• 专利附录
  • 专利说明
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    • 专利摘要:
    method and system of managing particular events linked to the displacement of a guided vehicle. The present invention relates to a method of a particular event management system (1) connected to the displacement of an oriented vehicle (3), that particular event management system (1) comprising a remote control module (2). ) and a remote control point (4) enabling a remote control of that oriented vehicle (3) when switching to a remote control module (2) from a switch from a normal driving mode to a driving mode remotely from the remote control station (4).
    公开号:BR112012024372B1
    申请号:R112012024372-1
    申请日:2010-04-28
    公开日:2019-11-05
    发明作者:Nogueira Alves Clara；El Fassi Saïd
    申请人:Siemens Sas；
    IPC主号:
    专利说明:

    Invention Patent Descriptive Report for SPECIFIC EVENT MANAGEMENT METHOD, GUIDED VEHICLE DISTANCE COMMAND MODULE, DISTANCE COMMAND STATION AND SPECIFIC EVENT MANAGEMENT SYSTEM. [001] The present invention relates to a method and a management system of at least one specific event that may arise when a guided vehicle is displaced and, in particular, able to disturb that guided vehicle displacement.
    [002] By guided vehicle, reference is made to common means of transport, such as buses, trolleybuses, trams, subways, trains or train units, etc., and to means of transport of cargo, such as, for example, overhead cranes, for which the safety aspect is very important and for which guidance is provided by at least one track that defines at least one line or transport route, that is, at least one path for that means of transport.
    [003] In particular, the invention refers to the railway domain, notably to fully automatic means of transport, as well as means of transport equipped with a control system based on remote communication, for example, trains equipped with a system train control by radio, commonly called Communication Based Train Control (CBTC). This management of particular events refers mainly to the intervention of intervention personnel who intervene in the event of irregularities in the operation of a targeted vehicle or a transport line on the location of that irregularity, or when particular maneuvers of a oriented vehicle in need of assistance. intervention of suitable staff. This intervention aims, in particular, to prevent a temporary unavailability of the oriented vehicle or the transport line.
    Petition 870190017928, of 02/21/2019, p. 8/50
    2/34 [004] Driving automatic guided vehicles, such as, for example, a fully automatic metro, generally comprises three key subsystems. A first subsystem, called on-board subsystem, ensures that the oriented vehicle can move safely, as well as protecting passengers and personnel on the ground. A second subsystem, called the ground subsystem, is able to locate the oriented vehicle during its displacement (land location of all vehicles guided during the displacement) and guarantee the safety of its displacement, notably in relation to the displacement of at least one another guided vehicle capable of being also located by that soil subsystem. Finally, a third subsystem, called the data transmission subsystem, allows permanent communication between the oriented vehicle and equipment fixed on the ground, located along a transport path of the oriented vehicle.
    [005] Different conduit modes can also be used for driving the oriented vehicle depending on the situation on the transport line, the functioning of the equipment capable of allowing the displacement of that oriented vehicle, but also depending on commanded consignments, from from a centralized command post (PCC). In particular, a fully automatic driving mode, also called Unattended Train Operation ”is the driverless driving mode.
    [006] This driverless driving mode, or automatic driving, allows to notably improve the regulation of oriented vehicles, allowing a command of the oriented vehicle with little or much balance of an intervention by its driver. This driving mode allows, for example, to define an optimum travel speed for this oriented vehicle, and thus increase the performance of a transport line.
    Petition 870190017928, of 02/21/2019, p. 9/50
    3/34 [007] However, this driverless driving mode cannot cope with all the events that may arise when using the guided vehicle. Thus, in certain cases of particular events that we will address later, an intervention staff, for example, a driver, must mount on board the Guido vehicle in order to manually steer that guided vehicle. This manual driving of the guided vehicle can be controlled at roof speed or completely free, for example, by controlling the behavior of the intervention personnel. Such manual driving, in sight, is a degraded driving mode from the driverless driving mode of the automatic guided vehicle.
