WO2016075146A1

WO2016075146A1 - Rail vehicle having a sensor for detecting a space outside the rail vehicle and/or having a signal generator for outputting signals into the space outside the rail vehicle

Info

Publication number: WO2016075146A1
Application number: PCT/EP2015/076223
Authority: WO
Inventors: Michael Fischer
Original assignee: Bombardier Transportation Gmbh
Priority date: 2014-11-10
Filing date: 2015-11-10
Publication date: 2016-05-19
Also published as: DE102014222906A1; DE102014222906B4

Abstract

The invention relates to a rail vehicle (101) having a sensor (2, 105-107) for detecting a space outside the rail vehicle (101) and/or having a signal generator for outputting signals into the space outside the rail vehicle (101), the rail vehicle (101) having, on the outer surface thereof, a beam-shaped projection (80) in which at least one part of the sensor (2, 105-107) and/or one part of the signal generator is/are arranged.

Description

Rail vehicle with a sensor for detecting a space outside the

Rail vehicle and / or with a signal generator for outputting signals in the space outside the rail vehicle

The invention relates to a rail vehicle with a sensor for detecting a space outside of the rail vehicle and / or with a signal generator for

Outputting signals to the space outside the rail vehicle. The invention further relates to a method for producing such a rail vehicle.

It is known to operate rail vehicles on routes that are free of other traffic without drivers. In terms of passenger transport, rail vehicles are designed to handle larger numbers of passengers than most types of road vehicles. Examples of driverless rail vehicles are so-called people mover, which operate between the different parts of airports. Rail vehicles have the advantage that they are guided on their lane by externally acting forces and can not leave the route, but in many systems there is the possibility to choose one of several possible routes on switches. Due to the tracking need

Rail vehicles not necessarily a steering as in road vehicles. Rail vehicles are therefore well suited for autonomous, driverless operation. In the case of driverless operation in rooms in which persons and / or non-track-guided vehicles also operate, it is also permissible for driverless operation of rail vehicles

ensure that other road users are not endangered, in particular due to possible collisions.

When rail vehicles are controlled by a driver, driver assistance systems can be used to assist the driver in his decisions to steer the vehicle. For example, are known collision warning systems that warn the driver of an impending, potential collision.

In such systems, e.g. Radar sensors,

Ultrasonic sensors, laser triangulation systems and / or imaging devices such as digital cameras, the two-dimensional images of the space outside the

Rail vehicle produce. By image evaluation, the depth of a possible collision object, ie the distance from the image forming device, can be determined. In addition to the use of stereo systems, this is also the comparison of image objects in individual images with known depth positions in question, which can be determined, for example, in the case of travel paths along which objects extend at constant intervals or of known length.

In addition to the advantage of not necessarily needing a steering, the operation of rail vehicles but also has the disadvantage that in an imminent collision avoidance is possible and even with timely braking the obstacle can not be avoided. Associated with this is the requirement that the rail vehicle according to its envelope, which is determined by the maximum extent of the vehicle cross-section, always requires sufficient space that extends immovably along the route. The envelope is also determined by static effects, in particular kinematic effects, and also by dynamic effects, in particular elastic deformations (for example spring travel) of the vehicle. In contrast to trucks and other vehicles that are operated freely steerable on roads, rail vehicles measured in the direction of travel often have larger vehicle lengths, which affects the space required for cornering clearance and difficult to detect the relevant for the operation of the vehicle vehicle exterior. Also, compared to rubber-tired road vehicles in rail vehicles that drive on rails made of metal, lower acceleration and braking forces are transmitted to the track.

An autonomous, driverless operation of a rail vehicle is therefore in

Traffic areas that are not free of other traffic, special requirements.

In addition to the above-mentioned sensors, which can be used to control the driving operation or to assist the driver during driving, the use of sensors for other purposes is conceivable. These include the

Observation of the exterior areas laterally and / or behind the rail vehicle, e.g. for monitoring the entry and exit of passengers, and protection against burglary, vandalism and theft.

