Procedure for updating a rail map

Abstract

The present invention relates to a method (100) for updating a track map, comprising the steps: capturing and / or receiving (S1) at least one magnetic field monitoring measurement of a track segment, - outputting (S2) a signal when the captured measurement is outside a track map, - wherein the signal is configured to change at least one measurement of the track map by means of the captured measurement of the track segment.

Description

Prior ArtThe present invention relates to a method for updating a rail map, a method for operating a computer network structure, a computer program, a computer network structure and a sensor unit.At present, there are a large number of different solutions for updating map data, in particular in the rail area. As the number of rail vehicles on different track sections increases and as automation increases, the need for innovative and robust methods for map management increases.Due to the continuous weight reduction in the rail vehicle area for reducing consumption and the increasing competition, cost pressure is ensured, so that more favorable and more efficient components for rail vehicles are demanded more strongly.Disclosure of the InventionThe method according to the invention for updating a rail map has the advantage over the known ones that a map of the rail network is continuously updated by constant travel of the rail network without having to carry out additional measurement travels or the like. Thus, in particular, changes in the map can be taken into account. Thus, in particular, a quality of the detected sensor values can be continuously improved by an adaptation.This can be achieved according to the invention in that the method, in particular a computer-implemented method, for updating a rail map has the steps:detecting and / or receiving at least one magnetic field monitoring measured value of a rail segment,outputting a signal if the recorded and / or received measured value is outside a rail map,wherein the signal is configured to change at least one measured value of the rail map by means of the detected and / or received measured value of the rail segment in order to update the rail map.The reception of the at least one measurement value monitoring the magnetic field can be a reception from a sensor unit detecting the measurement value and / or a reading of the measurement value from a memory unit. In this case, the step of receiving can be preceded by a step of capturing the at least one measured value by means of the sensor unit.In other words, it can be established that a recorded measured value, which monitors a magnetic field in particular during a journey of a rail vehicle, no longer corresponds to a measured value stored in the rail map. In this case, it can be established, for example, via external functions that an update of the rail map is required in this case. The measured value stored in the corresponding part of the rail map can thus be changed on the basis of the recorded measured value. Here, the change can be effected, for example, by overwriting and / or adapting the value by a predetermined amount. Thus, the measurement value of the rail map can be updated. In particular, the method comprises a step of changing at least one measured value of the rail map by means of the captured and / or received measured value in response to the output signal in order to update the rail map.In the step of capturing and / or receiving, a temporal or spatial profile of measurement values is preferably captured or received. Within the scope of the present invention, a profile of measured values can be understood to mean a preferably spatial profile of magnetic field data acquired by means of a sensor unit arranged on the rail vehicle monitoring the magnetic field when the rail segment is being traveled on. The course of measured values here preferably represents a spatial course of the earth's magnetic field along a rail segment traveled by the rail vehicle, wherein the earth's magnetic field is characteristically modified by the rail segment, a track comprising the rail segment and (ferro)magnetic elements arranged in the region of the track. For this purpose, the sensor unit monitoring the magnetic field can be designed, for example, as a magnetometer, in particular as a flux gate magnetometer. The magnetic field monitoring sensor unit is preferably arranged on an underside of the rail vehicle facing a track on which the rail vehicle is travelling. The profile of the measured values can represent, in particular comprise, the spatial profile of the magnetic field. In other words, the measured values can be values representing a magnetic field strength and / or flux density and / or values representing the magnetic field strength and / or flux density, for example. These values may include voltage, current or phase shift values.The dependent claims show preferred developments of the invention.Preferably, the rail card comprises at least one first signature segment, wherein the method further comprises the steps of:forming a first signature based on the detected sensor value,outputting the signal if the first signature deviates from the first signature segment by a predetermined signature reference.An advantage of this embodiment is that the detection accuracy for updating the rail maps can be used more precisely, since not only individual measured values are compared with one another, but also measured value profiles in the form of signatures can be used. In this case, a signature reference can also be taken into account, which can compensate, in particular, for local measurement errors or the like. For example, the formation of the first signature comprises, in particular, a recording of the captured sensor value, in particular a multiplicity of captured sensor values over time. Further preferably, different