TRACKING SYSTEM FOR DETERMINING RELATIVE MOVEMENTS BETWEEN TWO VEHICLE PARTS

Abstract

A tracking system has a first tracking module and a second tracking module, the position and/or orientation of which relative to each other can be determined by means of a sensor device of the tracking system to determine relative movements of a first vehicle part of a set of vehicles relative to a second vehicle part of the set of vehicles that is movably connected to the first vehicle part. The first tracking module is connected to the first vehicle part and the second tracking module is connected to the second vehicle part.

Claims

1. A tracking system for determining relative movements of a first vehicle part of a set of vehicles relative to a second vehicle part of the set of vehicles that is movably connected to the first vehicle part, the tracking system comprising: a first tracking module associated with the first vehicle part, a second tracking module associated with the second vehicle part, and a sensor device for determining position and/or orientation of the first tracking module and the second tracking module relative to each other.

2. The tracking system according to claim 1, wherein: the sensor device comprises at least one draw-wire linear transducer to acquire distance data between a first linkage point at the first tracking module and a second linkage point at the second tracking module.

3. The tracking system according to claim 1, wherein: the first tracking module and the second tracking module each comprises three linkage points, and the sensor device comprises a draw-wire linear transducer provided at each of the linkage points of the first tracking module and the second tracking module, each of the draw-wire linear transducers being assigned to one of the linkage points at the first tracking module which is also assigned to a different one of the draw-wire linear transducers; and one of the linkage points at the second tracking module (9) which is assigned to another one of the draw-wire linear transducers other than the different one of the draw-wire linear transducers.

4. The tracking system according to claim 1, wherein: the sensor device comprises at least one optical sensor that is arranged at the first or the second tracking module and operable to determine a distance to a reference object located at the other of the first or second tracking module, a position of the reference object, and/or an orientation of the reference object.

5. The tracking system according to claim 4, wherein the optical sensor comprises a camera that records pictures of the reference object.

6. The tracking system according to claim 1, wherein: the sensor device comprises at least one optical sensor that is arranged at the first or the second tracking module and operable to determine a distance to a reference object located at the other of the first or second tracking module, a position of the reference object, and/or an orientation of the reference object, wherein the reference object comprises a self-luminous or reflective marker.

7. The tracking system according to claim 5, wherein: at least two optical sensors are arranged at the first tracking module and/or the second tracking module each of the at least two optical sensors being operable to determine distance data between itself and the reference object and/or operable to determine a position and/or orientation of the reference object at the other of the first tracking module or the second tracking module.

8. The tracking system according to claim 6, wherein: at least two optical sensors are arranged at the first tracking module and/or the second tracking module each of the at least two optical sensors being operable to determine distance data between itself and the reference object and/or operable to determine a position and/or orientation of the reference object at the other of the first tracking module or the second tracking module.

9. The tracking system according to claim 1, wherein the sensor device further comprises, at each of the first tracking module and the second tracking module, one or more sensors selected from the group consisting of: an acceleration sensor, an angular rate sensor, a magnetic field sensor, and a GNSS sensor.

10. The tracking system according to claim 8, wherein the one or more sensors comprises the acceleration sensor, the angular rate sensor and/or the magnetic field sensor, as well as the GNSS sensor, wherein the tracking system further comprises: a calibration unit for automatic calibration of the acceleration sensor, the angular rate sensor, and/or the magnetic field sensor at regular or irregular intervals, the calibration unit comprising an input interface for receiving data of the GNSS sensor and/or of an external reference signal, so that the data from the GNSS sensor and/or the external reference signal are utilizable to calibrate the acceleration sensor, the angular rate sensor, and/or the magnetic field sensor.

11. The tracking system according to claim 1, further comprising an evaluation device utilizable to classify relative movements between the first vehicle part and the second vehicle part.

12. The tracking system according to claim 11, wherein the evaluation device is operable to acquire data about a route profile that the set of vehicles is traveling, based on the relative movements.

13. A method for determining, via a tracking system, relative movements of a first vehicle part of a set of vehicles in relation to a second vehicle part of the set of vehicles that is movably connected to the first vehicle part, the method comprising: arranging a first tracking module of the tracking system at the first vehicle part; arranging a second tracking module of the tracking system at the second vehicle part; and determining a position and/or an orientation of the first tracking module and the second tracking module relative to each other via a sensor device of the tracking system.

14. The method according to claim 13, wherein: at least one distance data between a first linkage point at the first tracking module and a second linkage point at the second tracking module is acquired via a draw-wire linear transducer to determine the position and/or the orientation of the first tracking module and the second tracking module relative to each other.

15. The method according to claim 14, further comprising: acquiring additional distance data between a further linkage point at the first tracking module and a further linkage point at the second tracking module via a further draw-wire linear transducer.

16. The method according to claim 13, wherein: at least one reference object arranged at the first tracking module is recorded via at least one optical sensor arranged at the second tracking module to determine the position and/or the orientation of the first tracking module and the second tracking module relative to each other, wherein the position and/or the orientation of the first tracking module and the second tracking module relative to each other is determined based on data recorded by the at least one optical sensor.