Furthermore, it is known in rail vehicles to use signal transmitters for outputting signals in the space outside the rail vehicle. Due to the development of miniaturized sensors and signal transmitters, the sink

Cost of production is expected to continue and is worth the retrofitting of existing rail vehicles with at least one additional sensor and / or signal generator.

It is therefore an object of the present invention to provide a rail vehicle with at least one sensor for detecting a space outside the rail vehicle and / or with a signal generator for outputting signals in the space outside the rail vehicle, in which the sensor and / or signal generator with low Manufacturing effort can be arranged at a favorable for the detection of the exterior space position and also a low manufacturing cost for mounting in a favorable position is required for retrofitting at least one additional sensor and / or signal generator also required. It is another object of the present invention to provide a manufacturing method for manufacturing such a rail vehicle.

According to a basic idea, a rail vehicle is provided with a bar-shaped projection on the outer surface of the rail vehicle or has such a bar-shaped projection.

At least one sensor and / or a signal generator is at least partially in the

arranged bar-shaped projection. In particular, therefore, a rail vehicle with a sensor for detecting a space outside the rail vehicle and / or with a signal generator for outputting signals in the space outside the rail vehicle is proposed, wherein the rail vehicle at its

Outer surface has a bar-shaped projection, in which at least a part of the sensor and / or signal generator is arranged.

The signal generator may in particular be an acoustic signal generator for outputting an acoustic signal (for example a warning) and / or an optical signal transmitter for outputting an optical signal. In particular, an optical signal is also understood to mean light perceivable by persons, which, for example, can impinge on a projection surface such as a road surface, so that in particular characters and / or images are projected onto the projection surface. which are visually perceptible. In the case of projection, the optical signal transmitter can therefore be referred to as a projector.

An advantage of the beam-shaped projection is that the construction of the rail vehicle compared to a design without beam-shaped projection has to be changed only slightly. All parts of the rail vehicle that are inside the outer shell of an existing rail vehicle construction can be carried out as before. For a beam-shaped projection, which is additionally provided on the outer surface of the rail vehicle, can easily fixing areas for attaching the beam-shaped projection and the

Performing at least one connecting line of the sensor and / or signal generator can be found. The beam-shaped, elongated configuration of the projection makes it possible to freely position attachment points and passages within portions of the projection.

A bar-shaped projection also has the advantage that there is space for the arrangement of the at least one sensor and / or signal generator, which does not or only slightly claimed the space located inside the projection in the outer shell of the rail vehicle. Further, from a protrusion on the outer surface of the rail vehicle, a greater part of the outer space can be detected without obstruction or signals can be sent in a larger part of the outer space without obstruction than in an arrangement within flat or un-protruded surface regions of the rail vehicle. The position of the sensor is therefore favorable for the detection of the external space and the position of the signal generator is favorable for the emission of signals in the outer space. For example, there is nothing to prevent detection of the exterior space and / or emission of signals in the vertical direction or approximately vertical direction to the floor immediately adjacent to the rail vehicle. This is particularly advantageous in the case of a projection of light, but also in the detection of persons or objects lying directly next to the rail vehicle. The bar-shaped projection also protects the sensor and / or signal transmitter against external influences. In particular, externally applied forces (for example, trees standing next to the track) can be picked up and removed by a portion of the beam-shaped projection before they can act on the sensor and / or signal generator. Of the However, the beam-shaped projection also protects against other external influences such as dirt, precipitation and moisture and / or sunlight.

In particular, the beam-shaped projection extends in a longitudinal direction which is the direction of the largest outer dimension of the beam-shaped projection, the longitudinal direction being transverse to the vertical direction along the outer surface of the beam

Rail vehicle runs. In particular, the longitudinal direction can follow the outer contour of the rail vehicle. In this case, the longitudinal direction corresponding to the outer contour may have a developed (for example, at the transition between unwound sidewalls of the rail vehicle) and / or curved (for example on curved side walls of the rail vehicle) course.

