EP3160819A1 - Vorrichtung und verfahren zur erfassung einer fahrzeugumgebung eines schienenfahrzeugs sowie schienenfahrzeug - Google Patents
Vorrichtung und verfahren zur erfassung einer fahrzeugumgebung eines schienenfahrzeugs sowie schienenfahrzeugInfo
- Publication number
- EP3160819A1 EP3160819A1 EP15713736.5A EP15713736A EP3160819A1 EP 3160819 A1 EP3160819 A1 EP 3160819A1 EP 15713736 A EP15713736 A EP 15713736A EP 3160819 A1 EP3160819 A1 EP 3160819A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- track
- rail vehicle
- vehicle
- detection
- profile
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000001514 detection method Methods 0.000 claims description 171
- 230000033001 locomotion Effects 0.000 description 10
- 238000007493 shaping process Methods 0.000 description 10
- 238000005286 illumination Methods 0.000 description 9
- 230000003287 optical effect Effects 0.000 description 7
- 238000011156 evaluation Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000012935 Averaging Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012549 training Methods 0.000 description 1
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
- B61L23/045—Rail wear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
-
- 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
-
- 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
-
- 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
Definitions
- the invention relates to a method and a device for detecting a
- Vehicle environment of a rail vehicle and a rail vehicle Vehicle environment of a rail vehicle and a rail vehicle.
- Vehicle environment to capture Such a detection can take place, in particular, within the framework of the creation of a so-called clearance gauge. In particular, it can be detected whether a vehicle environment allows the operation of rail vehicles with certain geometrical dimensions.
- Determining a track position may also be desirable, e.g. Locate positions of objects or obstacles along the track relative to the track position.
- a track layer may in particular be provided by a track center, e.g. be given in the form of a center line between the rails of a track, but also through the center line of a track of the track.
- the track position may hereby be a reference line e.g. for a detection of a clear space relative to the track position. For example, dimensions of a tunnel passage relative to the track position, in particular a height and / or a width of the tunnel, can be detected.
- GB 2403861 A discloses a system for monitoring and measuring positions of objects along a supervising path.
- the system is mounted on a vehicle that travels along the route to be monitored.
- the system includes a scanner and a data analyzer.
- the scanner is fixedly mounted on the rail vehicle and is designed as a so-called 3D scanner, wherein a laser beam is rotated continuously through 360 °.
- EP 1544572 A2 discloses a device for non-contact detection of
- the device comprises a reference position measuring unit comprising a first laser line generator and a first laser line generator
- Area camera has, which are aligned in the direction of a first rail.
- the reference position measuring unit is equipped with a second laser line generator and a second area camera, which are aligned in the direction of the second rail. This reference position measuring unit is fixedly attached to the rail vehicle.
- DE 1980131 1 A1 discloses a rail-mounted maintenance machine. This can use for detecting a rail cross profile, a measuring device having, for example, laser heads.
- DE 4238034 C1 discloses a method for inspecting, non-contact scanning of the immediate surroundings of a track track with regard to certain measurement criteria.
- a radially rotating measuring beam is emitted and the reflecting signals of this measuring beam are received, processed and stored in the area of the transmitter and / or signals emitted by the surroundings. Furthermore, the location and the position of the transmitter / receiver unit with respect to an earth-fixed coordinate system or reference point are additionally measured synchronously by means of a navigation system arranged on the measuring vehicle, and the same data is determined therefrom.
- a device for detecting a vehicle environment of a vehicle is proposed
- the device is used in particular for optical and
- the device can serve to generate a clearance gauge.
- detection here also includes the term determination.
- the device comprises at least a first image capture device.
- Image capture device generates image data.
- the image capture device can be arranged on a rail vehicle, in particular on a front, for example on a front side of the rail vehicle.
- the first Image capture device may include a detection area. By the first image capture device objects that are in the detection area can be displayed.
- the first image capture device may be arranged relative to the rail vehicle, in particular be attached to this, that the detection range of the image capture device spatially in front of the
- Track vehicle can capture.
- Rail vehicle or side of the rail vehicle are detected.
- the first image capture device is designed as a 3D image capture device.
- a 3D image capture device enables detection of an environment in three dimensions.
- 3D information of a vehicle environment can be determined from the generated 3D image data.
- Image capture device are detected.
- the first image capture device By forming the first image capture device as a 3D image capture device, there are a number of advantages.
- a vehicle environment can be detected optically reliably and as completely as possible by a detection device. Due to the three-dimensionality, in a simple manner, e.g. create a clearance gauge.
- the generated image data can be evaluated for example by means of known methods of image processing.
- the first image capture device may be arranged on the rail vehicle such that a track section, in particular a track section spatially in front of the
- Rail vehicle is arranged in the detection range of the first image capture device.
- tracks of the track can be detected in the generated images.
- Output signals of other sensors a high robustness to interference, e.g. by environmental influences such as dirt, especially by leaves, dust or rain. Further advantages are a good comprehensibility of color information and a simple object detection as well as a cost-effective provision of the 3D image capture device. Also, a complete scatter plot can be generated per sample step of the coverage area.
- the proposed device can be attached in an advantageous manner to any road, underground or full train.
- the detection can take place during a journey or during operation of the rail vehicle.
- an environment around a track can be detected.
- the device comprises at least one further
- Image capture device wherein the at least one further image capture device is designed as a 2D image capture device. Unlike an SD image capture device, the 2D image capture device enables one
- the further image capture device can hereby be arranged on a rail vehicle, in particular on a front, for example on a front side of the rail vehicle.
- the further image capture device can also have a detection range.
- the further image capture device can be arranged relative to the rail vehicle, in particular be attached to it, that the detection range of Image capture device can detect an area spatially in front of the rail vehicle.
