Method for updating a rail map

Abstract

The invention relates to a method (100) for updating a rail map, having the steps of: - detecting and / or receiving (S1) at least one magnetic field-monitoring measurement value of a rail segment, and - outputting (S2) a signal if the detected measurement value lies outside of a rail map, wherein - the signal is designed to change at least one measurement value of the rail map using the detected measurement value of the rail segment.

Description

[0001] Description

[0002] title

[0003] Procedure for updating a rail map

[0004] State of the art

[0005] The 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.

[0006] There are currently a multitude of different solutions for updating map data, particularly in the rail sector. Due to the increasing number of rail vehicles on various tracks and increasing automation, the need for innovative and robust map management methods is growing.

[0007] The constant weight reduction in the rail vehicle sector to reduce fuel consumption and increasing competition are creating cost pressure, resulting in greater demand for cheaper and more efficient components for rail vehicles.

[0008] Disclosure of the invention

[0009] The method according to the invention for updating a rail map has the advantage over known methods that, by constantly traveling along the rail network, a map of the rail network is continuously updated without the need for additional measurement runs or the like. This allows, in particular, changes in the map to be taken into account. Thus, in particular, the quality of the recorded sensor values ​​can be continuously improved through adaptation. This can be achieved according to the invention in that the method, in particular a computer-implemented method, for updating a rail map comprises the steps:

[0010] - detecting and / or receiving at least one magnetic field monitoring measured value of a rail segment,

[0011] - Output of a signal if the recorded and / or received measured value is outside a rail map,

[0012] - 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.

[0013] Receiving the at least one magnetic field-monitoring measured value can be a reception from a sensor unit that detects the measured value and / or a reading of the measured value from a storage unit. In this case, the receiving step can be preceded by a step of detecting the at least one measured value by means of the sensor unit.

[0014] In other words, it can be determined 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 determined, for example, via external functions that an update of the rail map is necessary. Thus, the measured value stored in the corresponding part of the rail map can be changed based on the recorded measured value. In this case, the change can, for example, occur by overwriting and / or adjusting the value by a predetermined amount. Thus, the measured 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 using the recorded and / or received measured value in response to the output signal in order to update the rail map.

[0015] In the step of detecting and / or receiving, a temporal or spatial profile of measured values ​​is preferably detected or received. In the context of the present invention, a profile of measured values ​​can be understood as a preferably spatial profile of magnetic field data detected by a magnetic field monitoring sensor unit arranged on the rail vehicle when traveling along the rail segment. The profile of measured values ​​here preferably represents a spatial profile 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 encompassing the rail segment, and (ferro-)magnetic elements arranged in the region of the track. For this purpose, the magnetic field monitoring sensor unit can be designed, for example, as a magnetometer, in particular as a flux-gate magnetometer.Preferably, the magnetic field-monitoring sensor unit is arranged on an underside of the rail vehicle facing a track traveled by the rail vehicle. The course of the measured values ​​can represent, in particular include, the spatial course of the magnetic field. In other words, the measured values ​​can include values ​​of a magnetic field strength and / or flux density and / or values ​​representing the magnetic field strength and / or flux density, e.g., voltage, current, or phase shift values.

[0016] The subclaims show preferred developments of the invention.

[0017] Preferably, the rail map has at least a first signature segment, the method further comprising the steps of:

[0018] - Forming a first signature based on the detected sensor value,

[0019] - Outputting the signal when the first signature deviates from the first signature segment by a predetermined signature reference.

[0020] An advantage of this embodiment is that the detection accuracy can be used more precisely for updating the rail maps, since not only are individual measured values ​​compared with one another, but also measured value curves in the form of signatures can be used. In this case, a signature reference can also be taken into account, which can in particular compensate for local measurement errors or the like. For example, the formation of the first signature comprises in particular a recording of the detected sensor value, in particular a multiplicity of detected sensor values ​​over time. Further preferably, various signature segments are stored in the rail map, which in particular comprise a curve of measured values ​​for a corresponding sub-segment of the rail map. The first signature can thus be compared with the rail map, in particular with the first signature segment.Further preferably, the signal can be output when the first signature deviates from the first signature segment by a predetermined signature reference or has a delta or the like.

[0021] Further preferably, the method comprises the step:

[0022] Determining a first position in the rail map based on a comparison between a first course of the acquired measured value and a first measured value sequence of the rail map if the acquired course of the acquired measured value and the first measured value sequence of the rail map are substantially the same.