17. The method according to claim 13, wherein: relative movements between the first tracking module and the second tracking module are classified in accordance with predefined standard movements and/or data about a route profile that the set of vehicles is traveling is acquired based on relative movements between the first tracking module and the second tracking module.

18. A tracking system for a set of vehicles having a first vehicle part and a second vehicle part that is movably connected to the first vehicle part, the tracking system determines relative movements of the first vehicle part relative to the second vehicle part and comprises: a first tracking module connected to the first vehicle part; a second tracking module connected to the second vehicle part; and a sensor device operable to determine a position and/or an orientation of the first tracking module and the second tracking module relative to each other.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Further measures improving the invention are shown in more detail below with reference to the figures, together with a description of preferred embodiments of the invention.

[0039] FIG. 1 is a perspective view of a gangway between two vehicle parts, with a tracking system in accordance with a first embodiment;

[0040] FIG. 2 is a detail view of the tracking system in accordance with FIG. 1;

[0041] FIG. 3 is a perspective view of a gangway between two vehicle parts, with a tracking system in accordance with a second embodiment; and

[0042] FIG. 4 is a schematic representation of a graphic model for determining the position and/or orientation of two vehicle parts by means of a tracking system.

DETAILED DESCRIPTION OF THE INVENTION

[0043] FIG. 1 is a schematic diagram of a gangway 1 between a first vehicle part 2 and a second vehicle part 3 that are movably connected. The embodiment shown is a set of vehicles in the form of a rail vehicle in which the vehicle parts 2 and 3 are connected, e.g., by a coupling. FIG. 1 only shows the end sections of the vehicle parts 2 and 3 that face each other. A gangway system 4 with a bellows 5 and a gangway platform 6 arranged in the floor area is arranged between the two vehicle parts 2 and 3 to protect passengers when walking from vehicle part 2 into vehicle part 3, or vice versa.

[0044] The vehicle parts 2 and 3 are connected to one another in such a way that various relative movements between the vehicle parts 2 and 3 are possible. These movements include, in particular, one or more than one of the following relative movements, depending on the type of the flexible connection: (i) buckling or swiveling movements, i.e., rotary movements around a vertical axis between the vehicle parts 2, 3, that runs in parallel with the axis referred to as z in FIG. 1; (ii) rolling movements, i.e., rotary movements around a horizontal axis between the vehicle parts 2, 3, that runs in parallel with the vehicle longitudinal axis referred to as y in FIG. 1; (iii) pitching movements, i.e., rotary movements around a horizontal axis between the vehicle parts 2, 3, that runs in parallel with the axis referred to as x in FIG. 1 that extends transverse to the vehicle longitudinal axis; (iv) transverse offset movements, i.e., translational movements in the direction of a horizontal axis between the vehicle parts 2, 3, that runs in parallel with the axis referred to as x in FIG. 1 that extends transverse to the vehicle longitudinal axis; (v) height offset movements, i.e., translational movements in the direction of a vertical axis between the vehicle parts 2, 3, that runs in parallel with the axis referred to as z in FIG. 1; and (vi) bumping movements, i.e., translational movements in the direction of a horizontal axis between the vehicle parts 2, 3, that runs in parallel with the vehicle longitudinal axis referred to as y in FIG. 1.

[0045] Specifically, all of the abovementioned relative movements can occur if the vehicle parts 2, 3, are connected by means of a coupling, whereas, e.g., primarily only buckling/swiveling movements, rolling movements and pitching movements are possible in case of an articulated connection.

[0046] For various purposes, it can be helpful to be able to determine the relative movements that actually occur or are to be expected during operation. For example, information about type and magnitude of the relative movements that occur can be important to enable appropriate dimensioning of the connection between the vehicle parts 2, 3, and/or the gangway system 4, in particular its bellows 5. Alternatively, or in addition, this information can be used to draw conclusions about upcoming maintenance work at the gangway 2 and/or about the route profile that the set of vehicles is traveling.

[0047] Therefore, according to the invention, a tracking system 7 is provided in the transition area between the two vehicle parts 2, 3, that enables determination of the relative movements between the two vehicle parts 2, 3.

[0048] In the embodiment shown in FIG. 1, the tracking system 7 comprises two tracking modules 8, 9, arranged opposite each other. The first tracking module 8 is fixedly arranged approximately at the center of the floor 10 of the first vehicle part 2. The second tracking module 9 is fixedly arranged approximately at the center of the floor 11 of the second vehicle part 3. In the embodiment shown in FIG. 1, arrangement in the floor area is preferred due to the weight of the tracking modules 8, 9.

[0049] Different from what is shown in FIG. 1, the tracking modules 8, 9, can in principle also be arranged, e.g., at the side walls or in the ceiling area of the respective vehicle part 2, 3. What is important is only that the position of the tracking module 8, 9, relative to the respective vehicle part 2, 3, is known. To this end, the tracking module 8, 9, is preferably arranged immovably relative to the vehicle part 2, 3. However, the position of the tracking module 8, 9, relative to the respective vehicle part 2, 3, may in principle also change during operation, in which case, however, the current relative position should be known.