- an area above the rail vehicle and / or the side of the rail vehicle can detect an area spatially in front of the rail vehicle.
- a central detection direction or detection axis of the detection range of the further image acquisition device can be oriented parallel to a longitudinal axis of the rail vehicle.
- the device preferably comprises a plurality of further image capture devices designed as 2D image capture devices. These can be predetermined
- Be arranged image capture device Be arranged image capture device.
- the detection areas of the first image capture device and the at least one further image capture device can at least partially
- the detection ranges can not
- the provision of at least one 2D image capture device advantageously results in a redundant acquisition of image data and a direct, timely and reliable imaging of a scene.
- the device comprises at least one laser scanning device.
- the laser scanning device can be used to acquire a profile of a
- a profile can hereby be a two- or three-dimensional profile.
- the profile may be e.g. represent an outer contour of an object.
- the laser scanning device can enable non-contact detection of the profile.
- the laser scanning device can also be used on the rail vehicle, in particular on a front, e.g. on a front side of the rail vehicle, be arranged.
- the laser scanning device can also have a detection range.
- the laser scanning device can be arranged in such a way relative to the rail vehicle, in particular attached thereto, that the detection area of the laser scanning device can detect an area spatially in front of the rail vehicle.
- an area above the rail vehicle and / or laterally of the rail vehicle can also be detected.
- the laser scanning device may be arranged with a predetermined position and / or orientation relative to the first image capture device.
- the detection areas of the first image capture device and / or the at least one further image capture device and the laser scanning device may at least partially overlap.
- the detection ranges can not be
- At least one laser scanning device results in a high degree of robustness of the detection of solar radiation, in particular direct sunlight. Also results in a redundancy in the optical detection. Further, even in low-environmental light portions, e.g. in tunnels, a reliable detection can be ensured. Also, another vehicle approaching the rail vehicle, for example, can be easily detected by the laser scanning device.
- the laser scanning device as
- Rotationslaserscan device is formed.
- a laser beam for detecting the environment, in particular continuously is rotated about a reference axis.
- a complete rotation can in this case have a rotation angle of 360 °.
- the reference axis of the rotary laser scanning device may be oriented parallel to the longitudinal axis of the rail vehicle.
- the laser beam may in this case be oriented perpendicular to the reference axis or include an angle of less than 90 °, but greater than 0 ° with the reference axis.
- Rotationslaserscan device results in a high robustness of the detection of solar radiation, in particular direct sunlight. Also results in a redundancy in the optical detection. Further, even in low-environmental light portions, e.g. in tunnels, a reliable detection can be ensured. Furthermore, a three-dimensional detection is advantageously ensured.
- the device comprises at least one
- Positioning device for determining an absolute position and / or
- the absolute position may hereby designate a position in a global reference coordinate system.
- the absolute orientation here may designate an orientation in the global reference coordinate system.
- the Position determination device can be designed, for example, as an inertial sensor (INS).
- the position determination device can also be designed as a GNNS sensor.
- a layer can thus designate a position and / or orientation.
- the rail vehicle may have a vehicle coordinate system.
- Profile data or image data are located in the global reference coordinate system.
- Reference coordinate system can be assigned. This simplifies a subsequent evaluation and assignment of this profile data or image data, e.g. to a certain section of the route.
- the device comprises at least one
- Track position determining means designates a device for determining or detecting the track position which is different from the first image capturing device.
- the track position determining device is used to determine a position of the track, in particular one or both rails of the track, relative to the vehicle coordinate system.
- a track layer may e.g. indicate a position and / or orientation of a track center or a centerline of the track.
- the track position determining device can likewise be fastened to the rail vehicle, in particular to a railcar body of the rail vehicle, more particularly to a lower side of the rail vehicle.
- image data generated by an image acquisition device and / or the profile data generated by the laser scanning device can advantageously be assigned to a specific position relative to the track position, eg relative to a track system.
- the track position determining device
- the track position determination device comprises at least one positioning device, wherein the at least one profile detection device is movable by the positioning device, in particular relative to the rail vehicle.
- the profile detection device is a device which is different from the laser scanning device explained above, in particular a device designed structurally separate from it.
- a profile may in this case, as explained in more detail below, in particular be a two-dimensional profile.
- the profile may be e.g. represent an outer contour of the rail.
- the profile is preferably a transverse profile of the rail, wherein the transverse profile is detected in a plane that is perpendicular to a longitudinal axis of the rail.
- the profile detection device may in particular be an optical profile detection device.
- the profile detection device can enable a contactless detection of the profile.
- the positioning device may in particular comprise a stationary part and a part of the positioning device which is movable relative to the stationary part, e.g. a carriage.
- the profile detection device can be mounted on or on the positioning device, in particular on or on the movable part.
- Profile detection device be releasably or permanently attached to the positioning.
- a position and / or orientation of the profile detection device relative to the positioning device can be changed or unchangeable.
- the positioning device in particular the stationary part, can be attached to the rail vehicle, in particular to a railcar body of the rail vehicle, in particular on an underside of the rail vehicle
- the positioning device in particular the stationary part, have at least one fastening means.
- the positioning device may in this case preferably be fastened to the rail vehicle such that the at least one profile detection device is movable with a desired, in particular rectilinear, movement along a trajectory which is oriented parallel to a vehicle transverse axis of the rail vehicle.
- the at least one profile detection device is movable with a desired, in particular rectilinear, movement along a trajectory which is oriented parallel to a vehicle transverse axis of the rail vehicle.
- Profile detection device by the positioning along a predetermined, in particular rectilinear trajectory be movable.
- the profile detection device is movable by the positioning device or a plurality of positioning devices along a plurality of, in particular straight, trajectories.
