EP4470872A1 - Rail vehicle having at least one door opening and a door closing the door opening, computer-implemented method for monitoring a door, computer program product and computer-readable medium - Google Patents

Abstract

The invention relates to a rail vehicle (1) with at least one door opening (2) and a door (3) closing the door opening (2). The rail vehicle (1) comprises a sensor unit (4), a drive and a monitoring computer (8). The rail vehicle (1) can have a control unit (10). The sensor unit (4) can comprise an optical sensor and/or a lidar sensor. The sensor unit (4) can scan both the interior (6) of the rail vehicle (1) and the exterior (7) of the rail vehicle (1) in three dimensions. The door (3) can be opened and closed by the drive. The monitoring computer (8) is connected to the sensor unit (4) via data technology. The control unit (10) is connected to the monitoring computer (8) via data technology. The sensor unit (4) can detect at least the presence of passengers in the interior (6) and in the exterior (7), the closed state of the door and the presence of obstacles in the door opening (2). The invention also relates to a computer-implemented method for monitoring a door (3) in a door opening (2) of a rail vehicle (1), a computer program product and a computer-readable medium.

Description

The present invention relates to a rail vehicle with at least one door opening and a door closing the door opening, a computer-implemented method for monitoring a door, a computer program product and a computer-readable medium.

Rail vehicles with door openings and doors are known from the state of the art. Doors are complex and fault-prone components of a rail vehicle. They also fulfill numerous safety-related functions. In the state of the art, they are monitored by a large number of different sensors, each of which performs a different task. For example, there are already green loops for monitoring the closed state of doors or sensors that detect when an object or a passenger is trapped by the door. In the area of a door in a rail vehicle, other tasks must be fulfilled, such as counting passengers, monitoring a sliding step or simply the opening of the door by the passenger.

Numerous sensor arrangements in the area of doors of rail vehicles are known from the state of the art.

EP 3 194 241 A1 discloses three-dimensional contactless scanning in a door system in a public transport vehicle. Various sensors for obstacle detection are disclosed.

WO 2022/073702 A1 discloses a method using a sensor to control an actuator of a door depending on a detected user.

EP 3 135 846 A1 discloses a three-dimensional scanning of a door area with a camera and a control of a door drive and a sliding step.

EP 3 194 240 A1 discloses a three-dimensional scanning of a passenger compartment with a camera and motion detection as well as context-based door control.

EP 2 470 407 A1 reveals a camera system that creates stereo images and can detect obstacles.

DE 10 2014 113 572 A1 reveals a laser scanner for door monitoring.

WO 2016/206917 A1 discloses a detection unit for detecting a characteristic of a vehicle as well as a context-based door control and a diagnostic function.

The door monitoring systems known from the state of the art have the disadvantage that a large number of sensors are necessary to ensure the functionality of the door monitoring system. The known door monitoring systems are therefore complex and therefore susceptible to failure.

It is the object of the invention to overcome the disadvantages of the prior art and in particular to provide a rail vehicle with a door monitoring system which is simply constructed and can be operated with little disruption.

The object is achieved by a rail vehicle with at least one door opening and a door closing the door opening, a computer-implemented method for monitoring a door, a computer program product and a computer-readable medium according to the independent patent claims.

In particular, the problem is solved by a rail vehicle with at least one door opening and a door closing the door opening. The rail vehicle comprises a sensor unit, a drive and a monitoring computer. The rail vehicle can have a control unit. The sensor unit can comprise an optical sensor and/or a lidar sensor. The sensor unit can scan both the interior of the rail vehicle and the exterior of the rail vehicle in three dimensions without contact. The drive enables the door to be opened and closed. The monitoring computer is connected to the sensor unit via data technology. The control unit can be connected to the monitoring computer via data technology. In particular, the sensor unit can detect at least the presence of passengers in the interior and exterior, the closed state of the door and the presence of obstacles in the door opening.

Such a rail vehicle can be operated reliably and with minimal disruption.

Since a rail vehicle will be delayed at least once in the event of a door malfunction and the door will often no longer be available to passengers and, in the worst case, the rail vehicle will fail completely, door malfunctions should occur as rarely as possible. A simpler and more fail-safe system for monitoring doors and other functions in the door area is therefore desirable.

Greater reliability of the door and thus of the rail vehicle can be achieved by implementing as many functions of monitoring the door and the area around the door as possible using a sensor system with a reduced number of components, rather than using various, specialized sensors as before. The sensor unit can comprise just one sensor. One of the sensors can be a camera.

When detecting the closed state, the sensor unit can determine that the door is closed and that there is no longer a gap between the door leaves. It is also possible that, alternatively or in addition, the locking of the door leaves is detected when detecting the closed state. This can be the mutual locking of the door leaves and/or the locking of the door leaves with the door frame or another part of the rail vehicle.