signature segments are stored in the rail card, which in particular comprises a profile of measured values for a corresponding partial segment of the rail card. Thus, the first signature can be compared with the rail card, in particular with the first signature segment. Further preferably, the signal can be output if the first signature deviates from the first signature segment by a predetermined signature reference or has a delta or the like.More preferably, the method comprises the step of:determining a first position in the rail map, based on a comparison between a first profile of the recorded measured value and a first measured value sequence of the rail map, if the recorded profile of the recorded measured value and the first measured value sequence of the rail map are substantially the same.An advantage of this embodiment is that, on the basis of the comparison of the first profile of captured measurement values to a measurement value sequence of the rail map, the position of the sensor unit, for example, can be determined, in particular in the rail map. For example, a first profile of captured measurement values can be generated. In this case, in particular a first measurement value sequence can be stored in the rail card. In particular, if a change in the first profile of the recorded measured values substantially corresponds to a profile of the first measured value sequence of the rail map, the first position can be determined. In this case, recourse can be made in particular to the rail map, since, if the corresponding measured value profiles are the same, the position of the detection should likewise coincide with the position in the rail map. In this context, essentially the same means a deviation of up to ±50% of the detected measured value.Further preferably, the method further comprises the steps of:determining a reference position on the basis of the rail map,determining a distance based on the detected measured value,determining a second position based on the reference position and the travel distance.An advantage of this embodiment is that if, for example, no rail map and / or measurement value sequence are present for a subsection of the rail network or their detection is disturbed, a reference position can be determined in the rail map and a path from this position is detected. Thus, a second position can be determined on the basis of the path, which has been covered since the determination of the first reference position, in order thus to infer a current position.The method further preferably has the steps:detecting and / or receiving a travel speed for a time segment based on the detected measured value and a second measured value monitoring the magnetic field,adjusting the second position based on the reference position of the travel speed and the time interval.An advantage of this embodiment is that the distance travelled can be determined on the basis of the travel speed over time and the second position which has been determined as a function of the reference point can also be corrected or adapted. Thus, the second position, which is indicative of a current position, for example, can be determined more accurately.The method further preferably has the steps:identifying at least one deviation element in the rail map,adapting the second position on the basis of the deviation element.An advantage of this embodiment is that if disturbing factors, such as identified waypoints or the like or deviation elements, are already recorded in a rail map, these can be taken into account in the determination of the second position. For example, in a route of a sensor unit or a rail vehicle, it is possible to drive over a switch or the like, which is already known to at least partially modify the measured values. Thus, these already known and / or identified waypoints can be calculated out of the determination of the second position, in order to thereby correct the second position, which is indicative of a current position, for example.More preferably, the method further comprises the step of:determining a comparison position based on the first position and the second position.An advantage of this embodiment is that, with the aid of the comparison between the position from the reference map on the basis of the captured measured value and the second position, which was determined by the captured travel distance and / or by the captured travel speed, a comparison position is created, which can more accurately depict the current position of a sensor unit and / or of a rail vehicle.More preferably, the method comprises the step of:emitting a maintenance signal when the first position is outside the rail card and the second position is inside the rail card.An advantage of this embodiment is that it is possible to indicate, on the basis of the different modes of determination of the first and the second position, that, for example, the sensor values have to be newly detected with respect to the first position. For example, the recorded measured value from the rail map can deviate significantly, in particular, from a measured value stored therein, so that the first position cannot be determined. Further preferably, however, the second position can be localized or determined on the basis of a reference position and the distance travelled. It can thus be concluded that the magnetic field properties of the monitored track have changed and thus a renewed monitoring or determination of the magnetic field measurement values appears to be required in the map.Further preferably, the maintenance signal is configured to provide the captured measured values to a computer network structure.An advantage of this embodiment is that the acquired measurement values can be processed by means of a computer network structure such as a cloud service or a server. In this case, data can be transmitted to the computer network