- an orientation of Profile detection device by the positioning or at least one further positioning device is variable.
- the positioning device can in this case at least one means for generating
- the means may, for example, an electric motor, in particular a stepper motor or a DC motor or a synchronous motor or a
- the positioning device may comprise at least one movement control means.
- the device can be at least one
- the guide means for guiding the movement of the profile detecting device along a, in particular rectilinear trajectory.
- the guide means may for example be a bearing device or include such.
- the guide can
- a sliding guide for example, a sliding guide, a rolling guide, a rail guide, a
- the positioning device can also comprise a means for transmitting drive energy.
- the positioning device may comprise at least one cable, wherein drive energy from the means for generating drive energy to the movable part can be transmitted via the cable.
- the positioning device may e.g. be designed as a linear unit, wherein the term linear unit comprises the stationary part, the movable part and the means for generating and / or transmission of drive energy.
- the profile detection device can have a detection region, in particular a two-dimensional detection region, wherein a profile of objects which are located in the detection region is detected by the profile detection device.
- profile data can be generated that represent or encode the profile of an item.
- Profile detection device e.g. relative to the positioning device, also a position and / or orientation of the detection area can be changed.
- the positioning device and / or the profile detection device can be arranged relative to the rail vehicle or attached thereto, that the
- Detection area covers at least a portion below the rail vehicle.
- a central detection direction or detection axis of the rail vehicle covers at least a portion below the rail vehicle.
- the movable part can be arranged for this purpose in the vertical direction below the stationary part.
- the vertical direction may in this case be oriented parallel to a vehicle vertical axis.
- the vertical direction may be oriented from bottom to top when oriented from a vehicle floor to a vehicle roof.
- the vertical direction may also be oriented counter to a direction of gravitational force.
- a carriage of the movable part is arranged in the vertical direction below a means for guiding movement.
- the means for motion control can be attached to the rail vehicle, in particular on the underside.
- the profile detection device be attached directly or indirectly.
- a distance between the profile detection device and a rail of the track can be reduced in an advantageous manner, which is particularly advantageous for vehicles with high-lying floors.
- a carriage of the movable part is arranged in the longitudinal direction in front of or behind the stationary part, in particular in front of or behind a means for guiding movement. This can advantageously a
- the longitudinal direction may in this case be oriented parallel to a vehicle longitudinal axis.
- the longitudinal direction can be oriented from the back to the front, if this one of a
- Vehicle rear is oriented to a vehicle front.
- Vehicle transverse axis can be perpendicular to the vehicle longitudinal axis and perpendicular to
- Profile detection device relative to a coordinate system of the positioning known or determinable. Also, a position and / or orientation of a coordinate system of the positioning device relative to the vehicle coordinate system can be known or determinable.
- profile data for at least one rail of the track can be generated by the profile detection device of the track position determination device.
- profile data can then be a position and / or Orientation of the track relative to the profile detection device and thus also be determined for positioning. This in turn allows the determination of the position and / or orientation of the track relative to the vehicle coordinate system.
- the profile data generated by the profile detection device of the track position determining device not only allow a determination of the track position. Rather, depending on the profile data and at least one property of the track can be determined.
- a property of the track may e.g. be a feature of a track of the track or both rails of the track.
- the device can also serve for rail measurement.
- a characteristic of the track may be wear of the track, e.g. can be determined by comparing an actual profile of the track with a desired profile of the track. Another property may be a gauge of the track.
- Another characteristic may be a track cant, e.g. may indicate a relative height difference between a first and another rail surface of the track.
- Another property may be a radius of curvature of the track or a vertical curvature.
- Another property may be a gradient of the track through which e.g. a slope or a slope of the track can be represented.
- the property may also be a rail profile, in particular a rail cross profile.
- the at least one property may be a geometric property of the track or another determinable depending on at least one geometric property
- the proposed device also includes a device for determining at least one property of a track, which is fastened to any rail vehicle, in particular on its underside, and allows the detection of the property during a standstill or during a journey of the rail vehicle.
- Positioning device advantageously allows that even during or after a change in a relative position of the rail vehicle to the track, a position and / or orientation of the profile detection device, in particular by the positioning, can be changed so that the track, in particular a rail further in the Detection area of the profile detection device are located. If the rail vehicle is traveling e.g. by a curve and changes due to the relative position between the profile detection device and a track of the rail, so can a position of the
- Profile detection device can be changed or tracked so that the rail is still in the detection area, in particular this does not leave. This can be achieved in particular by the previously explained movement parallel to a vehicle transverse axis.
- unwanted changes in the property are detected, for example, by a comparison of the specific property with a desired target property.
- the track position determining device can be at least one
- Image acquisition device of the track position determination device The image capture device of the track position determination device can at the
- Positioning device in particular on a movable part of the positioning, be attached.
- Track position determining device by the positioning, for example, along a, in particular rectilinear trajectory, be movable.
- the image capture device of the track position determination device can be detachable or non-detachable on the
- Positioning be attached. Also, a position and / or orientation of the image capture device of the track position determination device relative to the
- Positioning be changeable or unchangeable.
- the image detection device of the track position determination device can also have a detection range.
- Imaging device of the track position determination device can be imaged objects that are in the detection area. Thus, therefore, images or image data of these objects can be generated.
- the positioning device and / or the image detection device of the track position determining device may be arranged relative to the rail vehicle, in particular attached thereto, that the detection range of the image detection device of the track position determining device can detect an area below the rail vehicle.
- a central detection direction or detection axis of the detection range of the image detection device of the track position determination device can be parallel to a
- the profile detection device and the image detection device of the track position determination device can be arranged relative to one another such that the detection regions overlap at least partially.
