EP2808224A1 - Installation for danger area monitoring of a railway machine - Google Patents
Installation for danger area monitoring of a railway machine Download PDFInfo
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- EP2808224A1 EP2808224A1 EP13169322.8A EP13169322A EP2808224A1 EP 2808224 A1 EP2808224 A1 EP 2808224A1 EP 13169322 A EP13169322 A EP 13169322A EP 2808224 A1 EP2808224 A1 EP 2808224A1
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- railway
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 43
- 238000009434 installation Methods 0.000 title claims description 13
- 238000001514 detection method Methods 0.000 claims abstract description 33
- 238000011156 evaluation Methods 0.000 claims abstract description 29
- 230000006870 function Effects 0.000 claims description 9
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000001454 recorded image Methods 0.000 claims description 2
- 238000002604 ultrasonography Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 239000000872 buffer Substances 0.000 description 2
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- 238000010276 construction Methods 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012806 monitoring device Methods 0.000 description 2
- 230000035515 penetration Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000004069 differentiation Effects 0.000 description 1
- 238000007598 dipping method Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
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- 238000010408 sweeping Methods 0.000 description 1
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- 230000001960 triggered effect Effects 0.000 description 1
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Classifications
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- 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 invention relates to a system for monitoring the danger zone of a railway machine with a detection device for detecting objects located in a surveillance area, in particular for monitoring indirectly accessible areas, with an evaluation device which controls a collision warning device as a function of the data recorded by the detection device, if at least one object enters a danger zone of the railway machine.
- Railway maintenance machines serve, for example, to plow, level, profile, take up, temporarily store, cram, reload and relocate the ballast of tracks.
- Such machines of various types in particular a defined gravel profile to be produced.
- the machines In order to produce the gravel profile, the machines travel up and down the track, with the driver's cab usually not being changed. If the machine travels backwards without the operator changing the driver's cab, its rearward vision is considerably reduced, which can result in fatal injuries to track workers that are overlooked when reversing. For this reason, rear-room monitoring systems are mandatory for railway maintenance machines.
- such systems are also used in two-way rail vehicles and in construction machines of conventional design, such as excavators, push crawlers or trucks, etc.
- Known systems for monitoring the rear of rail vehicles use video cameras, which display to the machine operator the rear space, ie the only indirectly visible area, via a monitor.
- the video cameras can only represent a limited shooting angle.
- the quality of the presentation depends on the lighting conditions.
- there are video cameras with ultrasound transmitters combining systems the ultrasonic lobes sweeping the back space to a distance of about 9m. This area can be subdivided into a pre-warning zone and a collision zone.
- objects of a size> 7cm can be detected. If an obstacle is detected, an acoustic warning is issued.
- the ultrasound technique is wind-sensitive and prone to failure. So the detection range shifts with strong side winds.
- a defined boundary line is designated, which is determined for the vertical transverse plane of a route.
- the clearance gauge in particular that clearance is prescribed, which is to be kept clear of obstacles on the infrastructure or whose boundary may not be penetrated by the vehicle or its attachments.
- the clearance gauge thus also serves as the default for the design of vehicles, since they must always remain within the clearance profile even in curves.
- the known systems are designed for maximum travel speeds of 5km / h.
- the braking distance is at speeds of 5 km / h up to 4m. Therefore, a danger zone of 5m is assumed.
- the monitoring systems are deactivated. None of the existing systems can currently adapt the monitoring area to the track features, e.g. Dynamically adjust (for example pivot) when working or driving in the track curve.
- the surveillance area should be dynamically changeable, depending on the track layout.
- the system should optionally have the possibility of object tracking.
- it should be possible to extend the surveillance area at higher speeds.
- the invention achieves this object by the fact that the evaluation device detects the position and course of the rails at least in the monitoring area from the data recorded by the detection device, that the evaluation device assigns the rails a clearance profile, in particular the clearance profile of the railway machine, which surrounds the monitoring area around the rail track preferably dynamically limited and that the evaluation device, the location of objects in the surveillance area recorded and sends a message when entering at least one object in the danger area.
- object tracking which object tracking detects whether the detected object is moving in the direction of the danger zone or not.
- the evaluation device detects the position and the course of the rails at least in the surveillance area from the recorded data of the detection device.
- a digital rail profile is created, over which the gauge of the railway machine is clamped.
- the clearance profile can also be extended accordingly.
- the clearance profile preferably limits the monitoring area around the rail track dynamically, which means that the extent of the monitoring area in the rail longitudinal direction and optionally also the extent of the clearance profile is dynamically limited depending on, for example, the driving speed.
- the evaluation unit detects the position of objects in the surveillance area, which have a certain minimum size and sets at a penetration of the object in the danger area, ie that area within which can still be braked safely, a message. This message can be a warning signal or trigger brakes and possibly trigger a control that ensures a secure stop the railway machine.
- the detection device comprises at least one sensor movable with the railway machine along the path to be monitored, in particular a laser scanner and / or a PMD sensor, for detecting objects located in the monitoring area.
