200 can determine that the vehicle 102 approaches and encounters the trackside workers using the image capture system 212.
  • the controller 200 can perform image processing to sense vests worn by the workers and can automatically stop the vehicle 102 (i.e. zero hazard speed) responsive to encountering the workers when the separation between the workers and the vehicle 102 is less than a safe distance.
  • the controller 200 can determine that the vehicle 102 encounters the passenger jumping on the moving vehicle 200 using the passenger detector 216.
  • the passenger detector 216 senses the weight of the encountered passenger boarding the vehicle 102 and the controller 200 then automatically stops the vehicle 102.
  • the controller 200 can identify the presence of a track obstruction.
  • the controller 200 can determine that the vehicle 102 collides with and encounters the track obstruction using the emergency stop button arrangement 218 or the gyroscope 220.
  • the controller 200 can automatically stop the vehicle 102 responsive to determining that the vehicle 102 encounters the track obstruction.
  • the controller 200 can determine that the vehicle 102 encounters the track obstruction using the marker sensor 222 which senses a magnetic marker positioned by a worker near the track and proximal to the track obstruction.
  • the controller 200 can automatically stop or reduce the speed of the vehicle 102 responsive to determining that the vehicle 102 encounters the hazard indicated by the marker.
  • Another of the hazards which the controller 200 can identify is the absence of a rail of the track along which the vehicle 102 travels.
  • the controller 200 can determine that the vehicle 102 encounters the hazard using the rail proximity sensor 224.
  • the controller 200 automatically reduces the speed of the vehicle 102 responsive to sensing that the proximity of a rail exceeds a predetermined threshold indicating a derailment of the vehicle 102.
  • the controller 200 can determine that the vehicle 102 approaches and encounters the railway crossing using an onboard hazard database 206.
  • the central command centre 104 may instead receive the vehicle location from GPS 208 via communications network 106 and store the hazard database 206. Accordingly, the central command centre 104 (in place of the controller 200) can determine that the vehicle 102 is approaching the railway crossing by comparing the received vehicle location with the location of the hazard stored in the local hazard database 206. The controller 200 determines that the vehicle 102 encounters the railway crossing when the transceiver 210 receives an associated hazard alert message sent from the central command centre 104.
  • the hazard may be a trespasser and the vehicle 102 can perform laser reflection to detect the trespasser.
  • the hazard may relate to a track gauge infringement. Determining the hazard can involve laser sweeping a track corridor.
  • the step of automatically reducing the vehicle speed can involve stopping the vehicle upon sensing an obstruction that will cause damage to the vehicle and cannot be passed.
  • the hazard can be a local hazard not within the track gauge.
  • the step of determining the hazard involves video and photo analysis to determine hazards including any one of water buildup, landslides, debris and other irregular objects.
  • the step of automatically reducing the vehicle speed can involve bringing the vehicle to a stop at a predetermined or landmark position, recording stopping data and sending information relating to the stop to the command centre.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

La présente invention se rapporte à un procédé de commande de vitesse pour véhicule de contrôle de voie de chemin de fer automatique. Le procédé comprend l'étape consistant à déterminer que le véhicule rencontre un obstacle. Le procédé comprend en outre l'étape consistant à réduire automatiquement, sans intervention humaine, la vitesse du véhicule en réponse à la détermination d'une rencontre entre le véhicule et l'obstacle. Le procédé de commande de vitesse est amélioré par rapport aux procédés connus en ce que la vitesse du véhicule est automatiquement réduite lors de la rencontre avec l'obstacle de sorte que le véhicule ne rencontre pas l'obstacle à une vitesse excessive. L'obstacle peut être n'importe quoi parmi un passage à niveau, un intrus ou un ouvrier le long de la voie, un passager non autorisé, une obstruction sur la voie, une atteinte à l'écartement de la voie, un défaut de voie, un rail cassé ou absent, ou un obstacle local.
PCT/AU2011/001261 2010-10-01 2011-10-03 Véhicule de contrôle de voie de chemin de fer WO2012040794A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2011308097A AU2011308097B2 (en) 2010-10-01 2011-10-03 A railroad track inspection vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AU2010904414 2010-10-01
AU2010904414A AU2010904414A0 (en) 2010-10-01 A Railroad Track Inspection Vehicle

Publications (1)

Publication Number Publication Date
WO2012040794A1 true WO2012040794A1 (fr) 2012-04-05

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ID=45891734

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/AU2011/001261 WO2012040794A1 (fr) 2010-10-01 2011-10-03 Véhicule de contrôle de voie de chemin de fer

