WO2006008292A1 - Verfahren zum erkennen eines hindernisses auf einer eisenbahnstrecke - Google Patents
Verfahren zum erkennen eines hindernisses auf einer eisenbahnstrecke Download PDFInfo
- Publication number
- WO2006008292A1 WO2006008292A1 PCT/EP2005/053466 EP2005053466W WO2006008292A1 WO 2006008292 A1 WO2006008292 A1 WO 2006008292A1 EP 2005053466 W EP2005053466 W EP 2005053466W WO 2006008292 A1 WO2006008292 A1 WO 2006008292A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- clearance profile
- obstacle
- dimensional image
- clearance
- stored
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000009434 installation Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000001105 regulatory effect Effects 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
- B61L23/041—Obstacle detection
Definitions
- the invention relates to a method for detecting a Hin ⁇ obstacle on a railway line, wherein the Lichtraumpro ⁇ fil is monitored in front of a rail vehicle by at least one arranged on the rail vehicle sensor.
- the clearance gauge is the vertical section through the space that must be free of obstacles for the rail vehicle.
- the clearance space is perpendicular to the Ver ⁇ line of connection of the upper rail edges.
- the size of a clearance profile is usually defined in regulations. In Germany, a regulatory clearance profile is defined in the Railway Construction and Works Order (EBO).
- a sensor for detecting the current gauge space is a video camera or a laser scanner. It is also a radar surveillance possible.
- the invention has for its object to admit a method for detecting an obstacle on a railway track, which works reliably and yet in permissible structural installations, such as. Platforms that protrude into the Regel ⁇ gauge space profile indicating no obstacle.
- the object is achieved according to the invention in that during a test drive a three-dimensional image of along the railway track at known locations detected Lichtraum ⁇ profiles is created that this three-dimensional image is stored, even if a detected Lichtraum- profile of a known control clearance profile deviates in a driving operation not disturbing extent that during Fahr ⁇ operation a currently detected gauge is compared with the taken from the three-dimensional image gauge for the same position on the railway line and that an obstacle is displayed in a deviation.
- the advantage is achieved that permissible structural installations that project into the control room profile can not lead to an indication of an obstacle. This ensures that real obstacles can be reliably detected even in the area of such a permissible construction system. This applies in particular to the area of platforms or tunnels.
- the advantage is achieved that a very reliable course of the clearance profile along the railway line can be detected by the measuring travel with simple means. You can do without a time-consuming creation of maps and tables.
- the three-dimensional image is stored in a central office. For comparison with a currently then the data from the center to the rail vehicle can be transmitted.
- the three-dimensional image is stored in each rail vehicle.
- the data generated during the test drive must therefore be present in every rail vehicle that is to travel on the railway line. It then comes advantageous without transmission of data from a central office to the moving rail vehicle.
- the recognition of an obstacle takes place exclusively in the rail vehicle itself.
- the instantaneous position of the rail vehicle is determined from a non-distracting deviation of the clearance profile from the control light space profile detected by the driving operation by comparison with the stored three-dimensional image.
- This provides the advantage that it is possible to determine the exact position of the rail vehicle by known deviations from the control clearance profile, the location of which is precisely known.
- This location determination which is possible at intervals, can advantageously serve primarily to increase the accuracy of the obstacle recognition by comparing the current clearance profile and the stored three-dimensional image. If, for example, a platform is recognized at a different location than it would have to be arranged according to the three-dimensional image, the assignment of the three-dimensional image to the railway track can be corrected by shifting the entire three-dimensional image in the memory along the railway track until the platform is up-to-date and at the same place in the figure. This results in the Vor ⁇ in part, the result of the test drive corrected ⁇ the can immediately without having a new test run would be necessary. If disturbing equipment, such as transmission towers, is present in the vicinity of the railway line, its effects can be taken into account in obstacle detection.