- Sensors are laser scanners and / or PMD sensors particularly well suited for this purpose, since they can achieve a high level of safety with you.
- Laser scanners scan the track areas three-dimensionally. Objects and their distances can be recorded very precisely by these laser scanners.
- the laser scanner data with the data of a PMD sensor, that is to say a photo mixing detector camera, with which the data of the two detection sensors, the laser scanner and the PAD sensor may be superimposed can also be used to capture objects redundantly.
- the number of these sensors is chosen as required. In particular, one sensor each could offer for a long-range and a short-range.
- the detection device may comprise at least one additional video camera for the visual display of the surveillance area on a surveillance monitor, wherein the evaluation device preferably filters out and emphasizes the at least one object penetrating into the danger area from the image signal of the video camera.
- the detection device may comprise at least one second sensor movable with the railway machine along the path to be monitored, in particular a laser scanner or a PMD sensor, for detecting objects located directly in front of the railroad machine.
- the surveillance area next to the danger area may have at least one prewarning area in between. If necessary, reaction times can be reduced by this measure.
- the driving speed can already be reduced in advance or a readiness for braking can be established.
- the profile for detecting obstacles in the work area may be extended beyond the standard rail space profile by work equipment associated with the railroad machine. This is particularly important in work machines because the work plows, for example, have a working range that exceeds the distance of the trolley masts or signal controllers. The operator could be warned in this case from these obstacles when the system according to the invention is constructed on the working device. Since the machine can perform kinking, swaying, dipping or looping movements and the like via the suspensions of the drives, this would change the monitored area with fixed installation of the monitoring devices. If the rails are spatially included as a reference, then these factors can be computationally compensated. This is done for example by corresponding known coordinate transformation of the train coordinate system of the machine and the track coordinate system defined by the detected geometric position of the rails.
- the evaluation device can store the image data relating to the light space together with position data in a memory for documenting the positions of obstacles and for detecting obstacles for a railway infrastructure plan.
- the movement direction velocity of objects in the surveillance area is calculated in particular by the evaluation device from a sequence of recorded images.
- the monitoring area 3 is subdivided into three zones, namely the monitoring area 3 itself with the longest extent, the warning area 4 with shortened extension and the danger area 5 with a further shortened extension.
- Such a system is used to monitor indirectly visible areas, which means in particular that the railway machine is equipped with two driver's stands and each rear-side area behind the driverless cab can not be viewed directly.
- the system comprises an evaluation device 6 which activates a collision warning device as a function of the data recorded by the detection device 2 when at least one object enters the danger zone 5 of the railroad machines 1.
- the evaluation device 6 detects the position and the course of the rails 7 at least in the monitoring area 3 from the data recorded by the detection device 2. Subsequently, the evaluation device 6 assigns the rails a clearance space 8, which preferably limits the monitoring area 3 around the rail track dynamically. In addition, the evaluation device 6 detects the position of objects in the monitoring area 3 and sets at penetration of at least one object in the danger area 5 from a corresponding message.
- the detection device 2 comprises at least one sensor movable with the railway machine along the path to be monitored, a laser scanner and / or a PMD sensor for detecting objects located in the surveillance area.
- a reference mark 9 for monitoring the function of the detection device is arranged on the edge of the monitored danger zone on the railway machine 1. In Fig. 1 is indicated that the detection range 10 of the detection device 2 is considerably larger or can be than the actual clearance space 8. The lying outside of the clearance space profile 8 areas are preferably hidden in the further calculation.
- Fig. 1 can be taken that, for example, a laser scanner is attached to a machine side.
- the reference mark 9 is arranged on the opposite side of the machine. For each measurement cycle of the scanner, the latter also scans via the reference mark 9, which is recorded when the system is put into operation and its position and shape are stored in the system. If the reference mark 9 is not recognized during operation, then an error message is issued, whereby the function of the scanner can be constantly checked in a simple manner.
- the rails can also be considered as reference marks and used to check the scanner. By means of the position of the rails thus measured, the envelope of the danger zone relative to the vehicle, the respective clearance profile, is determined, calculated and monitored. This has the advantage that even in track arcs there are no blind spots and unmonitored areas. Any obstacles, such as masts and signals, are detected and used to control the monitoring of individual railway machinery attachments, such as plowing equipment or the like. A targeted automatically controlled avoiding these obstacles is thus possible.
- Fig. 2 the railway machine is shown in side view.
- a laser scanner is shown as part of the detection device, which can also be oscillated up and down via a stepping motor. This laser scanner volumetrically detects the space via a detection cone 12.
- another scanner is provided above the buffers 11, monitored in the illustrated embodiment, the near area in front of the machine. But it could be pivoted about a horizontal axis to be used for long-range surveillance.
- a static 3D camera a PMD sensor (for detecting obstacles) can be used.
- Fig. 3 schematically shows various danger areas of various attachments of a railway machine, in particular different plowing devices 13, which naturally often protrude beyond the standard clear space profile.
- a front plow 13 can be cultivated on railroad machines 1 on the front side, which pushes the ballast out of the track center to the outside or, in terms of height, pulls it off.