It is possible that when the locking state is detected, data is recorded by the sensor unit and the raw data is sent from the sensor unit to the monitoring computer. It is possible that the sensor unit comprises a sensor computing unit and the raw data is at least partially processed by the sensor computing unit and then sent from the sensor computing unit to the monitoring computer. The monitoring computer then further processes the data already processed by the sensor computing unit. It is possible that the sensor computing unit is assigned to a camera of the sensor unit. It is possible that the data from the camera can be used by the sensor computing unit to detect passengers or objects in the detection area and the data relating to the presence of the passenger or object is sent from the sensor computing unit to the monitoring computer and further processed by the monitoring computer.

It is possible that the mechanical locking of the door leaves is indicated by a signal that can be detected by the sensor unit. The signal can be detected by a camera on the sensor unit. It is possible that the signal is generated mechanically.

It is possible for the locking to be indicated by a mechanical signal when the door is locked, whereby a mechanical locking signal is moved during the locking process with the locking mechanism. When the door is locked, a locking position of the locking signal can then be detected by the sensor unit, and when the door is unlocked, an unlocking position of the locking signal can be detected by the sensor unit. This ensures that the locking state of the door can be reliably detected. It is possible for several mechanical locking signals to be detectable by the sensor unit. This creates redundancy and the locking state of the door can be detected even when a locking signal is contaminated or covered by an object or a passenger. It is possible for the locking signals to be provided with a reflector. It is possible that the locking signals are provided with a special detection color, which is particularly suitable for detection with a camera.

It is possible that the detection signal is generated electromechanically, for example by an actuator shifting a signal and the signal being detectable by the sensor unit.

It is possible for the rail vehicle to have one sensor unit for each door opening. The rail vehicle then has as many sensor units as door openings. Door openings are door openings for passengers in the outer shell of the rail vehicle. Door openings for staff (driver's cab) or for luggage or for maintenance of the rail vehicle are not necessarily equipped with a sensor unit. The interior of the rail vehicle is the interior in the area of the respective door opening in which passengers are staying or through which passengers who want to get through the door opening move. The exterior of the rail vehicle is the space outside the respective rail vehicle door in which passengers are staying or moving who want to get through the respective door opening.

A data connection is a connection through which data can be transmitted. The connection can be wired. The control unit can be located in the driver's cab of the rail vehicle. It is also possible for the control unit to be located in another area of the rail vehicle, for example if the rail vehicle is an autonomously driving rail vehicle without a driver's cab.

It is possible for the sensor unit to detect a passenger's request to open the interior and/or exterior of the rail vehicle. It is possible for the sensor unit to detect the presence of a passenger and for the monitoring computer to interpret the passenger's presence as a request to open the vehicle. It is possible for the sensor unit to interpret a specific gesture by a passenger, such as swiping or holding the passenger's palm at a specific height for a specific period of time, as a request to open the vehicle.

It is possible for the sensor unit to detect whether an object or a passenger's body part is trapped between the door panels.

It is possible for the sensor unit to detect the presence of obstacles or people in the door area. The door area is the area in which the door leaves move.

The sensor unit can be arranged on the inside and/or on the outside of the rail vehicle. It is possible for the sensor unit to be arranged centrally on the upper edge of the door opening. The sensor unit is then arranged on both the inside and the outside of the rail vehicle and the sensor unit can advantageously detect both the interior and the exterior of the rail vehicle.

The sensor unit may comprise a lighting device.

It is possible that the sensor unit comprises one or more different sensors. The sensor unit can comprise a camera. It is possible that the sensor unit comprises a lidar sensor (based on radar) or a sensor based on rays (e.g. laser). Such sensors emit rays (e.g. radar/laser) and detect the reflection of these rays from objects.

The reflected rays can be used by a computer program to create a 3D representation of the detected space.

It is possible that the sensor unit contains several sensors of different types. Then the measurement results can The different sensors are compared and/or superimposed by a computer program and measurement errors can be compensated. It is also guaranteed that the sensor arrangement will still deliver sufficient results even if one sensor fails.

By arranging several sensors of different types in the sensor unit, the sensor device is designed to be reliable and robust and the reliability and operational safety of the entire rail vehicle is ensured.

It is possible that a door is locked by default in the event of a sensor unit or monitoring computer failure. It is possible that the locking of the door is indicated to passengers on a display device.

It is possible for the sensor unit to comprise three sensors of different types. The data from the three sensors can then be compared. If the data from one sensor differs from the data from the other two sensors and the other two sensors provide essentially identical data, only the data from the two sensors that provide essentially the same data can be processed. For example, it is possible for the interior and/or exterior of the rail vehicle to be scanned by a camera, a lidar sensor and a laser sensor of the sensor unit and for the monitoring computer to identify two pieces of data from the three sensors that are essentially identical in terms of their information content and to further process this data and, for example, send it to the control unit. It is also possible for the sensor unit to comprise two or three cameras.