structure in particular only when the maintenance signal is formed, in order to be able to achieve a reduction in the data transfer.More preferably, the method comprises the step of:emitting a reinitiation signal when the first position and the second position are outside the track card.An advantage of this embodiment is that the reinitiation signal, in particular a computer network structure, can be used to indicate that the properties of a rail or a path length or orientation of the rail have changed in such a way that neither detection on the basis of the measured value profile is possible nor detection by means of the path length to a reference point. Thus, the corresponding rail section should be newly registered in the rail map.Further preferably, the reinitiation signal is configured to initiate a re-measurement of at least a portion of the rail card and to provide the captured measurement values and the time measurement values to a computer network structure.An advantage of this embodiment is that, by means of the transmission of the measurement values to the computer network structure, if no first and second positions can be determined, a re-measurement of the rail map can be initiated. In this case, in particular, the recorded measured value and the second measured values can be used to record a new track section and / or to overwrite the previous track section with these measured values.More preferably, the method comprises the step of:providing, depending on the signal, an updated rail map, which has at least the recorded measured value, to a network structure and / or to a receiving unit.An advantage of this embodiment is that a rail map can be updated, for example, in a sensor unit and / or in a rail vehicle by means of the method. The required data transfer to a server, for example, is thus significantly reduced since the rail card can be updated at least partially on site and the external computing effort can thus be reduced. Furthermore, the updated rail map can be transmitted in particular to a network structure such as a server and / or a cloud service or to a receiving unit such as, for example, a further sensor unit or a rail vehicle.A further aspect of the invention relates to a method for operating a computer network structure, comprising the steps of:receiving an updated rail map which has been created by means of the method as described above and below,transmitting the updated rail map to a receiving unit.An advantage of this embodiment is that an update of rail maps, in particular of further rail vehicles or sensor units, can be triggered by the sensor units or rail vehicles themselves if one of them detects a deviation from the rail map. Thus, in particular, additional monitoring or the like can be saved or the data accuracy or data density can be brought to a higher level.Further preferably, the method for operating a computer network structure further comprises the steps of:receiving a first updated rail map, which was created using the method as described above and below,receiving a second updated rail map, which was created using the method as described above and below,forming the updated rail map based on a comparison between the first updated rail map and the second updated rail map.An advantage of this embodiment is that, for example, two updated rail maps can be received by two different rail vehicles or sensor units and these updated rail maps can be compared with one another and can also be compared with an existing rail map in order to be able to ascertain possible differences in a profile of magnetic field values in the rail map. Further preferably, the updated rail map can be adapted on the basis of the first updated rail map and a second updated rail map, such that, for example, a plurality of measured values of a plurality of sensor units or rail vehicles can be taken into account in the updating of the rail map and the formation thereof.A further aspect of the invention relates to a computer program which is configured to carry out steps of the method as described above and below and / or is configured to carry out steps of the method for operating a computer network structure as described above and below. In other words, the computer program comprises instructions which cause the computer network structure and / or a sensor unit to execute at least one of the proposed methods.A further aspect relates to a computer network structure which is configured to carry out steps of the method as described above and below and / or is configured to carry out steps of the method for operating a computer network structure as described above and below and / or has a storage medium which stores the computer program as described above and below.A further aspect of the invention relates to a sensor unit which is configured to carry out steps of the method as described above and below and / or has a sensor element which is configured to record at least one magnetic field-monitoring measured value of a rail segment.Brief Description of the DrawingsHereinafter, embodiments of the invention will be described in detail with reference to the accompanying drawings. In the drawing, the following is: FIG. 1 a is a diagram to illustrate the method according to one embodiment, FIG. 1 b shows a diagram for illustrating functions of the method according to one embodiment, FIG. 2 shows a flow chart to illustrate steps of the method according to one embodiment, FIG. 3 shows a flow chart to illustrate steps of the method according to one embodiment, FIG. 4 is a flow diagram illustrating steps of the method of operating a computer network structure, according to an embodiment, FIG. 5 is a flow chart illustrating steps of the method for operating a computer network structure, FIG. 6 shows a computer program according to an embodiment, FIG. 7 illustrates a computer network structure according to an