- the gravel can be leveled on the flank or pulled up and deposited towards the track center.
- the flank plow 13 ' can be continuously adjusted in its inclination and in its range. Its range is so large that power pylons and other obstacles are within its reach. If the operator is inattentive, the side plow may damage the machine or the equipment in the track.
- the forward scan may use the scanning device in the direction of travel to detect the obstacles and to warn and control the plow.
- Behind the flank plow 13 ' is usually a grading plow 13 "arranged, which can plow laterally upstream gravel in the track center or the other side.Dynamic depending on the danger zone of the plow and the work situation, the clearance profile, which is to be monitored, dynamically selected or changed (ie in its transverse and longitudinal extent relative to the rail track).
- Fig. 4 the railway machine is represented with its local coordinate system xm, ym and zm. Also indicated are possible possible movements of the machine due to the suspension of the drives, for example nodding, Rolling, diving or rotating.
- the local coordinate system xs, ys and zs of the track is drawn.
- the xs coordinate is calculated from the measured longitudinal inclination of the non-inflated rail.
- the ys coordinate is defined and calculated over the course of the over-elevated rail.
- the zs coordinate is calculated perpendicular to the xs coordinate and ys coordinate.
- Fig. 5 shows a functional diagram of a system according to the invention.
- the evaluation device 6 is shown, to which evaluation device 6 various devices are connected for evaluation and monitoring. These would be in particular a display or a screen 21, at least one scanner or a 3D camera 22, optical external warning displays 23, acoustic goods providers inside 25, acoustic goods outside suppliers 26, a stop signal to the machine 27, encoder 28, input devices 29, a System bus 30, and a visual warning indicator inside 33 and a video camera front 34 and rear 36.
- the railway machine 1 off Fig. 6 is equipped with two driver's stands 35 and 36.
- the monitoring device can also be used to detect obstacles such as masts 37 and signals 38, so that they are not damaged in deflected work tools.
- the operator drives in the direct viewing direction, ie in the drawing to the left, then, if the rear space monitoring in the direction of travel is active, the working space can be monitored for obstacles with the scanner. Since the operator in addition to the position of the various plows and the ballast structure and the like. To monitor, it happens in practice again and again, the obstacles are overlooked. Just this should be prevented secured with the invention.
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Abstract
Es wird eine Anlage zur Gefahrenbereichsüberwachung einer Eisenbahnmaschine mit einer Erfassungseinrichtung zum Erkennen von in einem Überwachungsbereich befindlichen Objekten vorgeschlagen, insbesondere zur Überwachung mittelbar einsehbarer Bereiche, mit einer Auswerteeinrichtung welche eine Kollisionswarneinrichtung in Abhängigkeit der von der Erfassungseinrichtung aufgenommenen Daten ansteuert, wenn wenigstens ein Objekt in einen Gefahrenbereich der Eisenbahnmaschine eindringt. Zur Realisierung einer hohen Sicherheitsstufe wird vorgeschlagen, dass die Auswerteeinrichtung die Lage und den Verlauf der Schienen wenigstens im Überwachungsbereich aus den von der Erfassungseinrichtung aufgenommenen Daten erfasst, dass die Auswerteeinrichtung den Schienen ein Lichtraumprofil, insbesondere das Lichtraumprofil der Eisenbahnmaschine zuordnet, welches den Überwachungsbereich um den Schienenstrang vorzugsweise dynamisch begrenzt und dass die Auswerteeinrichtung die Lage von Objekten im Überwachungsbereich erfasst und bei Eindringen wenigstens eines Objektes in den Gefahrenbereich eine Meldung absetzt.The invention relates to a system for monitoring the danger zone of a railway machine with a detection device for detecting objects located in a surveillance area, in particular for monitoring areas that are indirectly visible, with an evaluation device which activates a collision warning device as a function of the data recorded by the detection device, if at least one object in one Danger zone of the railway machine penetrates. To realize a high security level, it is proposed that the evaluation device detects the position and course of the rails at least in the monitoring area from the data recorded by the detection device, that the evaluation device assigns the rails a clearance profile, in particular the gauge of the railway machine, which surrounds the surveillance area Rail track preferably dynamically limited and that the evaluation detects the location of objects in the surveillance area and sends a message when entering at least one object in the danger area.
Description
Die Erfindung bezieht sich auf eine Anlage zur Gefahrenbereichsüberwachung einer Eisenbahnmaschine mit einer Erfassungseinrichtung zum Erkennen von in einem Überwachungsbereich befindlichen Objekten, insbesondere zur Überwachung mittelbar einsehbarer Bereiche, mit einer Auswerteeinrichtung welche eine Kollisionswarneinrichtung in Abhängigkeit der von der Erfassungseinrichtung aufgenommenen Daten ansteuert, wenn wenigstens ein Objekt in einen Gefahrenbereich der Eisenbahnmaschine eindringt.The invention relates to a system for monitoring the danger zone of a railway machine with a detection device for detecting objects located in a surveillance area, in particular for monitoring indirectly accessible areas, with an evaluation device which controls a collision warning device as a function of the data recorded by the detection device, if at least one object enters a danger zone of the railway machine.