[0023] An advantage of this embodiment is that, by comparing the first curve of recorded measured values ​​with a sequence of measured values ​​on the rail map, the position of the sensor unit, for example, can be determined, particularly in the rail map. For example, a first curve of recorded measured values ​​can be generated. In this case, a first sequence of measured values ​​can be stored in the rail map. In particular, if a change in the first curve of the recorded measured values ​​essentially corresponds to a curve of the first sequence of measured values ​​on the rail map, the first position can be determined. The rail map can be used in particular because, if the corresponding measured value curves are the same, the position of the recording should also correspond to the position in the rail map. In this context, “essentially the same” means a deviation of up to ± 50% of the recorded measured value.

[0024] More preferably, the method further comprises the steps of: determining a reference position based on the rail map, determining a travel distance based on the detected measured value, determining a second position based on the reference position and the travel distance.

[0025] An advantage of this embodiment is that, if, for example, no rail map and / or measurement sequence is available for a section of the rail network, or if their acquisition is disrupted, a reference position can be determined in the rail map and a path from this position can be recorded. Thus, based on the path, a second position can be determined that has been traveled since the first reference position was determined, thus inferring a current position.

[0026] More preferably, the method comprises the steps:

[0027] Detecting and / or receiving a travel speed for a period of time based on the detected measured value and a second magnetic field monitoring measured value,

[0028] - Adjust the second position based on the reference position of the travel speed and the time period.

[0029] An advantage of this embodiment is that the traveled distance can be determined based on the travel speed over time, and the second position, which was determined based on the reference point, can be corrected or adjusted. Thus, the second position, which is, for example, indicative of a current position, can be determined more precisely.

[0030] More preferably, the method comprises the steps:

[0031] Identifying at least one deviation element in the rail map,

[0032] - Adjust the second position based on the deviation element.

[0033] An advantage of this embodiment is that if interfering factors, such as identified waypoints or similar elements or deviation elements, are already recorded in a rail map, these can be taken into account when determining the second position. For example, if a sensor unit or a rail vehicle travels over a switch or similar element that is already known, the measured values ​​can be at least partially modified. Thus, these already known and / or identified waypoints can be subtracted from the determination of the second position in order to correct the second position, which is indicative of a current position, for example.

[0034] More preferably, the method further comprises the step:

[0035] Determining a comparison position based on the first position and the second position. An advantage of this embodiment is that, by comparing the position from the reference map based on the recorded measured value and the second position determined by the recorded distance and / or the recorded travel speed, a comparison position is created that can more accurately map the current position of a sensor unit and / or a rail vehicle.

[0036] Further preferably, the method comprises the step:

[0037] - Sending a maintenance signal if the first position is outside the rail map and the second position is inside the rail map.

[0038] An advantage of this embodiment is that, based on the different methods of determining the first and second positions, it can be indicated that, for example, the sensor values ​​for the first position must be re-recorded. For example, the recorded measured value from the rail map may differ significantly, in particular from a measured value stored therein, so that the first position cannot be determined. More preferably, however, the second position can be localized or determined based on a reference position and the distance traveled. This allows it to be concluded that the magnetic field properties of the monitored track have changed and that, therefore, renewed monitoring or re-recording of the magnetic field measured values ​​in the map appears necessary.

[0039] Further preferably, the maintenance signal is configured to provide the acquired measured values ​​to a computer network structure.

[0040] An advantage of this embodiment is that the acquired measured values ​​can be processed using a computer network structure such as a cloud service or a server. In particular, data can only be transmitted to the computer network structure when the maintenance signal is generated, thus reducing data transfer.

[0041] Further preferably, the method comprises the step:

[0042] - Emitting a reinitiation signal if the first position and the second position are outside the rail map. An advantage of this embodiment is that the reinitiation signal can be used, in particular, to indicate to a computer network structure that the properties of a rail or a distance or orientation of the rail have changed to such an extent that neither detection based on the measured value curve nor detection based on the distance to a reference point is possible. Thus, the corresponding rail section should be re-entered in the rail map.

[0043] Further preferably, the reinitiation signal is configured to initiate a re-measurement of at least a portion of the rail map and to provide the acquired measurement values ​​and the time measurement values ​​to a computer network structure.

[0044] An advantage of this embodiment is that, by transmitting the measured values ​​to the computer network structure, a new measurement of the rail map can be initiated if a first and second position cannot be determined. In particular, the recorded measured value and the second measured values ​​can be used to record a new track section and / or overwrite the previous track section with these measured values.

[0045] Further preferably, the method comprises the step:

[0046] 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.