    [008] The manual driving of a guided vehicle capable of operating according to the driverless driving mode can also be used by intervention personnel, when other particular events occur notably outside the CBTC domain, for example, in an atelier area, or on a guided vehicle test path. This manual driving mode is sometimes necessary in case of exceptional breakdowns. It allows, for example, to remove a thermodynamic from operating a network of guided vehicle lanes, when a defect prevents automatic driving from continuing. It also allows trains to traverse areas where automatic driving mode is temporarily no longer possible. In this case, the safety of the guided vehicle and its occupants or of being loaded is guaranteed by the intervention personnel present on board the guided vehicle and on the application of exploration procedures, for example, making exchanges with the PCC.
    [009] In particular, a change from automatic driving mode to manual driving mode is necessary in the following situations corresponding, in a non-restrictive manner, to particular or irregular events that may arise when
    Petition 870190017928, of 02/21/2019, p. 10/50
    4/34 displacement of that guided vehicle:
    - breakdown of automated control equipment;
    - failure of the fixed automation equipment generating a section of a transport line;
    - relocation of the guided vehicle, such as, for example, a loss of the location of a position of the guided vehicle in a frame that includes one or more positions of the guided vehicle;
    - loss of control of the safety circuits of the guided vehicle, for example, a defect in the door lock of the guided vehicle, or a shock of the front of the guided vehicle against an obstacle, etc.
    [0010] In general, a specific event, according to the present invention, is a fact reaching a situation that needs an intervention external to the vehicle guided by an intervention personnel on the place where this fact is carried out. The fact can be, for example, a malfunction of one of the embedded equipment, reaching a situation of failure of the guided vehicle and requiring the intervention of a driver in order to manually control that guided vehicle.
    [0011] Thus, the aforementioned particular events currently require that intervention personnel, for example, a driver, be sent over the location of the guided vehicle in order to manually pilot the guided vehicle in manual driving mode. Generally, the manual driving of a vehicle guided by that person, from intervention is done from one of the end chairs of the guided vehicle. Depending on the length of the intervention staff's intervention time, this specific event can lead, for example, to disturbances in the flow of traffic on a transport line or to more or less serious incidents, resulting mainly from the impatience of passengers who decide to descend of the vehicle
    Petition 870190017928, of 02/21/2019, p. 11/50
    Guided 5/34.
    [0012] One purpose of the present invention is to propose a simple, safe and reliable method and device for managing the particular events that may arise, when using or moving a guided vehicle and able to impair the availability of that vehicle guided or a conveyor line, this method and device is ideally easily adaptable to any type of rail-guided vehicle.
    [0013] Another purpose of the present invention is, in particular, to decrease the time of unavailability of the guided vehicle or the transport line, in the event of particular events, even to prevent the unavailability of the guided vehicle, maintaining the safety level of that vehicle. guided.
    [0014] From a management method of a specific event capable of disturbing a displacement of a guided vehicle, in particular automatic, that management method comprising a detection of at least one specific event, the management method, according to the invention , is characterized by the fact that:
    - a switching of a driving mode of that guided vehicle, in particular a switching from a normal driving mode suitable for use by a normal control system of that guided vehicle to a remote driving mode suitable for use by a control module remote control of that guided vehicle, that switching being remote controllable, when detecting that specific event, in particular, that switching being able to be remote controlled by a remote control device from a remote control post of the control module. remote control, that remote control module being in particular integrable with the guided vehicle, and this switching being, in addition, reversible, notably in case of receiving a signal that marks the end of that
    Petition 870190017928, of 02/21/2019, p. 12/50
    6/34 specific event;
    - a measurement and collection, in real time, of command data related to the command, operation and an external and internal environment of that guided vehicle, when in the distance driving mode;
    - real-time communication of these control data between the remote control module of that guided vehicle and the remote control post, in particular mobile or integrated with a centralized control post away from that guided vehicle;
    - processing, in real time, of this control data of that guided vehicle in order to allow a manual remote control of that guided vehicle, when in the remote control mode;
    - a real-time manual remote control of that guided vehicle, when in the remote driving mode, notably through that remote control post able to cooperate with that remote control module, on the basis of that remote control data guided vehicle.