The sensor unit can include a camera. An image captured by the camera can be displayed on the control unit. In this case, the camera can be integrated into a VSS (Video Surveillance System).

This makes it possible for the train driver to be shown an image of a door opening and/or a door. This allows the train driver to open or close the door manually by entering a command into the control unit if the door is blocked by passengers or objects. It is also possible for a loudspeaker to be installed on the door and for the train driver to give the passengers instructions on what to do via the loudspeaker if the door cannot be operated. It is possible for images taken by cameras from several sensor units to be displayed on the control unit.

The sensor unit and/or the drive may have only a data connection and/or only a power connection.

The design of the sensor unit means that the sensor unit and/or the drive can be designed much more simply than the sensor units and drives known from the state of the art. The door can have one or two door leaves. It can be a pivoting sliding door or a sliding door. The door can have one or two leaves.

The sensor unit can detect the presence of a platform, the platform height and the horizontal distance of the platform to the rail vehicle.

This makes it possible to open the door only when there is a platform on the outside of the rail vehicle. By detecting the platform height and the horizontal distance of the platform to the rail vehicle, it is possible to extend a sliding step or a folding step adapted to the respective platform height and the respective distance of the platform to the rail vehicle. This makes the rail vehicle extremely flexible to use and prevents a large gap from forming between the sliding step and the platform, which would pose a danger to the passengers of the rail vehicle.

It is possible for a door to be locked as long as there is no platform in front of the door. It is possible for the sensor unit to detect whether the rail vehicle is moving or not. It is also possible for the vertical distance of the platform to a sliding step of the door to be detected.

It is possible that an extendable access aid, such as a wheelchair lift, a folding or sliding step, is installed in the area of the door.

It is possible for the sensor arrangement to detect whether a boarding aid, in particular a sliding step of the rail vehicle, is free of objects and/or passengers. Free means that there are essentially no objects or passengers on the sliding step. The position of the rail vehicle on the platform can be determined using the sensor unit. It is possible for the sensor unit to monitor the platform and for an image signal from the sensor unit to be sent to one or more monitoring monitors. The monitoring monitors can be located inside the rail vehicle or outside the rail vehicle.

The sensor unit can count passengers boarding and/or alighting.

It is possible for all sensor units on the rail vehicle to be able to count passengers. The sensor units can send the respective counting results to the monitoring computer. It is possible for the monitoring computer to send the counting results to the control unit. The counting results from the sensor units can be added up or subtracted in the monitoring computer and/or the control unit. This makes it possible to determine the capacity of the rail vehicle. This can prevent the rail vehicle from becoming overloaded. It can also be used to collect data on the use of the route by rail vehicle passengers. The data can then be used to adjust timetables and improve the services offered to passengers by a rail vehicle company.

It is possible for the monitoring computer to sum or subtract the count results of the sensor units and then compare them with a threshold value. If the threshold value is exceeded, it is possible for the monitoring computer to send an exceedance signal to the control unit. It is possible for the exceedance signal to be displayable by the control unit. It is possible for the monitoring computer to block the corresponding door when the threshold value is exceeded, so that no further passengers can get from the outside of the corresponding door of the rail vehicle into the inside of the corresponding door of the rail vehicle, but passengers can still get from the inside of the corresponding door of the rail vehicle into the outside of the corresponding door of the rail vehicle.

It is possible for one or more monitoring computers of a rail vehicle carriage to determine the utilization of a rail vehicle carriage by adding or subtracting the count values of the sensor units. It is possible for a utilization signal to be sent from the monitoring computer to the control unit. If a rail vehicle consists of several rail vehicle carriages, it is possible for the utilization of several rail vehicle carriages to be determined as described above and for the respective monitoring computers of the respective rail vehicle carriages to send the respective utilization signals to a utilization computer that is arranged in the rail vehicle. The utilization computer can be used to compare the utilization of the individual rail vehicle carriages.

It is possible for the rail vehicle to have display devices, such as monitors, and for the load computer to send the load signals to the display device. This allows passengers to see the load of the rail vehicle carriages in real time and to distribute themselves accordingly in the rail vehicle carriages.

It is possible for the load computer to generate a recommendation signal and send the recommendation signal to the display devices that display the recommendation signal. The recommendation signal recommends that passengers remain in the area of the rail vehicle in which they are located or that passengers move to another area of the rail vehicle.
The display devices can be visible from the interior and/or the exterior of the rail vehicle. Passengers in the exterior of the rail vehicle can be guided to a rail vehicle carriage by a display of a load signal and/or a recommendation signal on the outside of the rail vehicle. which is less busy than the rail vehicle in front of which they are located.

Passengers in the interior of the rail vehicle can be guided to a rail vehicle carriage which has a lower occupancy than the rail vehicle carriage in which they are located by displaying a load signal and/or a recommendation signal on the interior of the rail vehicle.