[0047] An advantage of this embodiment is that the method can be used to update a rail map, for example, in a sensor unit and / or in a rail vehicle. This significantly reduces the required data transfer, for example, to a server, since the rail map can be at least partially updated locally, thus reducing the external computing effort. 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 another 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:

[0048] Receiving an updated rail map created by the method as described above and below,

[0049] - Sending the updated rail map to a receiving unit.

[0050] An advantage of this embodiment is that an update of rail maps, particularly of other 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. This can, in particular, eliminate the need for additional monitoring or similar measures, or increase data accuracy or data density.

[0051] More preferably, the method for operating a computer network structure further comprises the steps:

[0052] Receiving a first updated rail map created using the method as described above and below, Receiving a second updated rail map created using the method as described above and below,

[0053] - Forming the updated rail map based on a comparison between the first updated rail map and the second updated rail map.

[0054] An advantage of this embodiment is that, for example, two updated rail maps can be received from two different rail vehicles or sensor units, and these updated rail maps can be compared with each other and with an existing rail map in order to be able to determine any differences in the progression of magnetic field values ​​in the rail map. Further preferably, the updated rail map can be adapted based on the first updated rail map and a second updated rail map, so that, for example, a plurality of measured values ​​from a plurality of sensor units or rail vehicles can be taken into account when updating the rail map and forming it.A further aspect of the invention relates to a computer program configured to perform steps of the method as described above and below, and / or configured to perform steps of the method for operating a computer network structure as described above and below. In other words, the computer program comprises instructions that cause the computer network structure and / or a sensor unit to execute at least one of the proposed methods.

[0055] 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.

[0056] 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 detect at least one magnetic field-monitoring measured value of a rail segment.

[0057] Short description of the drawings

[0058] Embodiments of the invention are described in detail below with reference to the accompanying drawings. In the drawing:

[0059] Figure 1a is a diagram illustrating the method according to an embodiment,

[0060] Figure 1b is a diagram illustrating functions of the method according to an embodiment,

[0061] Figure 2 is a flowchart illustrating steps of the method according to an embodiment, Figure 3 is a flowchart illustrating steps of the method according to an embodiment,

[0062] Figure 4 is a flowchart illustrating steps of the method for operating a computer network structure according to an embodiment,

[0063] Figure 5 is a flowchart illustrating steps of the method for operating a computer network structure,

[0064] Figure 6 shows a computer program according to an embodiment,

[0065] Figure 7 shows a computer network structure according to an embodiment, and

[0066] Figure 8 shows a sensor unit according to an embodiment.

[0067] Embodiments of the invention

[0068] Preferably, in all figures, all identical components, elements and / or steps are provided with the same reference numerals.

[0069] Figure 1a shows a diagram 600 to illustrate the method 100 according to one embodiment. The diagram 600 shows, in particular, a first function 602 for determining the first position. In a first decision 604, it can be determined whether the first position is determined or not. If the first position cannot be determined, the second position can be determined using the second function 606. If the second position can be determined, localization 612 can follow. More preferably, a maintenance signal 616 can be transmitted. If a second position 606 cannot be determined, a position 614 cannot be determined. Thus, a reinitiation signal 618 can be transmitted.

[0070] Figure 1b shows a second diagram 650 according to an embodiment for illustrating the method 100. In this case, a rail vehicle 510 has, in particular, a sensor unit 500. In this case, the sensor unit 500 has, in particular, a sensor element 502. More 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. If position information 652 is available, the determination 654 of a first position can take place. If this is successful, the position can be output, such as the first position 664. If no first position can be determined, a check is carried out to determine whether a second position 656 can be determined. If the determination of the second position 656 is unsuccessful, localization 658 of the sensor unit 500 and / or the rail vehicle 510 cannot take place.If 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, if 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 map 662 can be adapted, in particular, to a computer network structure 400, such as a cloud service or the like.

[0071] Figure 2 shows a flowchart illustrating steps of the method 100 according to one embodiment. The method 100 for updating a rail map comprises the following steps:

[0072] Detecting S1 at least one magnetic field monitoring measured value of a rail segment,

[0073] - Outputting S2 of a signal if the detected measured value lies 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 measured value of the rail segment.

[0074] Figure 3 shows a flowchart illustrating steps of method 100 according to one embodiment. In this case, method 100 in Figure 3 comprises the same steps S1 and S2 as already explained with reference to Figure 2. More preferably, method 100 comprises the steps of forming S3 a first signature and outputting S4 the signal. More preferably, method 100 comprises step S5 of determining a first position in the rail map. More preferably, method 100 comprises the steps of determining S6 a reference position and determining S7 a travel distance as well as determining S8 a second position. More preferably, method 100 comprises the steps of detecting S9 a travel speed and adapting S10 the second position. Preferably, method 100 comprises the steps of identifying S11 at least one deviation element and adapting S12 the second position.