    [0015] The present invention also discloses a guided vehicle remote control module capable of being loaded on board a guided vehicle, comprising a normal control system intended to control that guided vehicle, in particular, that normal control system is a driver-free automatic control system on board this guided vehicle, this remote control module, according to the invention, is characterized by the fact that it is able to cooperate with the normal control system of that guided vehicle, in order to ensure a manual remote control of that guided vehicle, and comprises, in order to use this cooperation:
    - a system for switching the mode of driving the guided vehicle, capable of being controlled remotely, that is, from a position
    Petition 870190017928, of 02/21/2019, p. 13/50
    7/34 out of that guided vehicle, notably in the event of detection of a specific event, by a distribution control post, in order to remotely switch between normal driving mode and manual remote driving mode and vice versa, this switching system thus being able to switch between a normal driving mode of the guided vehicle suitable for use by the normal control system, in particular automatic, to a remote driving mode of that guided vehicle, and conversely, that remote driving mode corresponding in particular to the manual remote control of that guided vehicle;
    - an embedded communication system, between the guided vehicle and the remote control station, capable of exchanging, that is, transmitting and receiving, when in the remote driving mode, with a communication system from that remote control station , control data relating to the control, operation and external and internal environment of that guided vehicle, that control data being able to use that remote driving mode, or in other terms, that manual control of that guided vehicle, and to understand notably information, commands or parameters relating to the command, operation and an external and internal environment of that guided vehicle;
    - an embedded system for processing these command data is capable of handling these command data, in order to allow a manual remote control of that guided vehicle, when in the remote driving mode;
    - means of remote control of that guided vehicle capable of being manually controlled, in particular from these control data, by means of the remote control station's control means, when giving remote control mode. These control means thus allow manual remote control of that vehicle.
    Petition 870190017928, of 02/21/2019, p. 14/50
    8/34 you guided during the distance driving mode. In addition, these means of remote control are, in particular, capable of measuring and collecting command data, and transmitting these to that embedded treatment system, in order to be communicated to the remote control post. For this purpose of measuring and collecting command data, the command means comprise, in particular, devices for measuring, collecting and capturing command data relating to the command, operation and an internal and external environment of that guided vehicle. , such as driving or control cameras.
    [0016] The present invention also proposes a remote control station for a remote control module for a guided vehicle, that remote control module being able to be loaded on board that guided vehicle, comprising a normal control system, in particular automatic, and this remote control station, according to the invention, being characterized by the fact that it is able to remote control the control of this vehicle guided by means of this remote control module, and by the fact that it comprises:
    - a remote control device for a switching system of the remote control module, that switching system being, in particular, capable of switching a guided vehicle driving mode, when a remote control device controls it, allowing, in particular, to switch from a normal driving mode suitable for use by the normal, in particular automatic control system, to a distance driving mode of that guided vehicle, and conversely, that corresponding distance driving mode in particular to a manual remote control of that guided vehicle. This remote control device is therefore capable of remote control, that is, from a position
    Petition 870190017928, of 02/21/2019, p. 15/50
    9/34 outside that guided vehicle, a switch from a distance driving mode, in particular manual, to a normal driving mode, and vice versa;
    - a communication system between the guided vehicle and the control post capable of exchanging, that is, transmitting and receiving, when in the remote driving mode, with an embedded communication system of the remote control module of that guided vehicle , the command data relating to the control of that guided vehicle, these data notably allowing the use of the manual remote control of that guided vehicle and notably comprising information, commands and parameters relating to the operation, control and an external and internal environment of that guided vehicle ;
    - a system for processing these control data of the guided vehicle is able to process these control data, in order to allow manual remote control of that guided vehicle, when in the remote driving mode;
    - means of manual remote control, able to control means of remote control of the remote control module of the guided vehicle, when in the remote driving mode, in order to allow, from these control data, the manual control to the remote distance of that guided vehicle during distance driving mode. [0017] The present invention also proposes a specific event management system, comprising this remote control module capable of being loaded on board this guided vehicle, and this remote control post of the remote control module, this post. remote control being, for example, integrated with a pre-existing centralized control post. This remote control module and remote control station are able to cooperate with each other, as well as a standard remote control system.
    Petition 870190017928, of 02/21/2019, p. 16/50
    10/34 barely pre-existing equipping the guided vehicle, in order to use the remote control of the guided vehicle, especially when detecting a specific event.