- Track position determining device for profile detection device and thus also a relative position and / or orientation of their detection ranges to each other may be previously known or determinable.
- Image acquisition device of the track position determination device and a coordinate system of the profile acquisition device to be registered with each other.
- Positioning be known or determinable.
- Positioning device to be known or determined.
- Track position determining device for profile detection device known or be determined.
- a redundant optical and thus non-contact detection of the property of the track For example, a detection of the at least one property, in particular of the profile of the rail, by the profile detection device by environmental conditions, for example by leaves on the rail, be disturbed.
- the at least one property can be determined by the
- Image acquisition device of the track position determination device generated images are determined.
- the accuracy of the determination of the property of the track in particular an accuracy of the determination of the spatial position of a track, can be improved by the evaluation of the images generated by the image acquisition device of the track position determination device.
- edges of the rail can be detected in images generated by the image acquisition device of the track position determination device.
- profile data provided by the Profile detection means are generated, these edges of the rail are detected.
- Positioning be determined. If these relative positions deviate from one another by more than a predetermined amount, then for example only the position determined from the profile data or only the position determined from image data can be used to determine the track position and / or the at least one property of the track. However, it is also possible to determine a fused property, in particular position, as a function of the respectively determined property, in particular of the relative positions explained above.
- a fused property may e.g. be determined by averaging or by weighted averaging.
- a fused layer can be determined by suitable estimation methods, for example by a Kalman filter method. Of course, other methods of fusion are conceivable. Thus, an accuracy in determining the at least one property of the track increases in an advantageous manner.
- the track position determining device can be at least one
- Position determining device of the track position determining device for determining an absolute position and / or orientation of the rail vehicle.
- Position determining device of the track position determining device also be different from the previously described position determining device, for example, a structurally separate trained component. In this case, however, the
- the rail vehicle and thus also of the profile detection device and / or the image detection device of
- Track position determination device generated profile data or image data are located in the global reference coordinate system. For this purpose, a relative position and / or orientation of the coordinate system of the positioning relative to
- the track position determination device may comprise a further position determination device for determining the position and / or orientation of the positioning device, in particular also the profile acquisition device and / or the image acquisition device, relative to the vehicle coordinate system. This results in an advantageous manner that the profile data generated by the profile acquisition device and / or the of the image capture device of
- Track position determination device generated image data, e.g. after a ride of
- Rail vehicle can be assigned to a specific position in the global reference coordinate system. This simplifies a subsequent evaluation and assignment of this profile data or image data, e.g. to a certain section of the route.
- the track position determination device can be at least one more
- Position determining device of the track position determining device for determining a position and / or orientation of the positioning device and / or
- Track position determining device relative to the rail vehicle include.
- the further position determining device of the track position determining device allows a
- Track position determining device relative to the rail vehicle, in particular relative to a vehicle coordinate system of the rail vehicle.
- the track position determination device may comprise at least one distance detection device for detecting a distance of the profile detection device and / or the
- Track location determining device of a reference point or a reference portion of the rail vehicle include.
- the at least one distance detection device may e.g. be designed as an optical distance sensor. In case the
- Positioning device comprises a cable to drive the movable part
- the distance detection device may also be formed as Seilzugwegaufford luck.
- a relative position and / or orientation of the profile acquisition device and / or image acquisition device of the track position determination device is known or determinable relative to a coordinate system of the positioning device.
- Track position determining device for determining a position and / or orientation of the positioning serve relative to the rail vehicle.
- Image acquisition device of the track position determination device generated image data of a specific position and / or orientation in the vehicle coordinate system and thus possibly assign in a global reference coordinate system.
- the track position determination device may comprise at least one memory device, wherein the profile data generated by the profile detection device and / or the image acquisition device of the
- Track location determining device generated image data and optionally information on a spatial position and / or orientation of these data in one of the previously described coordinate systems can be stored.
- the profile detection device is a two-dimensional
- Profile detection device formed.
- no three-dimensional profile can be generated by the profile detection device. So it is e.g. possible, off
- the profile detection device can be arranged on the rail vehicle such that the two-dimensional profile in a plane perpendicular to one
- Vehicle longitudinal axis is arranged.
- the two-dimensional is preferred
- Profile detection device designed as a laser scanner.
- the laser scanner here is a different from the previously discussed laser scanning device
- the track position determination device may comprise at least one illumination device.
- the lighting device can also by the
- Positioning be movable.
- the illumination device may be attached to the positioning device, e.g. be releasably or permanently attached. Also, a position and / or orientation of the illumination device relative to
- Positioning be changeable or unchangeable.
- the illumination device may in this case be arranged, for example, on the positioning device, in particular on the movable part of the positioning device, that the
- Lighting device at least part of the previously explained
- Detection areas of the profile detection device or the image detection device of the track position determination device illuminates. This advantageously results in an improved optical detection of the profile of the at least one rail.
- the track position determining device may comprise at least one means for beam guidance and / or beam shaping.
- the means for beam guidance and / or beam shaping serves in particular for guiding and / or shaping one of the
- Profile detection device emitted and / or to be received light beam, in particular a radiated and / or to be received laser beam.
- emitted light beam can also be referred to as emmitierter light beam and a light beam to be received can also be referred to as an immitating light beam.
- the means for beam guidance and / or beam shaping can hereby at the
- Positioning device in particular on the movable part of the positioning, be fixed, e.g. detachable or unsolvable.
- a position and / or orientation of the means for beam guidance and / or beam shaping relative to the positioning and thus also a beam direction can be changed.