It is possible for the capacity computer to be connected to a communication device, the communication device being located on or in the rail vehicle. The capacity signal can be sent to a control center of the rail network by means of the communication device and from the control center to a station into which the rail vehicle will enter. The capacity signal can then be displayed in the station using display devices. In this way, the capacity of the rail vehicle carriages of the approaching rail vehicle is displayed to the waiting passengers in the station. Accordingly, the passengers can line up on the platform in sectors in which rail vehicle carriages of the rail vehicle will come to a standstill, which have a lower capacity than other rail vehicle carriages of the rail vehicle.

The sensor unit can determine whether the rail vehicle is moving.

This allows the door to be locked as long as the rail vehicle is moving. This ensures that no passengers can leave the rail vehicle as long as the rail vehicle is moving.

It is possible for the monitoring computer to use the data from the sensor unit to check whether the rail vehicle is moving and whether there is a platform in front of the rail vehicle door. The door will then only be unlocked if the rail vehicle is stationary and there is a platform in front of the rail vehicle door.

The rail vehicle can have at least two door openings and at least two doors that close the door opening. One sensor unit and one drive can be designed for each door and two sensor units can be connected to the same monitoring computer for data purposes. It is possible for two sensor units from opposite doors of the rail vehicle to be connected to the same monitoring computer for data purposes.

This is advantageous because usually only the right or left of two opposite doors in the direction of travel needs to be opened. This means that the monitoring computer essentially only needs to have the capacity for one sensor unit. In a rail vehicle or rail vehicle carriage with four doors, two monitoring computers are then installed.

It is possible for the two monitoring computers to be connected via data technology. If one monitoring computer fails, its task can then be taken over at least partially by the other monitoring computer. This creates redundancy in the monitoring computers and increases the reliability of the door monitoring and the rail vehicle.
It is possible that the monitoring computers are connected to a train bus. It is also possible that all sensor units are also connected to the train bus.

The monitoring computer can be switched off and started by a signal from the control unit.

This makes it possible to correct errors in the monitoring computer during operation of the rail vehicle by having the monitoring computer switched off and restarted by a train driver.

• Berührungsloses dreidimensionales Abtasten des Innenraums und/oder des Aussenraums und insbesondere der Türöffnung durch die Sensoreinheit,
• Senden eines Abtastsignals von der Sensoreinheit an den Überwachungscomputer,
• Verarbeiten des Abtastsignals durch den Überwachungscomputer zu einem Freigabesignal oder einem Blockiersignal für die Tür,
• Senden eines Freigabesignals von dem Überwachungscomputer an die Kontrolleinheit, falls sich keine Gegenstände oder Passagiere im Türbereich befinden,
• Senden eines Blockiersignals und insbesondere eines Bildsignals von einer Kamera der Sensoreinheit an die Kontrolleinheit, falls sich Gegenstände oder Passagiere im Türbereich befinden,
• Insbesondere Anzeigen des Freigabesignals oder des Blockiersignals und insbesondere des Bildsignals durch die Kontrolleinheit.

The object of the invention is also achieved by a computer-implemented method for monitoring a door in a door opening of a rail vehicle as described above. The method comprises the following steps:

• Contactless three-dimensional scanning of the interior and/or exterior and in particular the door opening by the sensor unit,
• Sending a scanning signal from the sensor unit to the monitoring computer,
• Processing of the scanning signal by the monitoring computer into an enable signal or a blocking signal for the door,
• Sending a release signal from the monitoring computer to the control unit if there are no objects or passengers in the door area,
• Sending a blocking signal and in particular an image signal from a camera of the sensor unit to the control unit if there are objects or passengers in the door area,
• In particular, display of the release signal or the blocking signal and in particular the image signal by the control unit.

Such a method can be implemented reliably and has essentially the same advantages as a rail vehicle as described above.

• Senden des Freigabesignals von dem Überwachungscomputer an die Antriebseinheit, falls ein Freigabesignal durch den Überwachungscomputer generiert wurde,
• Senden des Blockiersignals von dem Überwachungscomputer an die Antriebseinheit, falls ein Blockiersignal durch den Überwachungscomputer generiert wurde.

It is possible that the procedure as described above includes the following additional steps:

• Sending the release signal from the monitoring computer to the drive unit if a release signal has been generated by the monitoring computer,
• Sending the blocking signal from the monitoring computer to the drive unit if a blocking signal was generated by the monitoring computer.

• Senden eines Alarmsignals von dem Überwachungscomputer an eine Alarmeinrichtung, falls von dem Überwachungscomputer ein Blockiersignal generiert wurde,
• Erneutes berührungsloses dreidimensionales Abtasten des Innenraums und/oder des Aussenraums und insbesondere der Türöffnung durch die Sensoreinheit,
• Senden eines Freigabesignals von dem Überwachungscomputer an die Kontrolleinheit, falls sich keine Gegenstände oder Passagiere im Türbereich befinden,
• Senden eines Blockiersignals und insbesondere eines Bildsignals von einer Kamera der Sensoreinheit an die Kontrolleinheit, falls sich Gegenstände oder Passagiere im Türbereich befinden.