embodiment; and FIG. 8 shows a sensor unit according to an embodiment.Embodiments of the InventionAll the same components, elements and / or steps are preferably provided with the same reference numerals in all figures.FIG. 1 ashows a diagram 600 for illustrating the method 100 according to an embodiment. The diagram 600 shows, in particular, a first function 602 for determining the first position. In a first decision 604, it can be established whether or not the first position is ascertained. In the event that the first position cannot be determined, the second position can be determined using the second function 606. If the second position can be determined, the localization 612 can follow. Further preferably, a maintenance signal 616 can be transmitted. If no second position 606 is determinable, no position 614 may be determined. Thus, a reinitiation signal 618 may be sent out.FIG. 1 b shows a second diagram 650 according to an embodiment to illustrate the method 100. In this case, a rail vehicle 510 has, in particular, a sensor unit 500. The sensor unit 500 has in particular a sensor element 502. Further preferably, the sensor unit 500 has an interface unit 506, which is configured to establish a connection to a computer network structure 400, such as a server and / or a cloud. In the event position information 652 is available, a first position determination 654 may be made. If successful, the position such as the first position 664 may be output. If no first position can be determined, a check is made as to whether a second position 656 can be determined. If the determination of the second position 656 is not successful, no localization 658 of the sensor unit 500 and / or of the rail vehicle 510 can take place. In the event that the localization 656 of the second position is successful, a position 664 in the sensor unit 500 and / or the rail vehicle 510 can be output. Further preferably, in the case that the first position cannot be determined but the second position can be determined, a maintenance signal can be displayed, in particular for updating the rail map 660. Thus, the card 662 may be adapted, in particular, to a computer network structure 400 such as a cloud service or the like.FIG. 2 shows a flow chart to illustrate steps of method 100 according to one embodiment. The method 100 for updating a rail map has the steps:acquiring S 1 at least one magnetic field monitoring measured value of a rail segment,outputting S 2 a signal if the recorded measured value is outside a rail map, wherein the signal is configured to change at least one measured value of the rail map by means of the recorded measured value of the rail segment.FIG. 3 shows a flow chart to illustrate steps of method 100, according to one embodiment. In this case, the method 100 in FIG. 3 has the same steps S 1 and S 2 as have already been explained with reference to FIG. 2. Further preferably, the method 100 comprises the steps of forming S 3 a first signature and outputting S 4 the signal. Further preferably, the method 100 comprises the step S 5 of determining a first position in the rail map. Further preferably, the method 100 comprises the steps of determining S 6 a reference position and determining S 7 a route and determining S 8 a second position. Further preferably, the method 100 comprises the steps of detecting S 9 a travel speed and adapting S 10 the second position. The method 100 preferably comprises the steps of identifying S 11 at least one deviation element and adapting S 12 the second position.Further preferably, the method 100 has the step of ascertaining S 13 a comparison position. In addition, the method 100 can have the step of transmitting S 14 a maintenance signal. The method 100 further comprises the step of emitting S 15 a reinitiation signal. Further preferably, the method 100 comprises the step of providing S 16 to an updated rail map depending on the signal.FIG. 4 shows a flow chart to illustrate the method 200 for operating a computer network structure 400 according to an embodiment. The method 200 for operating a computer network structure 400 has the steps of receiving S 21 an updated rail map, which was created by means of the method 100 as described above and below, transmitting S 22 the updated rail map to at least one receiving unit.FIG. 5 shows a flow chart to illustrate steps of method 200 for operating a computer network structure 400, according to an embodiment. In this case, FIG. 5 has the same steps S 21 and S 22 as have already been explained with reference to FIG. 4. Further preferably, the method 200 comprises the steps of receiving S 23 an updated rail map, receiving S 24 a second updated rail map and forming S 25 the updated rail map.FIG. 6 shows a computer program 300 according to an embodiment. The computer program 300 is configured to perform steps of the method 100 as described above and below and / or configured to perform steps of the method 200 for operating a computer network structure 400 as described above and below.FIG. 7 illustrates a computer network structure 400 according to an embodiment. The computer network structure 400 is configured to perform steps of the method 100 as described above and below and / or configured to perform steps of the method 200 for operating a computer network structure 400 as described above and below and / or comprises a storage medium 402 which stores the computer program 300 as described above and below.FIG. 8 shows a sensor unit 500 according to an embodiment. The sensor unit 500 is configured to carry out steps of the method 100 as described above and below and has a sensor element 502 which is configured to record at least one magnetic field-monitoring measured value of a rail segment. Further preferably, the sensor unit 500 has a further storage medium which is configured to store the computer program 300 as described above and below.