Eisenbahninstandhaltungsmaschinen dienen beispielsweise dazu den Schotter von Gleisen zu pflügen, einzuebnen, zu profilieren, aufzunehmen, zwischenzuspeichern, zu stopfen, wiederabzulagern und umzulagern. Mit derartigen Maschinen verschiedenster Bauarten soll insbesondere ein definiertes Schotterprofil hergestellt werden. Um das Schotterprofil herzustellen fahren die Maschinen das Gleis auf und ab, wobei im Regelfall der Führerstand der Maschine nicht gewechselt wird. Fährt die Maschine rückwärts ohne dass der Maschinenführer den Führerstand wechselt, dann ist seine Sicht nach hinten erheblich eingeschränkt, was tödlichen Verletzungen von Gleisarbeitern zur Folge haben kann, die beim Rückwärtsfahren übersehen werden. Aus diesem Grunde sind Rückraumüberwachungssysteme bei Eisenbahninstandhaltungsmaschinen zwingend vorgeschrieben. Zum Einsatz kommen solche Systeme aber auch bei Zwei-Wege-Schienenfahrzeugen sowie bei Baumaschinen konventioneller Bauart, wie Baggern, Schubraupen oder Lastwagen etc.Railway maintenance machines serve, for example, to plow, level, profile, take up, temporarily store, cram, reload and relocate the ballast of tracks. With such machines of various types in particular a defined gravel profile to be produced. In order to produce the gravel profile, the machines travel up and down the track, with the driver's cab usually not being changed. If the machine travels backwards without the operator changing the driver's cab, its rearward vision is considerably reduced, which can result in fatal injuries to track workers that are overlooked when reversing. For this reason, rear-room monitoring systems are mandatory for railway maintenance machines. However, such systems are also used in two-way rail vehicles and in construction machines of conventional design, such as excavators, push crawlers or trucks, etc.
Bekannte Anlagen zur Rückraumüberwachung bei Schienenfahrzeugen nutzen Videokameras, die dem Maschinenführer den Rückraum, also den nur mittelbar einsehbaren Bereich, über einen Monitor anzeigen. Allerdings können die Videokameras nur einen begrenzten Aufnahmewinkel darstellen. Zudem ist die Qualität der Darstellung von den Beleuchtungsverhältnissen abhängig. Des Weiteren gibt es Videokameras mit Ultraschallsendern kombinierende Systeme, wobei die Ultraschallkeulen den Rückraum bis zu einer Entfernung von ca. 9m überstreichen. Dieser Bereich kann in eine Vorwarnzone und eine Kollisionszone untergeteilt werden. Im überwachten Bereich können Objekte einer Größe > 7cm erkannt werden. Wird ein Hindernis erkannt erfolgt eine akustische Warnung. Die Ultraschalltechnik ist aber windempfindlich und störanfällig. So verschiebt sich der Erfassungsbereich bei starken Seitenwinden. Eine derartige Anlage erfasst alle im Erfassungsbereich befindlichen Gegenstände ohne Differenzierung und dies zudem sehr ungenau, wodurch der Maschinenführer viele Fehlermeldungen bekommt (Blätter, Schotterhaufen etc.). Fehlsignale werden beispielsweise durch im Bereich der Ultraschallfrequenz gesendete Töne von anderen Einrichtungen, wie Rollgeräuschen oder Ventilgeräuschen ausgelöst. Die bekannten Anlagen weisen einen starren Überwachungsbereich auf, was zur Folge hat, dass der Überwachungsbereich der Anlage bei in einer Kurve stehender Maschine auf der Kurvenäußeren Seite aus dem Standardlichtraumprofil des Gleises seitlich hinaus ragt, während er auf der kurveninneren Seite den Lichtraumprofilrand nicht mehr erreicht und Teile des Gefahrenbereiches nicht erfasst. Die Anwendung dieser Technik ist daher auf Fahrgeschwindigkeiten von bis zu 5 km/h begrenzt.Known systems for monitoring the rear of rail vehicles use video cameras, which display to the machine operator the rear space, ie the only indirectly visible area, via a monitor. However, the video cameras can only represent a limited shooting angle. In addition, the quality of the presentation depends on the lighting conditions. Of Furthermore, there are video cameras with ultrasound transmitters combining systems, the ultrasonic lobes sweeping the back space to a distance of about 9m. This area can be subdivided into a pre-warning zone and a collision zone. In the monitored area objects of a size> 7cm can be detected. If an obstacle is detected, an acoustic warning is issued. The ultrasound technique is wind-sensitive and prone to failure. So the detection range shifts with strong side winds. Such a system detects all objects in the detection area without differentiation and this also very inaccurate, causing the machine operator gets many error messages (leaves, gravel piles, etc.). False signals are triggered, for example, by sounds transmitted in the range of the ultrasonic frequency from other devices, such as rolling noise or valve noise. The known systems have a rigid monitoring area, with the result that the monitoring area of the system stands in a curve machine on the outside of the curve from the standard clear space profile of the track laterally out, while he no longer reached on the inside of the curve the gauge section edge and Parts of the danger area are not detected. The application of this technique is therefore limited to travel speeds of up to 5 km / h.