It is possible that the procedure as described above includes the following additional steps:

• Sending an alarm signal from the monitoring computer to an alarm device if a blocking signal has been generated by the monitoring computer,
• Repeated contactless three-dimensional scanning of the interior and/or exterior and in particular the door opening by the sensor unit,
• Sending a release signal from the monitoring computer to the control unit if there are no objects or passengers in the door area,
• Sending a blocking signal and in particular an image signal from a camera of the sensor unit to the control unit if there are objects or passengers in the door area.

The alarm device can be, for example, an alarm light, an alarm loudspeaker or an alarm monitor or a combination of these devices. The alarm device indicates to passengers that there are objects and/or passengers in the area of the door and that the door should be closed or opened. Activation of the alarm device is therefore a signal to passengers to leave the door area or to clear the door area. Contactless, three-dimensional scanning is then used to check again whether there are people or passengers in the door area.

It is possible that one or more of the above-mentioned process steps are repeated.

• Detektieren der horizontalen Distanz des Bahnsteigs zum Schienenfahrzeug durch die Sensoreinheit,
• Senden der detektierten Distanz von der Sensoreinheit zu dem Überwachungscomputer,
• Ermitteln eines Ausfahrsignals mit einer Ausfahrweite eines Schiebetritts durch den Überwachungscomputer,
• Senden eines Ausfahrsignals mit der Ausfahrweite von dem Überwachungscomputer an den Schiebetritt.

The procedure as described above may include the following further steps:

• Detecting the horizontal distance of the platform to the rail vehicle by the sensor unit,
• Sending the detected distance from the sensor unit to the monitoring computer,
• Determination of an exit signal with an extension distance of a sliding step by the monitoring computer,
• Sending an extension signal with the extension distance from the monitoring computer to the sliding step.

Such a procedure allows the sliding step to be extended precisely and prevents gaps from forming between the sliding step and the platform in which passengers could become entangled or trip over.

• detektieren der Bahnsteighöhe durch die Sensoreinheit,
• Senden der detektierten Bahnsteighöhe von der Sensoreinheit zu dem Überwachungscomputer,
• Ermitteln eines Ausfahrsignals mit einer Ausfahrhöhe des Schiebetritts durch den Überwachungscomputer,
• Senden des Ausfahrsignals mit der Ausfahrhöhe von dem Überwachungscomputer an den Schiebtritt.

The procedure as described above may include the following further steps:

• detecting the platform height by the sensor unit,
• Sending the detected platform height from the sensor unit to the monitoring computer,
• Determination of an extension signal with an extension height of the sliding step by the monitoring computer,
• Sending the extension signal with the extension height from the monitoring computer to the push step.

It is possible that a stop of a rail vehicle at a station as described above takes place as follows:
When a rail vehicle enters a stopping station, the train driver issues an opening command via the control unit.

This can be done selectively for a single door, a group of doors or for all doors.

The control unit sends the opening command to the monitoring computer.

The monitoring computer causes the sensor unit to detect whether the rail vehicle is stationary. If the rail vehicle is still moving, the sensor unit detects at regular intervals whether the rail vehicle is still moving.

If the standstill is not detected after a certain time, the sensor unit sends an error message to the monitoring computer and the monitoring computer sends the error message to the control unit, where the error message is displayed to the train driver. This can happen after 10 seconds, for example, whereby the sensor unit detects whether the rail vehicle has come to a standstill once per second within 10 seconds of the train driver's opening command.

If the sensor unit has detected that the rail vehicle has come to a standstill, the sensor unit sends a corresponding signal to the monitoring computer and the monitoring computer instructs the sensor unit to detect whether a platform is present.

If the sensor unit has detected a platform, the sensor unit sends a corresponding signal to the monitoring computer and the monitoring computer optionally instructs the sensor unit to determine the platform height and distance from the outside of the door. The sensor unit then sends the corresponding signals to the monitoring computer.

It is possible that the sensor unit processes the detected data from the platform in the sensor processing unit and then sends the data already processed by the sensor processing unit to the monitoring computer, where the sent data is further processed. It is possible that the sensor unit sends raw data from the platform to the monitoring computer.

The monitoring computer causes the sensor unit to check whether the area into which a sliding step is to extend is free of obstacles.

If this is the case, the sensor unit sends a corresponding signal to the monitoring computer. The monitoring computer determines the parameters according to which the sliding step should be extended and sends the parameters and the extension command to a drive of the sliding step.

If the sliding step is extended as planned, the sliding step drive sends a confirmation signal to the monitoring computer. Now the actual door can be opened. This happens when the sensor unit detects passengers who want to get in or out. Such passengers can be recognized, for example, by the fact that they are standing in front of the door or are moving towards it.