[0075] Further preferably, method 100 includes the step of determining S13 a comparison position. Furthermore, method 100 may include the step of transmitting S14 a maintenance signal. Furthermore, method 100 includes the step of transmitting S15 a reinitiation signal. Further preferably, method 100 includes the step of providing S16 an updated rail map depending on the signal.

[0076] Figure 4 shows a flowchart illustrating the method 200 for operating a computer network structure 400 according to one embodiment. The method 200 for operating a computer network structure 400 comprises the steps of receiving (S21) an updated rail map created by the method 100, as described above and below, and transmitting (S22) the updated rail map to at least one receiving unit.

[0077] Figure 5 shows a flowchart illustrating steps of the method 200 for operating a computer network structure 400 according to one embodiment. Figure 5 includes the same steps S21 and S22 as already explained with reference to Figure 4. Further preferably, the method 200 includes the steps of receiving S23 an updated rail map, receiving S24 a second updated rail map, and forming S25 the updated rail map.

[0078] Figure 6 shows a computer program 300 according to one embodiment. The computer program 300 is configured to perform steps of the method 100, as described above and below, and / or to perform steps of the method 200 for operating a computer network structure 400, as described above and below.

[0079] Figure 7 shows a computer network structure 400 according to one 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 that stores the computer program 300 as described above and below.

[0080] Figure 8 shows a sensor unit 500 according to one embodiment. The sensor unit 500 is configured to perform steps of the method 100, as described above and below, and has a sensor element 502 configured to detect at least one magnetic field-monitoring measured value of a rail segment. Further preferably, the sensor unit 500 has a further storage medium configured to store the computer program 300, as described above and below.

Claims

Claims 1. A method (100) for updating a rail map, comprising the steps of: Detecting 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 detected measured value lies 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.

2. The method (100) of claim 1, wherein the rail map has at least a first signature segment, further comprising the steps: Forming (S3) a first signature based on the detected sensor value, Outputting (S4) the signal when the first signature deviates from the first signature segment by a predetermined signature reference.

3. Method (100) according to one of the preceding claims, further comprising the step: Determining (S5) a first position in the rail map based on a comparison between a first profile of the acquired measured value and a first measured value sequence of the rail map if the first profile of the acquired measured value and the first measured value sequence of the rail map are substantially the same.

4. Method (100) according to one of the preceding claims, further comprising the steps: Determining (S6) a reference position based on the rail map, Determining (S7) a distance based on the measured value, Determining (S8) a second position based on the reference position and the distance.

5. The method (100) of claim 4, further comprising the steps: Detecting and / or receiving (S9) a travel speed for a period of time based on the detected measured value and a second magnetic field monitoring measured value, Adjusting (S10) the second position based on the Reference position, travel speed and time period.

6. The method (100) according to any one of claims 4 to 5, further comprising the steps: Identifying (S11) at least one deviation element in the Rail map, Adjust (S12) the second position based on the deviation element.

7. The method (100) according to any one of claims 3 to 6, further comprising the step: Determining (S13) a comparison position based on the first position and the second position.

8. The method (100) according to any one of claims 3 to 7, further comprising the step: Sending (S14) a maintenance signal if the first position is outside the rail map and the second position is inside the rail map.

9. The method (100) of claim 8, wherein the maintenance signal is configured to provide the acquired measurement values to a computer network structure.

10. The method (100) according to any one of claims 6 to 9, further comprising the step: Sending (S15) a reinitiation signal if the first position and the second position are outside the track map.

11. 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 map and to provide the acquired measurement values to a computer network structure.

12. The method (100) according to any one of the preceding claims, further comprising the step: Providing (S16) an updated rail map as a function of the signal, which has at least the detected measured value, to a network structure and / or to a receiving unit.

13. A method (200) for operating a computer network structure (400), comprising the steps: Receiving (S21) an updated rail map created by the method according to one of the preceding claims, sending (S22) the updated rail map to a receiving unit.

14. A method (200) for operating a computer network structure (400) according to claim 13, further comprising the steps: Receiving (S23) a first updated rail map created using the method (100) according to one of the preceding claims, Receiving (S24) a second updated rail map created using the method (100) according to 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.

15. Computer program (300) 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.

16. 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 Computer program (300) according to claim 15.

17. 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 detect at least one magnetic field monitoring measured value of a rail segment.

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