Als Lichtraumprofil wird eine definierte Umgrenzungslinie bezeichnet, die für die senkrechte Querebene eines Fahrweges bestimmt wird. Mit dem Lichtraumprofil wird insbesondere jener Freiraum vorgeschrieben, der auf dem Fahrweg von Hindernissen freizuhalten ist bzw. dessen Umgrenzung vom Fahrzeug oder seinen Anbauten nicht durchragt werden darf. Das Lichtraumprofil dient also auch der Vorgabe für die Bemessung von Fahrzeugen, da diese auch in Kurven stets innerhalb des Lichtraumprofils bleiben müssen.As a clearance profile a defined boundary line is designated, which is determined for the vertical transverse plane of a route. With the clearance gauge, in particular that clearance is prescribed, which is to be kept clear of obstacles on the infrastructure or whose boundary may not be penetrated by the vehicle or its attachments. The clearance gauge thus also serves as the default for the design of vehicles, since they must always remain within the clearance profile even in curves.
Ebenfalls bekannt ist der Einsatz von Radargeräten, die eine ähnliche Problematik wie Ultraschallgeräte aufweisen. Außerdem arbeiten diese nur eingeschränkt auf kurzen Distanzen (<0,8 m). Stand der Technik sind auch Stereovisionssysteme die über Bilderkennung Hindernisse im Überwachungsbereich erkennen. Diese sind allerdings nur im Nahbereich zuverlässig und dienen zur Überwachung von Nahbereichen vor allem während des Maschinenstarts.Also known is the use of radar devices that have a similar problem as ultrasound devices. In addition, they work only to a limited extent at short distances (<0.8 m). State of the art are also stereo vision systems over the image detection obstacles in the surveillance area detect. However, these are only reliable in the vicinity and serve to monitor near areas, especially during machine startup.
Die meisten vorhandenen Systeme sind derzeit nicht für erhöhte Sicherheitsanforderungsstufen erhältlich. Bei Bildauswertungssystemen ist eine Erreichung einer hohen Sicherheitsanforderungsstufe zwar prinzipiell möglich aber aus Kostengründen nicht praktikabel weil die Sicherheitsbetrachtungen auch die Zuverlässigkeit und Sicherheit der Software einschließen.Most existing systems are currently not available for increased security requirement levels. In image evaluation systems, achieving a high security requirement level is in principle possible but not feasible for cost reasons because the security considerations also include the reliability and security of the software.
Die bekannten Systeme sind für maximale Fahrgeschwindigkeiten von 5km/h ausgelegt. Der Bremsweg beträgt bei Geschwindigkeiten von 5 km/h bis zu 4m. Daher wird von einem Gefahrenbereich von 5m ausgegangen. Bei Fahrgeschwindigkeiten von mehr als 5km/h werden die Überwachungssysteme inaktiv geschaltet. Keines der vorhandenen Systeme kann den Überwachungsbereich derzeit an die Gleisbesonderheiten z.B. beim Arbeiten oder der Fahrt im Gleisbogen dynamisch anpassen (z.B. mitschwenken).The known systems are designed for maximum travel speeds of 5km / h. The braking distance is at speeds of 5 km / h up to 4m. Therefore, a danger zone of 5m is assumed. At driving speeds of more than 5km / h, the monitoring systems are deactivated. None of the existing systems can currently adapt the monitoring area to the track features, e.g. Dynamically adjust (for example pivot) when working or driving in the track curve.
Aufgabe der Erfindung ist es eine Anlage der vorgeschilderten Art so weiterzubilden, dass mit verhältnismäßig einfachen Mitteln eine möglichst hohe Sicherheitsanforderungsstufe (SIL=1) erreicht werden kann. Zudem soll der Überwachungsbereich, abhängig vom Gleisverlauf, dynamisch veränderbar sein. Die Anlage soll optional die Möglichkeit der Objektverfolgung aufweisen. Außerdem soll die Möglichkeit bestehen den Überwachungsbereich bei höheren Fahrgeschwindigkeiten auszudehnen.The object of the invention is to develop a system of the type described above so that with relatively simple means the highest possible safety requirement level (SIL = 1) can be achieved. In addition, the surveillance area should be dynamically changeable, depending on the track layout. The system should optionally have the possibility of object tracking. In addition, it should be possible to extend the surveillance area at higher speeds.