[0050] The tracking system 7 comprises a sensor device 12 that can be used to determine the position and/or orientation of the two tracking modules 8, 9, relative to each other. Based on the position and/or orientation determined in this way, the position and/or orientation of the two vehicle parts 2, 3, and hence also the relative movements that occur between the vehicle parts 2, 3, can ultimately be inferred. In particular, the position and/or orientation of the two tracking modules 8, 9, relative to each other is determined continuously or quasi-continuously.

[0051] FIG. 2 shows the tracking system 7 in accordance with FIG. 1 and, in particular, its sensor device 12 in detail. The sensor device 12 comprises two triangular base bodies 13, 14, a base body 13 being assigned to the first tracking module 8 and a base body 14 being assigned to the second tracking module 9. Linkage points 15 for wires 16 of a total of six draw-wire linear transducers 17 are provided in the corner areas of the base bodies 13, 14. Two wires 16 that are linked at, or run through, two different linkage points 15 at the respectively opposite base body 13, 14, run through each linkage point 15.

[0052] When the tracking modules 8, 9, move in relation to each other, the distances between the linkage points 15 change and the changes of distance can be determined by means of the six draw-wire linear transducers 17. The six draw-wire linear transducers 17 determine a total of six measured variables that are independent of each other, so that the six possible degrees of freedom of movement (three rotational degrees of freedom and three translational degrees of freedom) can be determined. If there are less degrees of freedom of movement between the two vehicle parts 2, 3, of a set of vehicles, it may suffice to use a sensor device 12 with less measured variables that are independent of each other.

[0053] Each base body 13, 14, can be fastened to a fastening mount 20, 21, of the respective tracking module 8, 9, by means of a mounting adapter 18, 19. The provision of the mounting adapters 18, 19, makes is especially simple to mount the tracking system 7. Also, this allows easy fine adjustment of the position of the tracking modules 8, 9, and, in particular, of the base bodies 13, 14, in relation to each other.

[0054] FIG. 3 shows a further possible embodiment and arrangement of a tracking system 7 for determining relative movements between the two movably connected vehicle parts 2, 3. The tracking system 7 shown in FIG. 2 comprises two tracking modules 8, 9, the tracking module 8 being arranged in the ceiling area 22 of the vehicle part 8 and the tracking module 9 being mounted to the floor of the vehicle part 9. In contrast to the embodiment of the sensor device 12 according to FIG. 1 and FIG. 2, the sensor device of FIG. 3 is not designed as a mechanical, but as an optical sensor device. The use of an optical sensor device makes it possible to implement the tracking system 7 with especially small installation space requirements and/or low weight, so that such a tracking system 7 can be mounted especially well also in the ceiling or side wall areas of the gangway 1. In particular, in such an arrangement, the tracking system 7 does not, or only to a minimal extent, impede changeover between the two vehicle parts 2, 3, so that the tracking system 7 can also be used in normal vehicle operation.

[0055] In the embodiment shown in FIG. 3, the tracking module 8 comprises two optical sensors in the form of cameras arranged at a distance to one another on a mounting adapter 23 of the tracking module 8. The tracking module 9 mounted to the other vehicle part 3 comprises a reference object 24 with multiple markers 25. The reference object 24 is designed as a kind of coordinate system, the markers 25 being arranged at end sections of the different axes of the coordinate system. The two tracking modules 8, 9, are arranged and orientated in relation to each other in such a way that the two cameras of the tracking module 8 can determine the positions of the markers 25 at the tracking module 9. In particular, the two cameras record the reference object 24 from two different perspectives. Image processing of the pictures recorded by the respective cameras allows to infer the position and orientation of the cameras in relation to the reference object 24. A continuous or quasi-continuous recording of pictures ultimately allows to infer the relative movements between the two tracking modules 8, 9, and hence also between the vehicle parts 2, 3.

[0056] FIG. 4 shows a graphic model that visualizes the possible degrees of freedom between the vehicle parts relative to each other and in relation to a connection point 26 on a connecting line 27 between the two vehicle parts. The connecting line 27 can, e.g., be given by a coupling axle of a coupling that movably interconnects the two vehicle parts, the connection point 26 being the coupling point approximately midway between the two vehicle parts.

[0057] The connection point 26 is the point of origin of a coordinate system 28 with a plane 29 extending transverse to the connecting line 27. In addition to this, coordinate systems 30 and 31 can be defined which have their origin, e.g., at the location of the tracking system and which are spanned by the planes 32, 33, that are orientated perpendicular to connecting lines leading to the ends of the connecting line 27. These planes 32, 33 can, e.g., concur with the front walls of the vehicle parts.

[0058] As shown in FIG. 4, a relative position of the planes 32, 33, or of the front walls of the vehicle parts can be specified in relation to the center plane 29. To do this, the respective orientation of the coordinate axes of the coordinate systems 30, 31, can be projected to the plane 29 or be specified in relation to the coordinate system 29.