    [0018] In the event of particular events, such a failure of a guided vehicle equipment, the normal control system capable of using the normal driving mode of that guided vehicle is then unable to continue to control that vehicle. The normal driving mode is, in particular, an automatic driving mode free of driver intervention. Thus, in the event of a breakdown, it is necessary to use the remote driving mode, allowing intervention personnel to manually control this guided vehicle remotely, from that remote control post able to command the control of that vehicle through this remote control module capable of equipping the guided vehicle. Note that the normal control system corresponds to the set of means and devices that serve the normal driving of the guided vehicle, that is, the driving capable of being generated internally to that guided vehicle, be automatically generated by the guided vehicle and its control system. normal command, be generated by a driver on board the guided vehicle, while the remote conduit mode uses a deviated management, or external to the guided vehicle, of the guided vehicle control. Switching between one or the other of the guided vehicle's driving modes, in particular, being controlled from the remote control station. The control of that guided vehicle is then generated from the remote control post by an intervention staff, manually and remotely controlling the control of the guided vehicle thanks to the means of manual remote control made available at the remote control post. .
    [0019] The present invention advantageously allows to divert a driving station from cyclohexane to a central command post
    Petition 870190017928, of 02/21/2019, p. 17/50
    11/34 (PCC) part of the remote control post, maintaining a level of safety corresponding to manual driving in sight of that vehicle guided by maintenance personnel from a driving position on board that vehicle. This has the advantage of limiting the impact of the intervention time on the availability of the line.
    [0020] The present invention thus allows cyclohexane distance driving when a specific event arises, by installing a set of means that induce distance driving of the guided vehicle, at least also safe to operate than driving with a intervention personnel on board the guided vehicle. According to the present invention, the specific event management system is organized around two subsystems, the boardable remote control module on board the train and the ground remote control station. On board the guided vehicle, the remote control means may, for example, comprise, in particular, external and internal video means, a deviation from the controls and controls of the driving position and the audio means. The remote control station is able to act as a deviated driving position. For this, these means of manual remote control are able to be arranged, in order to create in a PCC a remote driving position of the guided vehicle similar to the embedded driving position, comprising, in addition, audio and video means.
    [0021] In particular, the means of remote controls are able to cooperate with the embedded treatment and communication systems, in order to guarantee the transmission and reception of the commands and displays present in the driving cabin of the guided vehicle, with conservation security level. In addition, the means of manual remote control comprise means auxiliary to the control, allowing a reconstitution of the environment of a cabin
    Petition 870190017928, of 02/21/2019, p. 18/50
    12/34 driving a guided vehicle, this reconstitution being carried out, by the PCC to which the remote control post is integrated. [0022] This reconstitution of the environment of a driving cabin of a guided vehicle notably requires specific audiovisual means capable of equipping the means of remote controls. For this, the means of remote control can include devices for measuring and collecting command data, such as:
    - at least one driving camera positioned at each end of the guided vehicle, notably capable of being arranged in place of driving posts of the guided vehicle;
    - at least one driving camera characterized by an angle of field, allowing to recreate the field of vision of a driver on board the driving position of the guided vehicle, while driving that guided vehicle. In particular, this field angle advantageously allows the visualization of the transport route, the environment of the road and the lateral signaling of the transport path;
    - at least one control camera located inside and / or outside of that guided vehicle is capable of checking or controlling the environment of the guided vehicle, notably the internal and / or external environment of that guided vehicle and transmitting information to it internal environment. In particular, this control camera is able to transmit to at least one screen that equips these auxiliary means to the command, an image allowing a visual verification of a state of opening or closing a door of the guided vehicle. This visual check allows, for example, to determine the nature of a guided vehicle door non-blocking alert transmitted as command-related data, differentiating from that door's opening state from a blocking contact defect. Advantageously, the auxiliary means to command the
    Petition 870190017928, of 02/21/2019, p. 19/50
    13/34 means of manual remote control thus allowing to check the internal and external environment of the vehicle in order to assist remote intervention personnel in their choice to control the guided vehicle, in order to allow them, for example to make a decision inhibit a remote door closing defect.
    [0023] The images taken by these cameras are, in particular, command data able to be transmitted in real time to these auxiliary means of command of the means of manual remote control. For this, these images can be communicated in real time by the embedded communication system, for example, after treatment by the embedded treatment system, to the communication system of the remote control station, which is able to transmit this command data to the means of remote control, after having treated them using the treatment system, if necessary. Thus, the means of remote control are able to comprise a system of embedded cameras that allow to check, from the remote control post, a set of security points, which must be left by an intervention personnel able to pilot the vehicle. guided through this remote control post. The checks carried out notably by the intervention personnel present on board the guided vehicle thus carried out remotely by means of these manual control means for the distribution of the remote control station.