- the spatial position and / or orientation of the detection range of the profile detection device can be changed. It also results in an advantageous manner that a space of the track position determining device can be minimized, since the profile detection device is not necessarily to be arranged on the positioning that the detection area in this position and / or orientation of the profile detection device is already aligned such that the at least one rail of the track is detectable. Rather, by the means for beam guidance and / or beam shaping a spatial position and / or orientation of the detection range can be changed, whereby e.g. a height of
- Track position determination device can be reduced in the vertical direction below the rail vehicle.
- Is / are the position (s) or the orientation (s) of the profile detection device and / or the image detection device of the track position determination device and / or the means for beam guidance / beam shaping and / or the at least one illumination device relative to the positioning changeable, then a change manually, for example, by manual operation by operating personnel, or actorgechem done. So it is e.g. conceivable that the position and / or orientation relative to the positioning device before operation of the track position determining device, in particular before a driving operation of the rail vehicle, manually adjusted, the position and / or orientation remains unchanged during operation. This relates in particular to the setting of a position and / or orientation of the profile detection device, the
- Image acquisition device of the track position determination device and the
- Lighting device Alternatively or cumulatively, the position and / or orientation be changed during the operation of the track position determining device, in particular during a driving operation of the rail vehicle, in particular be changed actuator-supported. This relates in particular to the position and / or orientation of the means for beam guidance and / or beam shaping.
- the proposed device comprises at least two of the track position determining devices described.
- the track position determining devices can in this case be arranged relative to one another such that detection regions of the profile detection devices of the track position determination devices do not overlap.
- the track position determination devices can be connected to one
- Rail vehicle be arranged that a first rail of a track for the
- Profile detection device of a further track position determining device can be detected.
- the track position determination devices can be arranged with a, in particular changeable, distance from each other on the rail vehicle, the distance being measured along a vehicle transverse direction.
- the track position determining devices can travel along a straight line parallel to the
- Track position determining devices by a common guide means or by mutually different guide means.
- the rail vehicle comprises at least one device for detecting a vehicle environment according to one of the previously described embodiments.
- the device in particular the first image capture device, the at least one further image capture device, the laser scan device and / or the at least one track position determination device is / are attached to the rail vehicle.
- the first image capture device which fixes at least one further image capture device and / or the laser scanning device in a front region, in particular on a front side, of the rail vehicle.
- the at least one track position determining device can be attached to a lower side, in particular to a lower side of a car body of the rail vehicle.
- a stationary part of the positioning device may be fastened to the rail vehicle, wherein a movable part in this case is movable relative to the stationary part and thus to the rail vehicle.
- the at least one track position determination device can be fastened to the rail vehicle such that the profile detection device can be moved parallel to a vehicle transverse axis, in particular along a straight trajectory parallel to the vehicle transverse axis.
- Image capture device, the laser scanning device and / or the at least one track position determination device relative to a vehicle coordinate system can be previously known or determinable. Also, the situation may be fixed or changeable.
- the rail vehicle may comprise two track position determination devices.
- a first track position determining device may be arranged on the rail vehicle such that the profile detection device of the first
- Track position determination device a profile of the first rail is detected and / or at least one property of a first rail of a track through the first
- Track position determination device is determinable. Accordingly, the other
- Track location determining device to be arranged on the rail vehicle, that by the profile detection device of the further track position determination device, a profile of the further rail is detected and / or at least one property of another track of the track by the further track position determining device can be determined.
- a position and / or orientation of the track center can be determined in a simple manner, in particular if a relative position and / or orientation of both positioning devices or both
- Profile detection devices and / or image capture devices to each other, for example, known or determinable in the vehicle coordinate system.
- the position and / or orientation of the track center can then, as previously explained, relative to a vehicle coordinate system or relative to a global one
- Reference coordinate system can be determined and stored.
- Imaging device is imaged. This may mean that appropriate
- Image data are generated.
- the first image capture device is designed as a 3D image capture device.
- the proposed method is in this case in particular by a device according to one of the embodiments described above feasible.
- the associated information relating to the position and / or orientation is stored in one of the aforementioned coordinate systems, e.g. in a memory device of the proposed device.
- a track position of a track for the rail vehicle is additionally determined.
- a profile detection device detects a profile of at least one rail of the track.
- at least one property of the track can also be determined. For example, can the at least one
- Profile detection device before and / or moved during and / or after the detection of the profile by a positioning device.
- the profile detection device before and / or moved during and / or after the detection of the profile by a positioning device.
- Profile detection device by the positioning relative to the rail vehicle, in particular parallel to a vehicle transverse axis of the rail vehicle to be moved.
- the profile detection device can be moved along a predetermined, in particular straight, trajectory. Further, a position and / or orientation of the generated profile data relative to a coordinate system of the positioning or relative to a vehicle coordinate system or relative to a global coordinate system.
- Reference coordinate system can be determined. Next can the profile data and if appropriate, the associated information relating to the position and / or orientation in one of the aforementioned coordinate systems are stored.
- the profile data can be evaluated in such a way that at least one of the properties of the track explained in the introduction is determined. Also, a check of the property by adjusting the inventively determined property with a predetermined desired property done.
- the particular property or a deviation, in particular an undesired deviation can be displayed to a driver and / or maintenance personnel via a display device, for example.
- the device may comprise at least one communication device, for example a wireless or wired communication device.
- This can e.g. serve for transmitting the profile data, information on the position and / or orientation and / or other information.
- the device already comprises an evaluation device, which is designed to determine the at least one property. In this case, the specific property and possibly an undesired deviation can also be transmitted via the communication device.
- FIG. 1 is a schematic front view of a rail vehicle
- Fig. 2 is a schematic side view of a rail vehicle
- Fig. 3 is a schematic detail view of a track position determining device.
- Fig. 1 is a schematic front view of a rail vehicle 4 with two
- Track position determining devices 1 a, 1 b shown, wherein for the sake of clarity, only the positioning devices 1 1 and in particular their stationary parts 1 1 a and moving parts 1 1 b are shown.