It is also possible that the drive does not send a confirmation signal to the monitoring computer and the sensor unit alone determines whether the sliding step has been extended as planned. The sliding step can then be designed simply and thus fail-safe and robust.

Furthermore, the door area (the space required for the door to move) must be free, which is also controlled by the sensor unit and the monitoring computer. If this is the case, the monitoring computer sends an opening command to the door drive unit.

It is possible that the sensor unit detects the duration of the opening process and/or the noise generated during the opening process and/or vibrations during the opening process.

The same is also possible during the closing process. The sensor unit sends the collected data to the monitoring computer. The monitoring computer compares the data received from the sensor unit with certain threshold values. If one of the threshold values is exceeded, the monitoring computer generates an interference signal and sends this to the control unit.

The sensor unit then counts the passengers getting on and off, and the sensor unit sends the counting data to the monitoring computer.

At regular intervals, when the door is open, the sensor unit detects whether there are any passengers in the area of the door opening who want to get in or out. If the sensor unit determines that there are no more passengers in the area of the door opening and no more passengers want to get in or out, the sensor unit sends a corresponding signal to the monitoring computer. The monitoring computer then sends a closing command to the door drive unit and the drive unit closes the door.

The monitoring computer causes the sensor unit to detect the closing process of the door. If the sensor unit detects that the door is completely closed and nothing is jammed, the sensor unit sends a corresponding signal to the monitoring computer and the monitoring computer sends a corresponding signal to the control unit.

To depart, the train driver enters a closing command into the control unit and the control unit sends a corresponding signal to the monitoring computer(s). The monitoring computers check whether the doors are closed. If the doors are closed, the corresponding monitoring computer sends a corresponding signal to the control unit. If a door is not closed, the corresponding monitoring computer initiates a closing process as previously described.

The sensor unit checks whether the access aids, especially the sliding steps, are clear, i.e. whether no one is standing on them or whether there is anything on them. If the sliding steps are clear, the sensor unit sends a corresponding signal to the monitoring computer and the monitoring computer sends a retraction signal to the drive of the sliding step.

The object of the invention is further achieved by a computer program product. The computer program product comprises instructions which cause the device to carry out the method steps as described above.

The object of the invention is further achieved by a computer-readable medium on which the computer program is stored as described above.

Figur 1:

Eine Ansicht eines Schienenfahrzeugs mit zwei Türen, Sensoreinheiten und Überwachungscomputern,

Figur 2:

eine Ansicht eines Schienenfahrzeugs mit zwei Türen, Sensoreinheiten, einem Überwachungscomputer und einer Kontrolleinheit,

Figur 3:

ein Ablaufplan eines Verfahrens zur Überwachung einer Tür eines Schienenfahrzeugs,

Figur 4:

ein Teilquerschnitt eines Schienenfahrzeugs mit zwei Sensoreinheiten und einem Schiebetrittbrett,

Figur 5:

eine Draufsicht auf ein Schienenfahrzeug mit zwei verbundenen Überwachungscomputern,

Figur 6:

eine Draufsicht auf ein Schienenfahrzeug mit zwei verbundenen Überwachungscomputern und Sensoreinheiten, die datentechnisch verbunden sind.

The invention is explained in more detail in the following figures. It shows:

Figure 1:

A view of a rail vehicle with two doors, sensor units and monitoring computers,

Figure 2:

a view of a rail vehicle with two doors, sensor units, a monitoring computer and a control unit,

Figure 3:

a flow chart of a method for monitoring a door of a rail vehicle,

Figure 4:

a partial cross-section of a rail vehicle with two sensor units and a sliding step,

Figure 5:

a top view of a rail vehicle with two connected monitoring computers,

Figure 6:

a top view of a rail vehicle with two connected monitoring computers and sensor units that are data-linked.

The Figure 1 shows a view of a rail vehicle 1 with a car body 12 and two doors 3. The rail vehicle 1 has four wheels 13. The rail vehicle 1 has two door openings 2 in which the doors 3 are arranged. A sliding step 14 is arranged at each door 3. In the car body 12, in the interior 6, in the area of each door opening 2, two sensor units 4 are arranged. The two sensor units 4 of a door 3 are each connected for data purposes to a monitoring computer 8 by a connection 9. The two monitoring computers 8 are also connected for data purposes by a connection 9. The connection 9 extends from the sensor units 4 to the ends 18 of the rail vehicle 1, where they can be connected to a connection (not shown) of another rail vehicle (not shown).

The Figure 2 shows a view of a rail vehicle 1 analogous to the Figure 1 . Unlike in the Figure 1 The rail vehicle 1 in the Figure 2 a driver's cab 11. A control unit 10 is arranged in the driver's cab 11. The control unit 10 is connected to the sensor units 4 and to the monitoring computer 8. In the Figure 2 In the interior 6 of the rail vehicle 1, three sensor units 4 are arranged for each door opening 2.