    [0024] In general, the embedded treatment and communication systems of the remote control module, as well as the communication and treatment systems of the remote control post are able to cooperate with each other in order to transmit such control data, in particular, from the remote control device to the switching system, in order to switch a guided vehicle driving mode, and remote control means to these
    Petition 870190017928, of 02/21/2019, p. 20/50
    14/34 means of manual remote control, and vice versa, in order to allow manual remote control of this guided vehicle. In particular, the control data is able to be transmitted in real time via a communication network between the guided vehicle and the ground. For this purpose, the on-board communication system and the remote control station's communication system are able to replace these command data via this communication network.
    [0025] The remote control module is also capable of sending identification parameters of the guided vehicle to the remote control station. Advantageously, these guided vehicle identification parameters allow the remote control station to identify one or more guided vehicles, each comprising a remote control module and capable of being controlled remotely by the same remote control station. . For this purpose, remote intervention personnel can select the guided vehicle to be controlled remotely by means of a guided vehicle selection device that can, in particular, equip the remote control means of that remote control station, or more precisely, a control chair for that remote control station. The selection of that guided vehicle allows the control data communicated to the communication system of the remote control station to be restricted to the control data specific to the selected guided vehicle, and guarantees the transfer of this control data from the remote control station to the control module. remote control of the selected guided vehicle, without confusion possible with another guided vehicle. Thus, images from cameras on board a guided vehicle and received on the ground correspond to the selected and commanded guided vehicle. The control system, according to the invention, is also capable of guaranteeing a probability of error in addressing the transmitted or re-transmitted messages.
    Petition 870190017928, of 02/21/2019, p. 21/50
    15/34 with a SIL 4 level. The SIL4 (Safety Integrity Level) safety level is defined by the IEC 61508 standard on the safety of critics. It requires a probability of a dangerous failure per hour between 10 -8 and 10-9.
    [0026] In particular, the remote control means of the remote control module, according to the invention, comprise at least one driving camera that can be positioned according to a composition of the guided vehicle. In effect, the position or location of the driving cameras depends on the composition of the guided vehicle, the problem being always having a camera in the front of the guided vehicle. For a reversible guided vehicle, the control means according to the invention comprise, in particular, at least one driving camera at each end of the guided vehicle, while for a non-reversible guided vehicle, the control means, according to the invention, they comprise, in particular, at least one camera at the front of the guided vehicle. In addition, the means of command comprise, in particular, a storage means capable of permanently storing images from these driving and control cameras, in order to advantageously analyze the course of particular events. The duration of the storage of these images can, in particular, go from a few seconds to a few minutes.
    [0027] Advantageously, the remote control device and the means of manual remote control of the remote control station are, in particular, able to create an environment dedicated to the remote driving of the guided vehicle, adopting a necessary provision of elements to the remote control capable of creating a deviated driving position similar to the on-board driving position, located at one or the other end of the guided vehicle. For this purpose, the means of manual remote control comprise, in parPetição 870190017928, of 02/21/2019, p. 22/50
    16/34 ticular, the following interfaces:
    - a control chair for the guided vehicle comprising several devices, including a traction / braking handle, an emergency braking button and a set of controls necessary for remote driving, which will be described later. The drive of each of these control chair devices is capable of being transmitted, in real time as data related to the control, to the remote control module, in order to generate a result identical to a drive from a control station. located at one end of the guided vehicle;
    - auxiliary means of control, including control screens, which allow viewing:
    • an image of the transport route in front of the selected or controlled guided vehicle;
    • an image of a signpost around a transport route;
    • the speed of the guided vehicle;
    • states of the guided vehicle, • a synoptic view of the transport line of the guided vehicle;
    • an image from the control cameras inside the guided vehicle;
    • a status of the communication of the command data, in particular characterizing its transmission;
    - a telephone station (12).