Die Erfindung löst diese Aufgabe dadurch, dass die Auswerteeinrichtung die Lage und den Verlauf der Schienen wenigstens im Überwachungsbereich aus den von der Erfassungseinrichtung aufgenommenen Daten erfasst, dass die Auswerteeinrichtung den Schienen ein Lichtraumprofil, insbesondere das Lichtraumprofil der Eisenbahnmaschine zuordnet, welches den Überwachungsbereich um den Schienenstrang vorzugsweise dynamisch begrenzt und dass die Auswerteeinrichtung die Lage von Objekten im Überwachungsbereich erfasst und bei Eindringen wenigstens eines Objektes in den Gefahrenbereich eine Meldung absetzt.The invention achieves this object by the fact that the evaluation device detects the position and course of the rails at least in the monitoring area from the data recorded by the detection device, that the evaluation device assigns the rails a clearance profile, in particular the clearance profile of the railway machine, which surrounds the monitoring area around the rail track preferably dynamically limited and that the evaluation device, the location of objects in the surveillance area recorded and sends a message when entering at least one object in the danger area.
Mit der Erfindung kann ein System geschaffen werden, welches eine hohe Sicherheitsanforderungsstufe von mindestens SIL = 1 erlaubt und das zusätzlich seinen Überwachungsbereich, abhängig von den Gleiserfordernissen, dynamisch verändern kann. Zudem besteht die Möglichkeit, eine derartige Anlage mit einer Objektverfolgung auszustatten, welche Objektverfolgung erkennt, ob sich das erkannte Objekt in Richtung Gefahrenbereich bewegt oder nicht. Erreicht wird dies dadurch, dass die Auswerteeinrichtung die Lage und den Verlauf der Schienen wenigstens im Überwachungsbereich aus den aufgenommenen Daten der Erfassungseinrichtung erfasst. Es wird somit ein digitales Schienenprofil erstellt, über welches das Lichtraumprofil der Eisenbahnmaschine aufgespannt wird. Zur Ausdehnung des Überwachungsbereichs kann das Lichtraumprofil aber auch entsprechend ausgeweitet sein. Zudem begrenzt das Lichtraumprofil den Überwachungsbereich um den Schienenstrang vorzugsweise dynamisch, was bedeutet, dass die Ausdehnung des Überwachungsbereichs in Schienenlängsrichtung und gegebenenfalls auch die Ausdehnung des Lichtraumprofils in Abhängigkeit beispielsweise der Fahrgeschwindigkeit dynamisch begrenzt ist. Die Auswerteeinheit erfasst die Lage von Objekten im Überwachungsbereich, die eine gewisse Mindestgröße aufweisen und setzt bei einem Eindringen des Objekts in den Gefahrenbereich, also jenem Bereich innerhalb dem noch sicher abgebremst werden kann, eine Meldung ab. Diese Meldung kann Warnsignal sein oder Bremsen auslösen und gegebenenfalls eine Steuerung auslösen, die für ein gesichertes Anhalten der Eisenbahnmaschine sorgt.With the invention, a system can be provided which permits a high safety requirement level of at least SIL = 1 and which, in addition, can dynamically change its monitoring area, depending on the track requirements. In addition, it is possible to equip such a system with an object tracking, which object tracking detects whether the detected object is moving in the direction of the danger zone or not. This is achieved in that the evaluation device detects the position and the course of the rails at least in the surveillance area from the recorded data of the detection device. Thus, a digital rail profile is created, over which the gauge of the railway machine is clamped. However, to extend the monitoring range, the clearance profile can also be extended accordingly. In addition, the clearance profile preferably limits the monitoring area around the rail track dynamically, which means that the extent of the monitoring area in the rail longitudinal direction and optionally also the extent of the clearance profile is dynamically limited depending on, for example, the driving speed. The evaluation unit detects the position of objects in the surveillance area, which have a certain minimum size and sets at a penetration of the object in the danger area, ie that area within which can still be braked safely, a message. This message can be a warning signal or trigger brakes and possibly trigger a control that ensures a secure stop the railway machine.
Einfache und sichere Konstruktionsverhältnisse ergeben sich, wenn die Erfassungseinrichtung wenigstens einen mit der Eisenbahnmaschine entlang des zu überwachenden Weges verfahrbaren Sensor, insbesondere einen Laserscanner und/oder einen PMD-Sensor, zum Erkennen von im Überwachungsbereich befindlichen Objekten umfasst. Im Gegensatz zu den bislang verwendeten Sensoren sind Laserscanner und/oder PMD-Sensoren zu diesem Zweck besonders gut geeignet, da sich mit Ihnen ein hohes Sicherheitsniveau erzielen lässt. Laserscanner scannen die Gleisbereiche dreidimensional ab. Objekte und deren Entfernungen können von diesen Laserscannern besonders exakt aufgenommen werden. Zur Verbesserung der Darstellungsqualität, insbesondere für einen Maschinenführer auf einem Bildschirm, kann es von Vorteil sein, den Laserscannerdaten die Daten eines PMD-Sensors, also einer Fotomischdetektorkamera zuzuordnen, womit die Daten der beiden Erfassungssensoren, des Laserscanners und des PAD-Sensors gegebenenfalls überlagert werden können, um Objekte auch Redundant zu erfassen. Die Anzahl dieser Sensoren wird je nach Erfordernis beliebig gewählt. Insbesondere könnte sich je ein Sensor für einen Fernbereich und einen Nahbereich anbieten.Simple and reliable construction conditions result if the detection device comprises at least one sensor movable with the railway machine along the path to be monitored, in particular a laser scanner and / or a PMD sensor, for detecting objects located in the monitoring area. Unlike the ones used so far Sensors are laser scanners and / or PMD sensors particularly well suited for this purpose, since they can achieve a high level of safety with you. Laser scanners scan the track areas three-dimensionally. Objects and their distances can be recorded very precisely by these laser scanners. To improve the quality of presentation, in particular for a machine operator on a screen, it may be advantageous to associate the laser scanner data with the data of a PMD sensor, that is to say a photo mixing detector camera, with which the data of the two detection sensors, the laser scanner and the PAD sensor may be superimposed can also be used to capture objects redundantly. The number of these sensors is chosen as required. In particular, one sensor each could offer for a long-range and a short-range.