Claims

Method (100) for updating a rail map, comprising the steps of: - acquiring and / or receiving (S1) at least one magnetic field monitoring measured value of a rail segment, - outputting (S2) a signal if the received and / or acquired measured value is outside a rail map, - wherein the signal is configured to change at least one measured value of the rail map by means of the acquired and / or received measured value of the rail segment in order to update the rail map.Method (100) according to claim 1, wherein the rail card comprises at least one first signature segment, further comprising the steps of: - forming (S3) a first signature based on the detected sensor value, - outputting (S4) the signal if the first signature deviates from the first signature segment by a predetermined signature reference.Method (100) according to one of the preceding claims, further comprising the step of: - determining (S5) a first position in the rail map, based on a comparison between a first profile of the recorded measurement value and a first measurement value sequence of the rail map, if the first profile of the recorded measurement value and the first measurement value sequence of the rail map are substantially the same.Method (100) according to one of the preceding claims, further comprising the steps: - determining (S6) a reference position on the basis of the rail map, - determining (S7) a route based on the recorded measured value, - determining (S8) a second position based on the reference position and the route.Method (100) according to claim 4, further comprising the steps of: - detecting and / or receiving (S9) a travel speed for a time interval based on the detected measurement value and a second magnetic field monitoring measurement value, - adjusting (S10) the second position based on the reference position, the travel speed and the time interval.Method (100) according to one of Claims 4 to 5, further comprising the steps of: - identifying (S11) at least one deviation element in the rail map, - adapting (S12) the second position on the basis of the deviation element.Method (100) according to one of claims 3 to 6, further comprising the step of: - determining (S13) a comparison position based on the first position and the second position.Method (100) according to one of claims 3 to 7, further comprising the step of: - emitting (S14) a maintenance signal if the first position is outside the rail card and the second position is inside the rail card.The method (100) of claim 8, wherein the maintenance signal is configured to provide the acquired measurements to a computer network structure.The method (100) according to any one of claims 6 to 9, further comprising the step of: - emitting (S15) a re-initiation signal if the first position and the second position are outside the track card.The method (100) of claim 10, wherein the reinitiation signal is configured to initiate a re-measurement of at least a portion of the rail card and provide the captured measurements to a computer network structure.Method (100) according to one of the preceding claims, further comprising the step of: - providing (S16) an updated rail map as a function of the signal, which has at least the captured measured value, to a network structure and / or to a receiving unit.Method (200) for operating a computer network structure (400), comprising the steps of: - receiving (S21) an updated rail map which has been created by means of the method according to one of the preceding claims, - transmitting (S22) the updated rail map to a receiving unit.Method (200) for operating a computer network structure (400) according to claim 13, further comprising the steps of: - receiving (S23) a first updated rail map created with the method (100) according to any one of the preceding claims, - receiving (S24) a second updated rail map created with the method (100) according to any one of the preceding claims, - forming (S25) the updated rail map based on a comparison between the first updated rail map and the second updated rail map.Computer program (300) which is configured to perform steps of the method (100) according to one of Claims 1 to 12 and / or is configured to perform steps of the method (200) for operating a computer network structure (400) according to one of Claims 13 to 14.Computer network structure (400) which is configured to carry out steps of the method (100) according to one of Claims 1 to 12 and / or is configured to carry out steps of the method (200) for operating a computer network structure (400) according to one of Claims 13 to 14 and / or has a storage medium (402) which stores the computer program (300) according to Claim 15.Sensor unit (500) which is configured to carry out steps of the method (100) according to one of Claims 1 to 12 and / or has a sensor element (502) which is configured to record at least one magnetic-field-monitoring measured value of a rail segment.

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