    [0028] In addition, the image or images captured by the driving camera or by the driving cameras is (are) able to reproduce the vision of a driver of a guided vehicle, from his driving position . Driving cameras, according to the invention, allow you to view the vehicle's transport route guided in a
    Petition 870190017928, of 02/21/2019, p. 23/50
    17/34 distance ranging from a few meters to at least 200 meters in front of the guided vehicle, in order, for example, to allow intervention personnel capable of remotely controlling the guided vehicle to estimate the need for emergency braking.
    [0029] Advantageously, each image transmitted by the driving and control cameras comprises at least one information about the location (train and camera number) and date. The communication of the command data, according to the invention, is carried out in real time. However, if an important time lag (for example, of the order of a half-second) between the archiving of the image on a screen that can equip the means of manual remote control and its capture occurs, a dysfunction detection module advantageously capable of being included in the means of manual remote control, it is, in particular, able to point out this gap to the intervention personnel. In addition, problems of transmission of the image captured by these cameras, resulting, for example, in a hooked image, are likewise able to be signaled by this dysfunction detection module by means of a signal capable of alerting personnel interventions, thus allowing these intervention personnel to take measures accordingly, such as, for example, an emergency braking activation. In general, the means of remote control comprises, in particular, at least one module for detecting a malfunction of an image archive capable of warning intervention personnel when detecting such a malfunction.
    [0030] The means of remote control, according to the invention, is in particular able to divert manual controls available at the driving position of that vehicle guided to the remote control position, so that its function is in particular transmitted to the control chair of the means of manual remote control,
    Petition 870190017928, of 02/21/2019, p. 24/50
    18/34 serving your degree of security. In other words, the functions of the manual controls of the normal control system of the guided vehicle are able to be diverted from the driving position of the guided vehicle to the remote control position of that guided vehicle by means of these command data.
    [0031] In addition, these control data include, in addition, data relating to the operation of the manual controls available at the driving position of that guided vehicle, data relating to an image of the transport route, the internal and external environment, and the speed of the guided vehicle, as well as other useful data for manual remote control of the guided vehicle, such as:
    - the time of taking the image;
    - the location of the camera;
    - the speed of the train;
    - the status of train status control displays;
    - audio data (micro, capturing the sound environment at the front of the train);
    - sensory data, such as data from an accelerometer.
    [0032] These command data are, moreover, capable of understanding data correlated to other commands of the manual remote control, such as, for example, data able to control a focal point of a camera or a specific headlight on the front of the guided vehicle. In particular, these control data comprise data transmitted from the remote control station in that guided vehicle, such as, for example, data capable of controlling the traction of the guided vehicle, the braking of the guided vehicle, the control of the doors of the guided vehicle, information audio or visual equipment intended for passengers of this guided vehicle. These command data are thus able to transmit orders that emanate from the command post
    Petition 870190017928, of 02/21/2019, p. 25/50
    19/34 from the remote to the remote control module. These data are, moreover, able to be encrypted, for example, by the embedded treatment system and the treatment system of the remote control post, in order to protect against any intrusion capable of disturbing the remote control. The communication systems of the remote control station, and embedded on board the remote control module, are also capable of transmitting this data in packets during limited transmission times, ensuring a small loss of these data packets. command.
    [0033] The specific event management system, according to the invention, is, in particular, able to be dimensioned, in order to consider the time and distance necessary for a complete stop of the guided vehicle, especially in case of braking urgency. The design of the control system considers, in particular, a time for processing and transmitting the command data, a reaction time for intervention personnel, a time for transmitting a braking command, and an emergency braking time. . The time required for the guided vehicle to come to a complete stop determines the maximum speed at which the guided vehicle can roll in distance driving mode, in order not to risk a collision with an object or another guided vehicle. Passenger safety, as well as the performance of the guided vehicle, depends on this time parameter.
    [0034] In particular, if a driver is on board the guided vehicle, the time required for a complete stop of the guided vehicle and given by Tparada = T1 + T2 + T3, where T1 is the driver's reaction time, when an obstacle has been detected on the transport route, T2 is the time elapsed between the moment the driver presses the emergency braking button and a brake application on the wheels of the guided vehicle, and T3 is the time between the start of emergency braking and the total stop of the guided vehicle.