1. a) Öffnungsbefehl Lokführer
2. b) Detektieren der Zugbewegung durch die Sensoreinheit
3. c) Feststellen durch die Sensoreinheit, ob ein Bahnsteig vorhanden ist
4. d) Feststellen durch die Sensoreinheit, ob die Höhe des Bahnsteigs und der Abstand des Bahnsteigs zu dem Schienenfahrzeug innerhalb eines Parameters verlaufen
5. e) Feststellen durch die Sensoreinheit, ob der Schiebetritt frei ist
6. f) Bestimmen des Ausfahrabstands des Schiebtritts
7. g) Ausfahren des Schiebetritts auf den ermittelten Ausfahrabstand
8. h) Bestimmen, ob der Türbereich frei ist, insbesondere durch die Sensoreinheit
9. i) Bestimmen, insbesondere durch die Sensoreinheit, ob ein Passagier bereit zum Einsteigen in das Schienenfahrzeug oder zum Aussteigen aus dem Schienenfahrzeug ist
10. j) Öffnen der Tür
11. k) Tür vollständig geöffnet
12. l) Zählung der ein- und aussteigenden Passagiere, insbesondere durch die Sensoreinheit
13. m) Feststellen, insbesondere durch die Sensoreinheit, ob noch Passagiere einsteigen oder aussteigen
14. n) Feststellen, insbesondere durch die Sensoreinheit, ob der Türbereich frei ist
15. o) Schliessen der Tür
16. p) Tür vollständig geschlossen
17. q) Beenden des Passagierzählungsmodus
18. r) Feststellen, insbesondere durch die Sensoreinheit, ob der Schiebetritt frei ist
19. s) Einfahren des Schiebetritts
20. t) Schiebetritt vollständig eingefahren
21. u) Meldung der Abfahrbereitschaft von dem Überwachungscomputer an die Kontrolleinheit
22. v) Schliessbefehl des Lokführers an die Kontrolleinheit
23. w) Tür offen?

The Figure 3 shows a flow chart of a method for monitoring a door (not shown) of a rail vehicle (not shown). The flow chart includes the following steps:

1. a) Opening command from the train driver
2. b) Detecting the train movement by the sensor unit
3. c) Determining by the sensor unit whether a platform is present
4. d) Determining by the sensor unit whether the height of the platform and the distance of the platform to the rail vehicle are within a parameter
5. e) Determine by the sensor unit whether the sliding step is free
6. f) Determining the extension distance of the step
7. g) Extend the sliding step to the determined extension distance
8. h) Determine whether the door area is clear, in particular by the sensor unit
9. i) determining, in particular by means of the sensor unit, whether a passenger is ready to board or disembark from the rail vehicle
10. j) Opening the door
11. k) Door fully opened
12. l) Counting of passengers boarding and disembarking, in particular by the sensor unit
13. m) Determine, in particular by means of the sensor unit, whether passengers are still boarding or disembarking
14. n) Determine, in particular by means of the sensor unit, whether the door area is clear
15. o) Closing the door
16. p) Door completely closed
17. q) Exit passenger counting mode
18. r) Determine, in particular by means of the sensor unit, whether the sliding step is free
19. s) Retracting the sliding step
20. t) Sliding step fully retracted
21. u) Notification of readiness for departure from the monitoring computer to the control unit
22. v) Closing command from the locomotive driver to the control unit
23. w) Door open?

The Figure 4 shows a partial cross-section of a rail vehicle 1 with two sensor units 4 and a sliding step 14. The Rail vehicle 1 has a car body 12 and a wheel 13. The rail vehicle 1 also has a door opening 2 and a door 3. The platform 15 is arranged in front of the rail vehicle 1. The outside space 7 is located above the platform 15. The interior space 6 is arranged in the car body 12 of the rail vehicle 1. A sensor unit 4 is arranged in the upper area of the door opening 2. The other sensor unit 4 is arranged in the roof area 19 of the car body 12. The two sensor units 4 each have a detection field 5. The detection field 5 of the sensor unit 4 above the door opening 2 overlaps with the interior 6 and the exterior 7. The detection field 5 of the sensor unit 4, which is arranged in the roof area 19 of the car body 12, overlaps with the interior 6. The car body 12 is arranged at a horizontal distance 16 from the platform 15. The horizontal distance 16 is in the area of the sensor unit, which is arranged above the door opening 2. The upper edge of the platform 15 has the vertical distance 17 from the lower edge of the car body 12.