- the advantage is achieved, in particular, that an obstacle on the railway track can be clearly differentiated from permissible structural installations which protrude into the control room. It is largely avoided that an obstacle is displayed if there is no obstacle. On the other hand, obstacles are detected with great reliability even in the area of permissible structural installations which project into the control clearance profile, which is of great importance particularly in the area of platforms.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112005001577T DE112005001577A5 (de) | 2004-07-22 | 2005-07-18 | Verfahren zum Erkennen eines Hindernisses auf einer Eisenbahnstrecke |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102004035449.9 | 2004-07-22 | ||
DE102004035449 | 2004-07-22 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006008292A1 true WO2006008292A1 (de) | 2006-01-26 |
Family
ID=35034378
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2005/053466 WO2006008292A1 (de) | 2004-07-22 | 2005-07-18 | Verfahren zum erkennen eines hindernisses auf einer eisenbahnstrecke |
Country Status (3)
Country | Link |
---|---|
DE (1) | DE112005001577A5 (de) |
TW (1) | TW200604047A (de) |
WO (1) | WO2006008292A1 (de) |
Cited By (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2007096273A1 (de) * | 2006-02-20 | 2007-08-30 | Siemens Aktiengesellschaft | Verfahren zur rechnergestützten überwachung des betriebs eines einen vorgegebenen streckenverlauf fahrenden fahrzeugs, insbesondere eines spurgebundenen schienenfahrzeugs |
EP2168839A1 (de) * | 2008-09-25 | 2010-03-31 | Nederlandse Organisatie voor toegepast- natuurwetenschappelijk onderzoek TNO | Schienenhindernis-Erkennungssystem und Verfahren zum Erkennen eines Schienenhindernisses und Computerprogrammprodukt |
WO2014033087A2 (de) * | 2012-08-31 | 2014-03-06 | Siemens Aktiengesellschaft | Überwachung einer bahnstrecke |
US9327743B2 (en) | 2013-12-19 | 2016-05-03 | Thales Canada Inc | Guideway mounted vehicle localization system |
US9387867B2 (en) | 2013-12-19 | 2016-07-12 | Thales Canada Inc | Fusion sensor arrangement for guideway mounted vehicle and method of using the same |
US9618335B2 (en) | 2015-01-19 | 2017-04-11 | Tetra Tech, Inc. | Light emission power control apparatus and method |
WO2017202638A1 (de) * | 2016-05-24 | 2017-11-30 | Knorr-Bremse Systeme für Schienenfahrzeuge GmbH | Warnvorrichtung für schienenfahrzeuge |
US9849894B2 (en) | 2015-01-19 | 2017-12-26 | Tetra Tech, Inc. | Protective shroud for enveloping light from a light emitter for mapping of a railway track |
US9849895B2 (en) | 2015-01-19 | 2017-12-26 | Tetra Tech, Inc. | Sensor synchronization apparatus and method |
US10349491B2 (en) | 2015-01-19 | 2019-07-09 | Tetra Tech, Inc. | Light emission power control apparatus and method |
US10362293B2 (en) | 2015-02-20 | 2019-07-23 | Tetra Tech, Inc. | 3D track assessment system and method |
US10625760B2 (en) | 2018-06-01 | 2020-04-21 | Tetra Tech, Inc. | Apparatus and method for calculating wooden crosstie plate cut measurements and rail seat abrasion measurements based on rail head height |
US10730538B2 (en) | 2018-06-01 | 2020-08-04 | Tetra Tech, Inc. | Apparatus and method for calculating plate cut and rail seat abrasion based on measurements only of rail head elevation and crosstie surface elevation |
US10807623B2 (en) | 2018-06-01 | 2020-10-20 | Tetra Tech, Inc. | Apparatus and method for gathering data from sensors oriented at an oblique angle relative to a railway track |