- the track position determining devices 1 a, 1 b are in this case along a vehicle transverse direction yf on opposite sides of the
- Car body 14 of the rail vehicle 4 is arranged.
- Track position determining devices 1 a, 1 b is shown in detail in FIG. 3 and described in the corresponding description.
- the track position determining devices 1 a, 1 b are here part of a device 19 for detecting a vehicle environment of the
- wheels 17 of the rail vehicle 4 which run on rails 3.
- the wheels 17 may in this case be fastened to a bogie 18 (see FIG. 2) of the rail vehicle 4. If the rail vehicle 4 travels a curve, at least the relative position between a car body 14 of the rail vehicle 4 and the tracks 3 changes.
- the laser scanners 2 and the camera 6 of the respective devices 1 can be moved by the positioning devices 1 1 such that the rails 3 remain in the detection areas 5, 7 or moved into them again become.
- a first track position determining device 1 a is used for detecting a first rail 3 a and a further track position determining device 1 b for detecting a further rail 3 b.
- the detection of the profiles of both the first rail 3a and the further rail 3b further enables the detection of a position and / or orientation of a track center, in particular a center line between the tracks 3.
- This track center or center line can be used as a reference point or reference line for a light measurement by further systems, in particular by further detection means of the device 19 for detecting a vehicle environment of the rail vehicle 4, serve. But can also serve as a reference line a center line of a rail 3a, 3b of the track 3.
- the position and orientation of the track center can also be determined relative to the global reference coordinate system according to the preceding embodiments and optionally stored.
- the device 19 comprises a 3D image acquisition device, which is designed as a stereo camera system, wherein the stereo camera system comprises a first 2D camera of the stereo camera system 20a and another 2D camera 20b of the stereo camera system , Schematically, a detection area 21 of the 3D image capture device is shown. It can be seen that the detection area 21 comprises at least a part of the vehicle surroundings, which is located spatially in front of and at the side of the rail vehicle 4.
- the device 19 further comprises a rotary laser scanning device 22.
- a laser beam 23 (see FIG. 2) for scanning the vehicle surroundings generated by this rotary laser scanning device 22 rotates about an axis parallel to one
- Vehicle longitudinal direction xf (see Fig. 2) is oriented.
- One direction of the laser beam 23 may also contain portions in the vehicle longitudinal direction xf.
- An unillustrated detection range of the Rotationslaserscan device 22 also includes at least a portion of
- Vehicle environment which is spatially in front of and to the side of the rail vehicle 4.
- the device 19 comprises a first 2D camera 24 and a further 2D camera 25, wherein detection areas 26, 27 of these 2D cameras 24, 25 are shown schematically.
- the detection areas 26, 27 of the 2D cameras 24, 25 each comprise at least a part of the vehicle surroundings, which is located laterally of the rail vehicle 4, the detection areas 26, 27 comprising different side areas of the rail vehicle 4.
- Rotationslaserscan means 22 and the 2D cameras 24, 25 are arranged on a vehicle front of the rail vehicle 4.
- the 2D cameras 20a, 20b of the stereo camera system, the rotary laser scanning device 22 and the 2D cameras 24, 25 are arranged in the roof region of the rail vehicle 4.
- vehicle transverse direction yf and a vehicle vertical direction zf which form a vehicle coordinate system.
- an inertial unit 16 for global referencing of a
- Vehicle coordinate system and thus also the position and orientation of the 2D cameras 20a, 20b of the stereo camera system, the Rotationslaserscan device 22 and the 2D cameras 24, 25 of the profile data and image data generated by these.
- FIG. 2 shows a schematic side view of a rail vehicle 4 with a device 19 according to the invention. It is shown that wheels 17 are arranged on a bogie 18. The wheels 17 run on rails 3. At an underside 15 of a car body 14 of the rail vehicle 4 is a
- Track position determining device 1 with a positioning device 1 1, which has a stationary part 1 1 a and a movable part 1 1 b arranged.
- the Track position determining device 1 may in this case be designed like the track position determining device 1 described in FIG. 3. Further shown is a
- Vehicle longitudinal direction xf and a vehicle vertical direction zf Vehicle longitudinal direction xf and a vehicle vertical direction zf.
- a device 19 for detecting the vehicle environment around the rail vehicle 4 wherein only one rotary laser scanning device 22 and an exemplary laser beam 23 emitted by the rotary laser scanning device are illustrated.
- the device 19 enables the determination of a track center and the determination of a clearance gauge. Thus, the determination of the available clear space information relative to the track center is possible.
- Fig. 3 is a schematic representation of a track position determining device 1 is shown.
- the track position determining device 1 comprises a profile detection device embodied as a two-dimensional laser scanner 2 for detecting a transverse profile of a rail 3 of a track for a rail vehicle 4. Schematically illustrated is a detection area 5 of the laser scanner 2. Furthermore, the device 1 comprises a
- Camera 6 formed image acquisition device of the track position determining device. 1 Also shown schematically is a detection area 7 of the camera 6. Die
- Track location determining device 1 further comprises two illumination devices 8, wherein schematically also lighting areas 9 of the light sources are shown. Furthermore, the track position determining device 1 comprises a distance sensor 10.
- a mirror 13 for guiding the light beams emitted and to be received by the laser scanner 2.
- the mirror 13 is on the movable part 1 1 b, in particular in the housing 12, respectively.
- the mirror 13 in this case forms the previously described means for beam guidance and / or beam shaping.
- the mirror 13 can in this case in particular be displaceable, that is to say be movable with one or more translational movements, and be rotatable, that is to say be movable with one or more rotational movements.