    Petition 870190017928, of 02/21/2019, p. 26/50
    20/34
    T3 depends notably on the speed of the vehicle guided at the beginning. T3 depends notably on the speed of the guided vehicle at the start of the braking and the maximum deceleration that can be applied to the guided vehicle when braking urgently. If the driver of the guided vehicle is not on board that vehicle, but an intervention person controls that vehicle remotely, the total stop time of the guided vehicle at distance T-stop distance is equal to the stop time T stopped with added driver at a time T4 of transmission of the command data to the remote control station, and vice versa, and of processing of these command data. A part of the time T4 corresponds to the image processing (on board the guided vehicle and to the remote control post) and to its transmissions and another part of that time T4 corresponds to the transmission of a data related to the command including a braking command , from the remote control station to the remote control module and its treatment.
    [0035] Advantageously, the specific event management system is able to maintain identical stopping distances between the normal driving mode, characterized by Tparada and the distance driving mode, characterized by Tparada-distance , decreasing the speed of the guided vehicle , so that it is equal to V0-T4.amax, where V0 is the speed of the guided vehicle in normal driving mode, and amax is the absolute value of the maximum deceleration of the guided vehicle, when braking urgently.
    [0036] Finally, an example of implementation and application is provided with the help of:
    [0037] figure 1: example of realization, according to the invention, of a specific event management system for a guided vehicle. [0038] As an example, figure 1 shows a specific event management system, according to the invention. The management system
    Petition 870190017928, of 02/21/2019, p. 27/50
    21/34 so 1 comprises, in particular, at least one remote control module 2 capable of being loaded on board a guided vehicle 3 and a remote control station 4. The remote control module 2 comprises, in particular , a switching system 21 of a guided vehicle driving mode 3, in order to remotely switch a normal driving mode capable of being used by a normal control system (5) to a remote driving mode, and viceversa, an embedded communication system 22, an embedded command data processing system 23 and remote control means 24 capable of allowing the control of the guided vehicle, when in a remote driving mode. The switching system 21, the embedded communication system 22, the embedded command data processing system 23 and the remote control means 24 are able, on the one hand, to cooperate with each other in order to allow a remote control of the guided vehicle 3, the control being carried out manually, from the remote control station 4, and, on the other hand, able to be connected notably with each other, in order to ensure a transmission of control data In particular, they are each able to be connected to a pre-existing embedded communication network (7) of the guided vehicle (3).
    [0039] The remote control station 4 comprises a remote control device 41 of the switching system 21, a communication system 42 capable of communicating with the embedded communication system 22, a control data processing system 43 , and means of manual remote control 44 capable of operating the remote control means 24. The remote control device 41, the communication system 42, the data handling system 43, and the manual control means at a distance 44 are, on the one hand, able to cooperate with each other or
    Petition 870190017928, of 02/21/2019, p. 28/50
    22/34 trots, in order to allow manual remote control, from the control post, of that guided vehicle 3, and, on the other hand, able to be connected notably with each other, in order to ensure a transmission of command data. In particular, they are each able to be connected to a communication network on the ground (6) of a transport line.
    [0040] In particular, the embedded communication systems 22 and communication systems 42 are able to transmit control data between the remote control module 2 of the guided vehicle 3 and the remote control station 4 by means of a pre-existing radio system of the guided vehicle. In particular, this pre-existing radio system is able to establish a permanent communication channel between a network of equipment on the ground (6) of a transport line and equipment on board the guided vehicle, such as, for example, an Embedded Autopilot (PAE) ). Thus, the communications between the remote control module 2 and the remote control station 4 are able to use this network which is advantageously able to communicate with a PCC, in which that remote control station 4 can be integrated, from different radio access points located along the transmission line. In addition, the embedded communication system 22, as well as the embedded data processing system of the command 23 are able to be connected to a communication network (7) that connects equipment on board the guided vehicle.
    [0041] In particular, the remote control means 24 comprise one or more driving cameras 241. Each driving camera 241 is displaying the transport path and a side sign (8) of that transport path (9) of the vehicle guided. In particular, this 241 driving camera may have a variable focal length and be orientable. In addition, the remote control means 24 are also
    Petition 870190017928, of 02/21/2019, p. 29/50
    23/34 also capable of understanding inside the guided vehicle one or more control cameras, able to remarkably control passengers of the guided vehicle, or an operation of the equipment of the guided vehicle. Such is the operation of a door of that guided vehicle. In particular, a control of the doors of this guided vehicle is able to be carried out by control cameras arranged inside or outside the guided vehicle.