DE102019210683A1 (de) * | 2019-07-19 | 2021-01-21 | Robert Bosch Gmbh | Verfahren zum Betreiben eines Schienenfahrzeugs |
US10908291B2 (en) | 2019-05-16 | 2021-02-02 | Tetra Tech, Inc. | System and method for generating and interpreting point clouds of a rail corridor along a survey path |
DE102020210821A1 (de) | 2020-08-27 | 2022-03-03 | Siemens Mobility GmbH | Verfahren zur Überprüfung eines Lichtraums für ein Schienenfahrzeug |
US11377130B2 (en) | 2018-06-01 | 2022-07-05 | Tetra Tech, Inc. | Autonomous track assessment system |
Citations (3)
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EP0577491A1 (de) * | 1992-06-29 | 1994-01-05 | Matra Cap Systemes | Verfahren und Vorrichtung zur Überwachung einer dreidimensionalen Szene unter Verwendung von Bildsensoren |
DE19621612A1 (de) * | 1996-05-31 | 1997-12-11 | C Vis Computer Vision Und Auto | Verfahren und Vorrichtung zur optischen Freiraumüberwachung |
WO2004028881A1 (de) * | 2002-09-23 | 2004-04-08 | Siemens Aktiengesellschaft | Sensorsystem und verfahren zur fahrwegüberwachung für eine mobile einheit |
-
2005
- 2005-04-20 TW TW094112508A patent/TW200604047A/zh unknown
- 2005-07-18 WO PCT/EP2005/053466 patent/WO2006008292A1/de active Application Filing
- 2005-07-18 DE DE112005001577T patent/DE112005001577A5/de not_active Ceased
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0577491A1 (de) * | 1992-06-29 | 1994-01-05 | Matra Cap Systemes | Verfahren und Vorrichtung zur Überwachung einer dreidimensionalen Szene unter Verwendung von Bildsensoren |
DE19621612A1 (de) * | 1996-05-31 | 1997-12-11 | C Vis Computer Vision Und Auto | Verfahren und Vorrichtung zur optischen Freiraumüberwachung |
WO2004028881A1 (de) * | 2002-09-23 | 2004-04-08 | Siemens Aktiengesellschaft | Sensorsystem und verfahren zur fahrwegüberwachung für eine mobile einheit |
Cited By (33)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2007096273A1 (de) * | 2006-02-20 | 2007-08-30 | Siemens Aktiengesellschaft | Verfahren zur rechnergestützten überwachung des betriebs eines einen vorgegebenen streckenverlauf fahrenden fahrzeugs, insbesondere eines spurgebundenen schienenfahrzeugs |
EP2168839A1 (de) * | 2008-09-25 | 2010-03-31 | Nederlandse Organisatie voor toegepast- natuurwetenschappelijk onderzoek TNO | Schienenhindernis-Erkennungssystem und Verfahren zum Erkennen eines Schienenhindernisses und Computerprogrammprodukt |
WO2014033087A2 (de) * | 2012-08-31 | 2014-03-06 | Siemens Aktiengesellschaft | Überwachung einer bahnstrecke |
WO2014033087A3 (de) * | 2012-08-31 | 2014-12-31 | Siemens Aktiengesellschaft | Überwachung einer bahnstrecke |
CN104583051A (zh) * | 2012-08-31 | 2015-04-29 | 西门子公司 | 对铁路线路的监视 |
US9387867B2 (en) | 2013-12-19 | 2016-07-12 | Thales Canada Inc | Fusion sensor arrangement for guideway mounted vehicle and method of using the same |
US9327743B2 (en) | 2013-12-19 | 2016-05-03 | Thales Canada Inc | Guideway mounted vehicle localization system |
US10384697B2 (en) | 2015-01-19 | 2019-08-20 | Tetra Tech, Inc. | Protective shroud for enveloping light from a light emitter for mapping of a railway track |
US9618335B2 (en) | 2015-01-19 | 2017-04-11 | Tetra Tech, Inc. | Light emission power control apparatus and method |
US9849894B2 (en) | 2015-01-19 | 2017-12-26 | Tetra Tech, Inc. | Protective shroud for enveloping light from a light emitter for mapping of a railway track |
US9849895B2 (en) | 2015-01-19 | 2017-12-26 | Tetra Tech, Inc. | Sensor synchronization apparatus and method |