The Figure 5 shows a top view of a rail vehicle 1 with two monitoring computers 8, which are connected by a data connection 9. The rail vehicle 1 has a car body 12. The rail vehicle 1 has four door openings 2 and four doors 3. The doors 3 are located in the door openings 2. Two sensor units 4 are arranged at each door opening 2. The sensor units 4 of opposite doors 3 are each connected for data purposes by a connection 9. In addition, the sensor units 4 of two opposite doors 3 are each connected to a monitoring computer. Thus, four sensor units 4 of two opposite doors 3 are each connected to a monitoring computer 8. A door opening 2 has an outside space 7 in front of the rail vehicle. 1 and an interior space 6 in the car body 12 of the rail vehicle 1. In total, the rail vehicle 1 has eight sensor units 4 and two monitoring computers 8. The connection 9 extends from the monitoring computers 8 to the ends 18 of the rail vehicle 1, where they can be connected to a connection (not shown) of another rail vehicle (not shown).

The Figure 6 shows a plan view of a rail vehicle 1 with two connected monitoring computers 8 and sensor units 4 analogous to the Figure 5 . Unlike in the Figure 5 The sensor units 8 are in the Figure 6 all are connected to one another for data purposes by a connection 9. In addition, all sensor units 4 are connected to the two monitoring computers 8. All sensor units 4 and all monitoring computers 8 of the rail vehicle 1 are thus connected by a network of data connections 9.

Claims (13)

Rail vehicle (1) with at least one door opening (2) and a door (3) closing the door opening (2), comprising - a sensor unit (4), wherein the sensor unit (4) comprises in particular an optical sensor and/or a lidar sensor, wherein by means of the sensor unit (4) in particular both the interior (6) of the rail vehicle (1) and the exterior (7) of the rail vehicle (1) can be scanned three-dimensionally without contact, - a drive by which the door (3) can be opened and closed, - a monitoring computer (8) which is connected to the sensor unit (4) for data purposes, - in particular a control unit (10) with which the monitoring computer (8) is connected for data purposes, wherein at least the presence of passengers in the interior (6) and in the exterior (7), the closed state of the door (3) and the presence of obstacles in the door opening (2) can be detected, in particular by the sensor unit (4). Rail vehicle (1) according to claim 1, wherein the sensor unit (4) comprises a camera as an optical sensor and an image of the camera can be displayed on the control unit (10). Rail vehicle (1) according to one of the preceding claims, wherein the sensor unit (4) and/or the drive have only one data connection and/or only one power connection. Rail vehicle (1) according to one of the preceding claims, wherein the presence of a platform (15), the platform height (17) and the horizontal distance (16) of the platform (15) to the rail vehicle (1) can be detected by the sensor unit (4). Rail vehicle (1) according to one of the preceding claims, wherein passengers boarding and/or alighting can be counted by the sensor unit (4). Rail vehicle (1) according to one of the preceding claims, wherein the sensor unit (4) can determine whether the rail vehicle is in motion. Rail vehicle (1) according to one of the preceding claims, wherein the rail vehicle (1) has at least two door openings (2) and at least two doors (3) closing the door opening (2), wherein one sensor unit (4) and one drive are formed per door (3) and two sensor units (4) each, preferably two sensor units (4) from opposite doors (3) of the rail vehicle (1), are connected in terms of data technology to the same monitoring computer (8). Rail vehicle (1) according to one of the preceding claims, wherein the monitoring computer (8) can be switched off and started by a signal from the control unit (10). Computer-implemented method for monitoring a door (3) in a door opening (2) of a rail vehicle (1) according to one of the preceding claims, comprising the following steps: - Contactless three-dimensional scanning of the interior (6) and/or the exterior (7) and in particular the door opening (2) by the sensor unit (4), sending a scanning signal from the sensor unit (4) to the monitoring computer (8), - processing of the scanning signal by the monitoring computer (8) into a release signal or a blocking signal for the door (3), - Sending a release signal from the monitoring computer (8) to the control unit (10) if there are no objects or passengers in the door area, - Sending a blocking signal and in particular an image signal from a camera of the sensor unit (4) to the control unit (10) if there are objects or passengers in the door area, - In particular, display of the release signal or the blocking signal and in particular the image signal by the control unit (10). A method according to claim 9, wherein the method comprises the following further steps: - detecting the horizontal distance (16) of the platform (15) to the rail vehicle (1) by the sensor unit (4), - Sending the detected distance (16) from the sensor unit (4) to the monitoring computer (8), - Determination of an extension signal with an extension distance of a sliding step (14) by the monitoring computer (8), - Sending an extension signal with the extension distance from the monitoring computer (8) to the sliding step (14). Method according to one of claims 9 - 10, wherein the method comprises the following further steps: - detecting the platform height (17) by the sensor unit (4), - Sending the detected platform height (17) from the sensor unit (4) to the monitoring computer (8), - Determination of an extension signal with an extension height of the sliding step (14) by the monitoring computer (8), - Sending the extension signal with the extension height from the monitoring computer (8) to the push step (14). Computer program product comprising instructions which cause the device according to one of claims 1 to 8 to carry out the method steps according to one of claims 9 to 11. A computer-readable medium on which the computer program according to claim 12 is stored.

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