The bar-shaped projection can be carried out in different ways / be. As a separate component, the beam-shaped projection may be attached to the outer surface of a railcar body, e.g. by welding, gluing, riveting and / or screwing. Alternatively or additionally, a positive connection is possible if the carbody is designed according to its outer surface, e.g. is provided with a in the longitudinal direction of the beam-shaped projection to be fastened extending profile / is then attached to the beam-shaped projection is / is. Alternatively, the beam-shaped projection can be designed as an integral part of the car body or the car roof of the rail vehicle / be.

Preferably, the cross-sectional profile of the beam-shaped projection, in particular with the exception of the end portions at the opposite ends in the longitudinal direction of the projection and / or with the exception of the area in which the sensor and / or signal generator is located, is constant in terms of shape and size of the cross section. Even in areas in which the course of the bar-shaped projection is angled in its longitudinal direction, for example in order to adapt to the outer contour of the rail vehicle, the shape and / or size of the cross section may deviate from the otherwise constant cross section. A preferred cross-sectional shape is trapezoidal with the longer of the parallel sides of the trapezium being inside and connected, for example, to the outer surface of the carbody and the shorter side of the parallel sides of the trapezoid being outboard. In this case, but also in other cross-sectional shapes (such as a triangular or a round, in particular semicircular cross-sectional shape) the projection tapers in the cross section from inside to outside. This has the advantage that a stable attachment of the projection is simplified and objects, such as branches or branches of trees next to the route, do not get caught on the projection and not hooked.

As the material for the projection, in particular according to the cross-sectional shape angled metal or plastic sheet profiles, e.g. Polypropylene or other polymers in question. Fiber-reinforced plastics are also well suited due to their strength and their low weight.

In particular, the material of the bar-shaped projection forms at least one outer wall extending in its longitudinal direction, which forms an interior of the

bar-shaped projection of the outer space of the projection and the

Railway vehicle delimits. Preferably, an elongated housing is formed in this way, wherein an interior or cavity of the bar-shaped

Projection in the longitudinal direction of the projection extends. It is preferred that the cavity without closed partition pass in different longitudinal sections from the one end region of the beam-shaped projection to the opposite end region of the beam-shaped projection. However, this does not exclude that different bar-shaped projections abut each other at their end regions. Alternatively, long, e.g. over several meters in the longitudinal direction

extending bar-shaped projections in each other be partitioned longitudinal sections. In the longitudinal direction continuous cavities, but also breakthroughs through bulkhead between separate longitudinal sections of the bar-shaped projection allow at least one connecting cable to the electrical and / or

signal conditioning connection of the sensor and / or signal transmitter in the longitudinal direction of the projection to lead (i.e., the at least one connecting line extends in the longitudinal direction). If a plurality of connection lines are present and / or a plurality of sensors and / or signal transmitters are arranged in the bar-shaped projection with at least part of their volume, the connection lines can be laid in the form of cable harnesses as a trunk group in the bar-shaped projection. For example, the bundle is at a single point of transition from the interior of the

bar-shaped projection led into the interior of the rail vehicle. In particular, the beam-shaped projection may extend along an outer circumferential line which, viewed from above, extends around the rail vehicle.

Preferably, the beam-shaped projection extends along from

Side walls of a rail car body and / or around a front area of the rail vehicle around. In the areas in which the bar-shaped projection is located, the projection rises in particular (eg in a horizontal direction) laterally, forwards or backwards (depending on the position of the area) from the outer surface of the vehicle. A longer beam-shaped projection has the advantage of providing space for sensors and / or transducers in different areas of the outer surface and, unlike a plurality of beam-shaped protrusions spaced apart, has fewer end portions against which objects may abut. It also offers the possibility of receiving connection lines of the sensors and / or signal transmitters over its entire longitudinal extension or at least a part thereof. Other devices of the rail vehicle, in particular guides for guiding the movement of doors, may be integrated in the projection.

In particular, the beam-shaped projection in the manner of a ring can be closed in itself around the rail vehicle. This makes it possible to arrange sensors and / or signal transmitters at arbitrary positions in the circumferential direction of the vehicle.