Um eine gesicherte Funktionsüberwachung der Erfassungseinrichtung bereitstellen zu können besteht die Möglichkeit am Rand des überwachten Gefahrenbereiches eine an der Eisenbahnmaschine angeordnete Referenzmarke vorzusehen. Wird diese Referenzmarke von der Erfassungseinrichtung nicht mehr aufgenommen, ist auch die ordnungsgemäße Funktion der Erfassungseinrichtung nicht mehr gewährleistet.In order to be able to provide reliable monitoring of the function of the detection device, it is possible to provide a reference mark arranged on the railroad machine at the edge of the monitored danger zone. If this reference mark is no longer recorded by the detection device, the proper function of the detection device is no longer ensured.
Insbesondere kann die Erfassungseinrichtung wenigstens auch eine zusätzliche Videokamera zur visuellen Darstellung des Überwachungsbereiches auf einem Überwachungsmonitor umfassen, wobei die Auswerteeinrichtung das wenigstens eine in den Gefahrenbereich eindringende Objekt vorzugsweise aus dem Bildsignal der Videokamera herausfiltert und hervorhebt. Zudem kann die Erfassungseinrichtung wenigstens einen zweiten mit der Eisenbahnmaschine entlang des zu überwachenden Weges verfahrbaren Sensor, insbesondere einen Laserscanner oder einen PMD-Sensor, zum Erkennen von unmittelbar vor der Eisenbahnmaschine befindlichen Objekten umfassen. Zur Sicherheitssteigerung kann der Überwachungsbereich neben dem Gefahrenbereich mindestens einen dazwischen liegenden Vorwarnbereich aufweisen. Durch diese Maßnahme lassen sich gegebenenfalls Reaktionszeiten verringern. So kann unter Umständen bereits vorab die Fahrgeschwindigkeit reduziert werden bzw. eine Bremsbereitschaft hergestellt werden.In particular, the detection device may comprise at least one additional video camera for the visual display of the surveillance area on a surveillance monitor, wherein the evaluation device preferably filters out and emphasizes the at least one object penetrating into the danger area from the image signal of the video camera. In addition, the detection device may comprise at least one second sensor movable with the railway machine along the path to be monitored, in particular a laser scanner or a PMD sensor, for detecting objects located directly in front of the railroad machine. To increase security, the surveillance area next to the danger area may have at least one prewarning area in between. If necessary, reaction times can be reduced by this measure. Thus, under certain circumstances, the driving speed can already be reduced in advance or a readiness for braking can be established.
Wie bereits erwähnt, kann das Profil zur Erfassung von Hindernissen im Arbeitsbereich von der Eisenbahnmaschine zugeordneten Arbeitseinrichtungen über das Eisenbahnstandardlichtraumprofil hinaus ausgedehnt sein. Dies ist bei Arbeitsmaschinen insbesondere wichtig, da die Arbeitspflüge zum Beispiel einen Arbeitsbereich aufweisen, der über den Abstand der Oberleitungsmasten oder der Signalsteuereinrichtungen hinausgeht. Der Maschinenführer könnte in diesem Fall vor diesen Hindernissen gewarnt werden, wenn das erfindungsgemäße System an der Arbeitseinrichtung aufgebaut ist. Da die Maschine über die Federungen der Laufwerke Knick-, Schwank-, Tauch- oder Schlingenbewegungen und dgl. ausführen kann, würde sich damit der überwachte Bereich bei fester Installation der Überwachungsgeräte ändern. Werden die Schienen als Referenz räumlich miterfasst, dann können diese Faktoren rechnerisch kompensiert werden. Dies geschieht beispielsweise durch entsprechende bekannte Koordinatentransformation des Zugkoordinatensystems der Maschine und des Gleiskoordinatensystems definiert durch die erfasste geometrische Lage der Schienen.As already mentioned, the profile for detecting obstacles in the work area may be extended beyond the standard rail space profile by work equipment associated with the railroad machine. This is particularly important in work machines because the work plows, for example, have a working range that exceeds the distance of the trolley masts or signal controllers. The operator could be warned in this case from these obstacles when the system according to the invention is constructed on the working device. Since the machine can perform kinking, swaying, dipping or looping movements and the like via the suspensions of the drives, this would change the monitored area with fixed installation of the monitoring devices. If the rails are spatially included as a reference, then these factors can be computationally compensated. This is done for example by corresponding known coordinate transformation of the train coordinate system of the machine and the track coordinate system defined by the detected geometric position of the rails.