- the device 1 further comprises a positioning device 1 1.
- the positioning device 1 1 comprises a stationary part 1 1 a and a relative to the stationary part 1 1 a movable movable part 1 1 b.
- the movable part 1 1 b may be attached via a movable cuts on the stationary part 1 1 c.
- the movable part 1 1 b comprises a housing 12 or has this.
- the movable part 1 1 b may further comprise or form a carrier device.
- the housing 12 may also be referred to as a carrier housing.
- the laser scanner 2 the camera 6, the lighting devices 8 and the distance sensor 10 is arranged on the movable part 1 1 b, in particular within the housing 12, the laser scanner 2, the camera 6, the lighting devices 8 and the distance sensor 10 is arranged. Of course, an arrangement of the distance sensor 10 outside of
- Carrier housing 12 conceivable. In this case, at least a part of the distance sensor 10 may be arranged outside an outer wall of the carrier housing 12.
- the housing 12 may in this case have corresponding openings, in particular on an underside of the housing 12, in order to enable the detection and / or illumination of a rail 3 out of the housing 12, that is to say from an internal volume of the housing 12.
- Positioning device 1 1 are attached, that the detection areas 5, 7
- the lighting devices 8 are in this case arranged on the positioning device 1 1 that the illumination areas 9 also overlap with the detection areas 5, 7 and thus illuminate the rail 3.
- a coordinate system of the positioning device 1 which e.g.
- a position and / or orientation of the laser scanner 2, the camera 6 and the illumination devices 8 relative to the coordinate system of the positioning device 11 can be adjustable in this case.
- a desired position and / or orientation can be adjusted in time before an operation of the track position determining device 1, in particular before a driving operation of the rail vehicle 4, wherein during operation of the
- Track position determination device 1 this position and / or orientation remains unchanged.
- a position and / or orientation of the mirror 13 relative to the coordinate system of the positioning device 1 1 here can be variable, in particular actuator-supported changeable, be.
- a change may in particular also take place during operation of the track position determining device 1, in particular during driving operation of the rail vehicle 4, in particular during operation of the laser scanner 2.
- the stationary part 1 1 a of the positioning device 1 for example, parts of a
- linear drive in particular a stepper motor for driving the movable part 1 1 b.
- the positioning device can comprise or form guide means for the linear guidance of the movable part 11b relative to the stationary part 11a.
- a linear drive is provided by the positioning device 1 1.
- the positioning device 1 in particular the stationary part 1 1 a, on a car body 14, in particular on an underside of the car body 14, the rail vehicle 4 is fixed.
- FIG. 2 Also shown is a vehicle coordinate system, wherein a vehicle transverse direction yf and a vehicle vertical direction zf is shown.
- a vehicle longitudinal direction xf (see FIG. 2) is oriented in FIG. 1 orthogonal to the plane of the drawing and oriented toward a viewer.
- the positioning device 1 1 is in this case designed and on the
- Rail vehicle 4 arranged that the movable part 1 1 b, in particular the
- Laser scanner 2 along a rectilinear trajectory is movable, wherein the rectilinear trajectory is oriented parallel to the vehicle transverse direction yf.
- Rail vehicle 4 the vehicle transverse direction yf parallel to a vehicle pitch axis of the rail vehicle 4 and the vehicle vertical direction zf parallel to a
- Vehicle yaw axis of the rail vehicle 4 be oriented.
- the distance sensor 10 detects a distance of the movable part 1 1 b from a reference portion of the rail vehicle 4, in particular a portion of the
- Carcass 14 This can be continuously a position and / or orientation of the positioning device 1 1, in particular of the movable part 1 1 b, and thus a position and orientation of the laser scanner 2, the camera 6 and the other parts of
- Track position determining device 1 are detected relative to the vehicle coordinate system.
- the distance sensor 10 or another, not shown, distance sensor may alternatively or cumulatively a distance between the two devices 1 a, 1 b shown in Fig. 1, in particular a distance between the movable parts 1 1 b of
- Positioning device 1 1 of the two devices 1 a, 1 b capture.
- the track position determining device 1 comprises an inertial unit 16
- This device makes it possible to determine a position and / or orientation of the rail vehicle 4 in a global reference coordinate system (not illustrated). This in turn allows one
- the carrier housing 12 can be moved translationally by a not fully shown linear unit in order to track the housing 1 1 and thus the laser scanner 2 and the camera 6 to the rail profile moving relative to the vehicle body 14.
- the carrier housing 12 may in this case be part of the linear unit or be attached to a part, in particular the movable part 1 1 b, the linear unit.
- a position and / or orientation of the detection area 5 can be changed. In this way, advantageously different distances between the car body 14, housing 12 and the upper edge of the rail 3, for example, at different
- Embodiment conceivable in which the laser scanner 2 is oriented such that the rail 3 is directly, ie without mirror 13, in the detection range 5 of the laser scanner 2.
- Track position determination device 1 generated images or image data can be processed here with known image processing algorithms.
- an orientation of the movable part 11 b of the positioning device 11 relative to the rail 3 can be image-based, that is to say determined by evaluating the image data.
- a misdetection or function of the laser scanner 2 can be detected.
- the device 19 and in particular also the track position determining device 1 can be attached to a car body of any road, underground or full train.