Preferably, the beam-shaped projection extends above an outside window or above outside windows of the rail vehicle. In the area above the windows, sensors have a good position for detecting the space outside the rail vehicle and have a signal generator good position for emitting signals. Also come people, for example when entering and exiting because of the high height of the area above windows not in contact with the projection.

Embodiments of the invention will now be described with reference to the accompanying drawings. The embodiments described with reference to the drawing contain only sensors. However, it is possible to replace at least one of the sensors by a signal generator and / or to arrange, in addition to the sensors, at least one signal generator at least partially in the bar-shaped projection. The individual figures of the drawing show: 1 is a simplified external view of a rail vehicle with a laterally encircling beam-shaped projection which extends above the outer windows of the rail vehicle and in which a plurality of sensors for detecting the outer space of the rail vehicle are arranged,

Fig. 2 is a view similar to that of Fig. 1, e.g. from the same

Rail vehicle as in FIG. 1, but from the opposite side or a representation of a similar rail vehicle,

Fig. 3 is a front view of a rail vehicle with one of the

Side walls of the rail vehicle around the front running around bar-shaped projection, are arranged in the sensors for detecting the vehicle exterior, and

Fig. 4 shows schematically a cross section through a car body of a

Railway vehicle, wherein the car body in the range of one

Sliding door has a bar-shaped projection which extends in the longitudinal direction of the car body and a guide for guiding a

Movement of the sliding door contains.

The rail vehicle 101 shown in FIG. 1 has a bar-shaped projection 80 extending above windows 121 in the side walls 1 13 of the vehicle 101 and also above windows 122 in the front region of the vehicle 101, into which a plurality of sensors 2, 105, 106 , 107 are integrated or at least integrated with part of their respective volumes. In the case of partial integration, a portion of the sensor may protrude outwardly of the beam-shaped projection and / or inwardly. In particular, the bar-shaped projection 80 (or a bar-shaped projection other than the one shown) may be recessed on the underside of the respective sensor or immediately laterally of the respective sensor in order to enable the sensor to detect areas outside the rail vehicle 101 in an obstacle-free manner. In the region of the vehicle 101 shown on the left in FIG. 1, which is oriented forwardly in the direction of travel, there is e.g. a sensor called as

Image forming device 2 is configured and are optionally further, not shown in Fig. 1 image forming devices of an imaging system for detecting a space area in the direction of travel in front of the vehicle 101st In the exemplary embodiment illustrated in FIG. 1, the beam-shaped projection 80 extends from the transition region shown on the right in FIG. 1 to an adjacent vehicle body of a vehicle or vehicle part coupled to the vehicle 101 along the longitudinal direction of the vehicle 101 on the side wall in front of the image 1 13 and then around the front of the vehicle 101st Preferably, as shown in Fig. 2, the beam-shaped projection 80 extends from the front area further against the longitudinal direction along the opposite side wall 1 13, which is shown in Fig. 2. Also in the portion of the beam-shaped projection 80 shown in FIG. 2 are sensors 105, 107 and 108 for detecting the outer space of the rail vehicle 101. In the front area shown in Fig. 2 in the direction of travel looking forward is another image forming device 5 of the imaging system. At the same time in the

Front area, but not in the foremost area of the front region arranged sensors 105 may be e.g. to act radar or ultrasonic sensors. The sensors 106, 107 and 108 disposed on the side walls 13 may be e.g. to act digital cameras that capture the area outside the vehicle when stopping at stops and in particular around the vehicle doors 102, 103 around.

The front portion of a rail vehicle 101 shown in Fig. 3, which may be the rail vehicle 101 of Fig. 1 and / or Fig. 2, also shows a beam-shaped projection 80 which extends around the front portion. There are four image forming devices 2-5 that are part of an imaging system. The four sensors 2-5 of the imaging system are in particular arranged side by side, preferably side by side in the horizontal direction. In this case, the first sensor 2 and the third sensor 4 are arranged directly next to one another and have the smallest possible (in particular zero) distance from one another. Here are the first

Image forming device 2 and the second image forming device 3, a first stereo pair 2, 3, which has a greater distance in horizontal means from each other than the third image forming device 4 and the fourth image forming means 5, forming a second stereo pair 4, 5. Each of the stereo pairs generates stereo image pairs, from which depth information on objects detected in the images can be determined.