Die Auswerteeinrichtung kann die den Lichtraum betreffenden Bilddaten zusammen mit Positionsdaten in einen Speicher zur Dokumentation der Positionen von Hindernissen und zur Erfassung von Hindernissen für einen Eisenbahninfrastrukturplan ablegen. Die Bewegungsrichtungsgeschwindigkeit von Objekten im Überwachungsbereich wird insbesondere von der Auswerteeinrichtung aus einer Folge aufgenommener Bilder errechnet.The evaluation device can store the image data relating to the light space together with position data in a memory for documenting the positions of obstacles and for detecting obstacles for a railway infrastructure plan. The movement direction velocity of objects in the surveillance area is calculated in particular by the evaluation device from a sequence of recorded images.
In der Zeichnung ist die Erfindung anhand eines Ausführungsbeispiels schematisch dargestellt. Es zeigen
-
Fig. 1 eine schematische Darstellung einer vor einem Gleisbogen stehenden Eisenbahnmaschine in Draufsicht, -
Fig. 2 eine Eisenbahnmaschine ausFig. 1 mit vergrößerter ausschnittweiser Seitenansicht, -
Fig. 3 eine Draufsicht auf eine alternative Eisenbahnmaschine, -
Fig. 4 eine schematische Eisenbahnmaschine in Schrägansicht vor einem Gleisbogen, -
Fig. 5 ein Schaltbild einer erfindungsgemäßen Anlage und -
Fig. 6 eine weitere Draufsicht auf eine erfindungsgemäße Eisenbahnmaschine.
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Fig. 1 a schematic representation of a standing in front of a track bend railway machine in plan view, -
Fig. 2 a railway machineFig. 1 with enlarged fragmentary side view, -
Fig. 3 a top view of an alternative railroad machine, -
Fig. 4 a schematic railway machine in an oblique view in front of a curved track, -
Fig. 5 a diagram of a system according to the invention and -
Fig. 6 a further plan view of a railway machine according to the invention.
Es wird in Anlage zur Gefahrenbereichsüberwachung einer Eisenbahnmaschine 1 mit einer Erfassungseinrichtung 2 zum Erkennen von in einem Überwachungsbereich 3 befindlichen Objekten vorgeschlagen. Der Überwachungsbereich 3 ist in drei Zonen, nämlich den Überwachungsbereich 3 selbst mit der längsten Ausdehnung, den Vorwarnbereich 4 mit verkürzter Ausdehnung und den Gefahrenbereich 5 mit nochmals verkürzter Ausdehnung unterteilt. Eine derartige Anlage dient zur Überwachung mittelbar einsehbarer Bereiche, was insbesondere bedeutet, dass die Eisenbahnmaschine mit zwei Führerständen ausgestattet ist und der jeweils rückfahrseitige Bereich hinter dem führerlosen Führerstand nicht unmittelbar eingesehen werden kann. Die Anlage umfasst eine Auswerteeinrichtung 6 welche eine Kollisionswarneinrichtung in Abhängigkeit der von der Erfassungseinrichtung 2 aufgenommenen Daten ansteuert, wenn wenigstens ein Objekt in den Gefahrenbereich 5 der Eisenbahnmaschinen 1 eindringt. Dazu erfasst die Auswerteeinrichtung 6 die Lage und den Verlauf der Schienen 7 wenigstens im Überwachungsbereich 3 aus den von der Erfassungseinrichtung 2 aufgenommenen Daten. In weiterer Folge ordnet die Auswerteeinrichtung 6 den Schienen ein Lichtraumprofil 8 zu, welches den Überwachungsbereich 3 um den Schienenstrang vorzugsweise dynamisch begrenzt. Zudem erfasst die Auswerteeinrichtung 6 die Lage von Objekten im Überwachungsbereich 3 und setzt bei Eindringung wenigstens eines Objektes in den Gefahrenbereich 5 eine entsprechende Meldung ab. Die Erfassungseinrichtung 2 umfasst dabei wenigstens einen mit der Eisenbahnmaschine entlang des zu überwachenden Weges verfahrbaren Sensor, einen Laserscanner und/oder einen PMD-Sensor zum Erkennen von im Überwachungsbereich befindlichen Objekten. Eine Referenzmarke 9 zur Funktionsüberwachung der Erfassungseinrichtung, ist am Rand des überwachten Gefahrenbereichs an der Eisenbahnmaschine 1 angeordnet. In
Des Weiteren kann
In
In
Die Eisenbahnmaschine 1 aus
Claims (11)
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EP13169322.8A EP2808224A1 (en) | 2013-05-27 | 2013-05-27 | Installation for danger area monitoring of a railway machine |
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