US10322734B2 (en) | 2015-01-19 | 2019-06-18 | Tetra Tech, Inc. | Sensor synchronization apparatus and method |
US10349491B2 (en) | 2015-01-19 | 2019-07-09 | Tetra Tech, Inc. | Light emission power control apparatus and method |
US10728988B2 (en) | 2015-01-19 | 2020-07-28 | Tetra Tech, Inc. | Light emission power control apparatus and method |
US11259007B2 (en) | 2015-02-20 | 2022-02-22 | Tetra Tech, Inc. | 3D track assessment method |
US11196981B2 (en) | 2015-02-20 | 2021-12-07 | Tetra Tech, Inc. | 3D track assessment apparatus and method |
US10362293B2 (en) | 2015-02-20 | 2019-07-23 | Tetra Tech, Inc. | 3D track assessment system and method |
US11399172B2 (en) | 2015-02-20 | 2022-07-26 | Tetra Tech, Inc. | 3D track assessment apparatus and method |
WO2017202638A1 (de) * | 2016-05-24 | 2017-11-30 | Knorr-Bremse Systeme für Schienenfahrzeuge GmbH | Warnvorrichtung für schienenfahrzeuge |
US10870441B2 (en) | 2018-06-01 | 2020-12-22 | Tetra Tech, Inc. | Apparatus and method for gathering data from sensors oriented at an oblique angle relative to a railway track |
US10730538B2 (en) | 2018-06-01 | 2020-08-04 | Tetra Tech, Inc. | Apparatus and method for calculating plate cut and rail seat abrasion based on measurements only of rail head elevation and crosstie surface elevation |
US11919551B2 (en) | 2018-06-01 | 2024-03-05 | Tetra Tech, Inc. | Apparatus and method for gathering data from sensors oriented at an oblique angle relative to a railway track |
US11560165B2 (en) | 2018-06-01 | 2023-01-24 | Tetra Tech, Inc. | Apparatus and method for gathering data from sensors oriented at an oblique angle relative to a railway track |
US10625760B2 (en) | 2018-06-01 | 2020-04-21 | Tetra Tech, Inc. | Apparatus and method for calculating wooden crosstie plate cut measurements and rail seat abrasion measurements based on rail head height |
US10807623B2 (en) | 2018-06-01 | 2020-10-20 | Tetra Tech, Inc. | Apparatus and method for gathering data from sensors oriented at an oblique angle relative to a railway track |
US11377130B2 (en) | 2018-06-01 | 2022-07-05 | Tetra Tech, Inc. | Autonomous track assessment system |
US11305799B2 (en) | 2018-06-01 | 2022-04-19 | Tetra Tech, Inc. | Debris deflection and removal method for an apparatus and method for gathering data from sensors oriented at an oblique angle relative to a railway track |
US11169269B2 (en) | 2019-05-16 | 2021-11-09 | Tetra Tech, Inc. | System and method for generating and interpreting point clouds of a rail corridor along a survey path |
US11782160B2 (en) | 2019-05-16 | 2023-10-10 | Tetra Tech, Inc. | System and method for generating and interpreting point clouds of a rail corridor along a survey path |
US10908291B2 (en) | 2019-05-16 | 2021-02-02 | Tetra Tech, Inc. | System and method for generating and interpreting point clouds of a rail corridor along a survey path |
DE102019210683A1 (de) * | 2019-07-19 | 2021-01-21 | Robert Bosch Gmbh | Verfahren zum Betreiben eines Schienenfahrzeugs |
WO2022043213A1 (de) | 2020-08-27 | 2022-03-03 | Siemens Mobility GmbH | Verfahren zur überprüfung eines lichtraums für ein schienenfahrzeug |
DE102020210821A1 (de) | 2020-08-27 | 2022-03-03 | Siemens Mobility GmbH | Verfahren zur Überprüfung eines Lichtraums für ein Schienenfahrzeug |
Also Published As
Publication number | Publication date |
---|---|
DE112005001577A5 (de) | 2007-05-31 |
TW200604047A (en) | 2006-02-01 |
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