Country Status (2)

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AU (1) AU2011308097B2 (fr)
WO (1) WO2012040794A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103448745A (zh) * 2013-08-28 2013-12-18 中国恩菲工程技术有限公司 电机车出轨检测装置和具有它的电机车
WO2015140263A1 (fr) 2014-03-19 2015-09-24 Numerix-Ipc.Eu Équipement pour une surveillance de piste
US10286930B2 (en) * 2015-06-16 2019-05-14 The Johns Hopkins University Instrumented rail system
CN110187702A (zh) * 2018-02-22 2019-08-30 阿尔斯通运输科技公司 能够确定占用轨道的自动车辆控制装置及相应的控制方法
FR3081595A1 (fr) * 2018-05-28 2019-11-29 Continental Automotive France Procede de detection de la presence de deux feux adjacents allumes en alternance et dispositif de detection associe
DE102018119151A1 (de) * 2018-08-07 2020-02-13 Bombardier Transportation Gmbh Schienenfahrzeugsystem und verfahren zum verbessern der sicherheit eines schienenfahrzeugs
DE102018119152A1 (de) * 2018-08-07 2020-02-13 Bombardier Transportation Gmbh Schienendrohnenfahrzeug und schienenfahrzeugsystem

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1471611A (en) * 1920-09-17 1923-10-23 Walter H Kellem Automatic train-stop and speed-control device
US1647968A (en) * 1923-07-26 1927-11-01 Gen Railway Signal Co Train control
US5627508A (en) * 1996-05-10 1997-05-06 The United States Of America As Represented By The Secretary Of The Navy Pilot vehicle which is useful for monitoring hazardous conditions on railroad tracks
US6532038B1 (en) * 1999-08-16 2003-03-11 Joseph Edward Haring Rail crossing video recorder and automated gate inspection
US20050134440A1 (en) * 1997-10-22 2005-06-23 Intelligent Technolgies Int'l, Inc. Method and system for detecting objects external to a vehicle

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1471611A (en) * 1920-09-17 1923-10-23 Walter H Kellem Automatic train-stop and speed-control device
US1647968A (en) * 1923-07-26 1927-11-01 Gen Railway Signal Co Train control
US5627508A (en) * 1996-05-10 1997-05-06 The United States Of America As Represented By The Secretary Of The Navy Pilot vehicle which is useful for monitoring hazardous conditions on railroad tracks
US20050134440A1 (en) * 1997-10-22 2005-06-23 Intelligent Technolgies Int'l, Inc. Method and system for detecting objects external to a vehicle
US6532038B1 (en) * 1999-08-16 2003-03-11 Joseph Edward Haring Rail crossing video recorder and automated gate inspection

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103448745A (zh) * 2013-08-28 2013-12-18 中国恩菲工程技术有限公司 电机车出轨检测装置和具有它的电机车
CN103448745B (zh) * 2013-08-28 2016-04-13 中国恩菲工程技术有限公司 电机车出轨检测装置和具有它的电机车
WO2015140263A1 (fr) 2014-03-19 2015-09-24 Numerix-Ipc.Eu Équipement pour une surveillance de piste
US10286930B2 (en) * 2015-06-16 2019-05-14 The Johns Hopkins University Instrumented rail system
CN110187702A (zh) * 2018-02-22 2019-08-30 阿尔斯通运输科技公司 能够确定占用轨道的自动车辆控制装置及相应的控制方法
FR3081595A1 (fr) * 2018-05-28 2019-11-29 Continental Automotive France Procede de detection de la presence de deux feux adjacents allumes en alternance et dispositif de detection associe
DE102018119151A1 (de) * 2018-08-07 2020-02-13 Bombardier Transportation Gmbh Schienenfahrzeugsystem und verfahren zum verbessern der sicherheit eines schienenfahrzeugs
WO2020030508A1 (fr) 2018-08-07 2020-02-13 Bombardier Transportation Gmbh Système de véhicule ferroviaire et procédé d'amélioration de la sécurité d'un véhicule ferroviaire
DE102018119152A1 (de) * 2018-08-07 2020-02-13 Bombardier Transportation Gmbh Schienendrohnenfahrzeug und schienenfahrzeugsystem
WO2020030510A1 (fr) 2018-08-07 2020-02-13 Bombardier Transportation Gmbh Véhicule ferroviaire de type drone et système de véhicule ferroviaire

Also Published As

Publication number Publication date
AU2011308097A1 (en) 2013-04-18
AU2011308097B2 (en) 2014-07-10

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