The cross-section in FIG. 4 shows that a beam-shaped projection 80 can not only be used for the arrangement of sensors but can also contain a guide 1 17 for a vehicle door 102. The corresponding body 109 of the Rail vehicle 101 includes in the illustrated embodiment at the illustrated cross-sectional position only on one side of a sliding door 102. Alternatively, the car body can also on the opposite side of the same

Cross-sectional position have a sliding door. Such sliding doors 102 can be moved to open and close only in the straight direction. she

differ from conventional doors, e.g. be moved by an overlaying rotational movement from the closed position to the outside in an open position.

In summary, therefore, the use of a beam-shaped projection on the outer surface of a rail vehicle can be stated as follows: A

Bar-shaped projection can e.g. be present when sliding doors are used, which are not moved outward to open. In this case, the beam-shaped projection may have at least a part of the movement guide for moving the sliding door when opening and closing. Alternatively or additionally, the bar-shaped projection may contain connecting lines, in particular power supply lines and signal connections, via which the sensors, which are at least partially arranged in the bar-shaped projection, are connected to other devices of the

Rail vehicle such as transmission facilities and computer units are connected.

Claims

Rail vehicle (101) with a sensor (2-5, 105-108) for detecting a space outside the rail vehicle (101) and / or with a signal generator for outputting signals into the space outside the rail vehicle (101), wherein the rail vehicle ( 101) has on its outer surface a bar-shaped projection (80), in which at least a part of the sensor (2-5, 105-108) and / or a part of the signal generator is arranged.

The railroad vehicle of claim 1, wherein the beam-shaped projection (80) extends in a longitudinal direction that is the direction of the largest outer dimension of the beam-shaped projection (80), and wherein the longitudinal direction is transverse to the vertical direction along the outer surface of the rail vehicle (101).

Rail vehicle according to claim 1 or 2, wherein the bar-shaped

Protrusion extends along an outer peripheral line, which extends around the rail vehicle viewed from above, and wherein the bar-shaped

Protrusion extends around a front portion of the rail vehicle around.

Rail vehicle according to claim 1 or 2, wherein the bar-shaped

Protrusion (80) extends along an outer circumferential line, which, viewed from above, extends around the rail vehicle (101).

A rail vehicle according to claim 4, wherein said beam-shaped projection (80) extends closed around said rail vehicle (101).

A rail vehicle according to any one of claims 1 to 5, wherein the beam-shaped projection (80) extends above an outside window or above outside windows (121, 122) of the rail vehicle (101).

Method for producing a rail vehicle (101), wherein at one

Outer surface of the rail vehicle (101) is a bar-shaped projection (80) is formed and at least a part of a sensor (2-5, 105-108) for

Detecting a space outside the rail vehicle (101) and / or a Part of a signal generator for outputting signals in the space outside the rail vehicle (101) in the bar-shaped projection (80) is arranged.

The method of claim 7, wherein the beam-shaped projection (80) is disposed on the outer surface so as to extend in a longitudinal direction that is the direction of the largest outer dimension of the beam-shaped projection (80), and the longitudinal direction is transverse to the vertical Direction along the outer surface of the rail vehicle (101) extends.

9. The method of claim 7 or 8, wherein the beam-shaped projection (80) is arranged on the outer surface, that it along a

Extends outer circumference line, which extends around the rail vehicle (101) viewed from above, and that it is a front region of the

Rail vehicle extends around.

10. The method of claim 7 or 8, wherein the beam-shaped projection (80) is arranged on the outer surface, that it along a

Outer circumferential line extending around the rail vehicle (101) viewed from above.

1 1. The method of claim 10, wherein the beam-shaped projection (80) is disposed on the outer surface so as to be closed around the

Rail vehicle (101) extends around.

12. The method according to any one of claims 7 to 1 1, wherein the bar-shaped

Projection (80) above an outside window or above outer windows (121, 122) of the rail vehicle (101) is arranged.