- the track position determining device 1 in addition to the determination of the track position allows the determination or detection of a track, a radius, a
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Machines For Laying And Maintaining Railways (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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PL15713736T PL3160819T3 (pl) | 2014-06-25 | 2015-03-31 | Urządzenie i sposób rejestracji otoczenia pojazdu szynowego, jak również pojazd szynowy |
Applications Claiming Priority (2)
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DE102014212233.3A DE102014212233A1 (de) | 2014-06-25 | 2014-06-25 | Vorrichtung und Verfahren zur Erfassung einer Fahrzeugumgebung eines Schienenfahrzeugs sowie Schienenfahrzeug |
PCT/EP2015/056973 WO2015197207A1 (de) | 2014-06-25 | 2015-03-31 | Vorrichtung und verfahren zur erfassung einer fahrzeugumgebung eines schienenfahrzeugs sowie schienenfahrzeug |
Publications (2)
Publication Number | Publication Date |
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EP3160819A1 true EP3160819A1 (de) | 2017-05-03 |
EP3160819B1 EP3160819B1 (de) | 2020-01-22 |
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EP15713736.5A Active EP3160819B1 (de) | 2014-06-25 | 2015-03-31 | Vorrichtung und verfahren zur erfassung einer fahrzeugumgebung eines schienenfahrzeugs sowie schienenfahrzeug |
Country Status (6)
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EP (1) | EP3160819B1 (de) |
CN (1) | CN106794852B (de) |
DE (1) | DE102014212233A1 (de) |
ES (1) | ES2784473T3 (de) |
PL (1) | PL3160819T3 (de) |
WO (1) | WO2015197207A1 (de) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102015215572A1 (de) | 2015-08-14 | 2017-02-16 | Siemens Aktiengesellschaft | Prüfeinrichtung und Verfahren zur Überprüfung eines definierten Profils von einem Zugverband aus Fahrzeugen, insbesondere Schienenfahrzeugen |
CN111433560B (zh) * | 2017-12-01 | 2022-02-08 | 沃尔沃卡车集团 | 用于车辆维护的方法 |
CN109489584B (zh) * | 2018-12-03 | 2021-02-26 | 大连维德集成电路有限公司 | 一种基于3d技术的隧道限界检测***及隧道限界识别方法 |
DE102020211735A1 (de) | 2020-09-18 | 2022-03-24 | Siemens Mobility GmbH | Schienenfahrzeug sowie Verfahren zum Betrieb des Schienenfahrzeugs |
AT524957B1 (de) * | 2021-04-26 | 2022-11-15 | Plasser & Theurer Export Von Bahnbaumaschinen Gmbh | Verfahren und Messsystem zur Ermittlung einer Position eines Schienenfahrzeugs |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
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DE4238034C1 (de) | 1992-11-11 | 1994-03-31 | Michael Dipl Ing Sartori | Verfahren und Vorrichtung zum inspektierenden, berührungslosen Abtasten der unmittelbaren Umgebung einer Gleisstrecke hinsichtlich bestimmter Meßkriterien |
AU2612095A (en) * | 1994-06-23 | 1996-01-19 | Leif Gronskov | Arrangement for measuring the quality of rails, in which a movable frame is connected to the bogie |
US6064428A (en) * | 1996-08-05 | 2000-05-16 | National Railroad Passenger Corporation | Automated track inspection vehicle and method |
DE19721915C1 (de) * | 1997-05-26 | 1998-12-10 | Stn Atlas Elektronik Gmbh | Verfahren und Vorrichtung zur Messung von Unebenheiten in einer Objektoberfläche |
DE19801311A1 (de) | 1997-10-30 | 1999-05-06 | Gsg Knape Gleissanierung Gmbh | Schienengebundene Instandhaltungsmaschine |
DE10244127A1 (de) * | 2002-09-27 | 2004-04-08 | Siemens Ag | Sensorsystem zur Fahrwegüberwachung für eine autonome mobile Einheit, Verfahren sowie Computerprogramm mit Programmcode-Mitteln und Computerprogramm-Produkt zur Überwachung eines Fahrwegs für eine autonome mobile Einheit |
GB2403861B (en) | 2003-07-11 | 2006-03-29 | Omnicom Engineering Ltd | A method and system of surveying and measurement |
JP2005070840A (ja) * | 2003-08-25 | 2005-03-17 | East Japan Railway Co | 三次元モデル作成装置、三次元モデル作成方法、及び三次元モデル作成プログラム |
DE10359710A1 (de) | 2003-12-18 | 2005-07-28 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Vorrichtung zum berührungslosen Erfassen von Abständen zu Gegenständen |
GB0410328D0 (en) * | 2004-05-08 | 2004-06-09 | Aea Technology Plc | Track monitoring |
US8306747B1 (en) * | 2007-01-19 | 2012-11-06 | Starodub, Inc. | Travel way measurement system |
US9810533B2 (en) * | 2011-04-27 | 2017-11-07 | Trimble Inc. | Railway track monitoring |
CN103635375A (zh) * | 2011-05-24 | 2014-03-12 | 内布拉斯加大学董事会 | 适于对导轨偏转进行成像和测量的视觉*** |
DE102011106345B4 (de) * | 2011-06-08 | 2017-01-12 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Streckenvalidierung |
KR101228349B1 (ko) * | 2012-07-03 | 2013-02-13 | (주)스마텍 | 철도시설물 동기화 감시 시스템 |
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- 2015-03-31 PL PL15713736T patent/PL3160819T3/pl unknown
- 2015-03-31 CN CN201580034472.1A patent/CN106794852B/zh active Active
- 2015-03-31 ES ES15713736T patent/ES2784473T3/es active Active
- 2015-03-31 EP EP15713736.5A patent/EP3160819B1/de active Active
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CN106794852B (zh) | 2019-09-13 |
WO2015197207A1 (de) | 2015-12-30 |
ES2784473T3 (es) | 2020-09-28 |
EP3160819B1 (de) | 2020-01-22 |
PL3160819T3 (pl) | 2020-06-29 |
DE102014212233A1 (de) | 2015-12-31 |
CN106794852A (zh) | 2017-05-31 |
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