    [0042] An embedded command data processing system 23, these command data being, for example, coming from pickups capable of equipping the remote control means 24, is able to be connected to the network (7) of the guided vehicle through a computer network communication protocol, that is, via an IP (Internet Protocol) link. The embedded command data processing system 23 is notably capable of:
    - handle images from the 241 driving and control cameras;
    - processing command data from a telemere 242 capable of measuring distance s and included in the remote control means 24, as well as command data from other eventual pickups that can equip the remote control means 24;
    - handle speed information;
    - inform the command data for its transmission, notably at the remote control station 4;
    - processing control data from remote control station 4 and transmitting to remote control means 24 or switching system 21 commands that may result from the processing of such control data from remote control station 4. The treatment of these command data from remote control station 4 is, for example, capable of giving rise to a
    Petition 870190017928, of 02/21/2019, p. 30/50
    24/34 transmitting a signal capable of commanding the focal and orientation of a camera, or capable of commanding other devices of the remote control means 24;
    - store video images for a defined period;
    - generate obstacle detection in a short circuit.
    [0043] In addition, the remote control means 24 may in particular comprise an Optical Dynamization and Identification Module (MODI) 243 specific to the remote control of that guided vehicle. The MODI 243 is capable of
    - temporally compare the time at which a video image is taken by means of a driving camera 241 or a control camera with the time in which this image is stored on a screen of the auxiliary means of the remote control station 441 . Advantageously, MODI 243 allows intervention personnel to control a time lag between the filing of command data and its collection by the remote control module 2. MODI 243 is, in addition, able to measure the time elapsed between the moment of activation of a test command of the remote control means 44 at the remote control station 4 and the filing of its effect, on the screen, of the auxiliary means to the control 441. The MODI 243 is thus able to test the control chain. processing of control data between remote control station 4 and remote control module 2 .;
    - control the origin of images made by control or driving cameras 241, transmitting notably command data related to the number of the camera and the targeted vehicle.
    [0044] MODI 243 is thus able to guarantee the accuracy of a correspondence between images acquired by the cameras of a remote-controlled guided vehicle and the images transmitted to the remote control station 4.
    Petition 870190017928, of 02/21/2019, p. 31/50
    25/34 [0045] Remote control means 2 may comprise, in particular, a set of intercoms intended to transmit two-way voice communication between passengers located in the guided vehicle and the remote control post 4. Advantageously, this set of The intercom is able to provide a function of intercom and sounding of the guided vehicle 3, allowing the sounding of the guided vehicle, an intercom dialogue and a discreet listening of the guided vehicle, advantageously completing video information provided by the passenger control cameras. In particular, intercoms can be installed in each vehicle that forms an extension. They allow communication between intervention personnel at the remote control station 4 and passengers. The type of communication is, for example, a complete double connection between the remote control station 4 and the targeted vehicle, or a particular extension, as a result, notably at a call from the remote control station 4 or the guided vehicle or extension. The means of manual remote control also make it possible to select at least one vehicle speaker guided in discreet listening.
    [0046] Advantageously, these remote control means 24 may comprise a distance pickup or rangefinder 242 intended to be arranged in the front of the guided vehicle. This distance pickup or rangefinder 242 allows a quick measurement of the distance between the guided vehicle 3 and an obstacle present on the transport route. This distance pickup or rangefinder 242 can be connected to a short circuit internal to the guided vehicle designed to trigger emergency braking in the event of an obstacle, in the manner of a crossbar expelled from the body. This short circuit advantageously allows the train to react quickly to imminent danger regardless of delays caused by communications between the remote control module 2 and the remote control station 4.
    Petition 870190017928, of 02/21/2019, p. 32/50
    26/34 [0047] The remote control means 44 of the remote control station 4 can in particular comprise a control chair 442, comprising, in particular:
    - a driving mode selection button capable of communicating to the remote control device 41 a driving mode switching command to be transmitted to the switching system 21 of the remote control module 2;
    - driving levers:
    • traction or braking, comprising, in particular, three positions or a continuous command;
    • an opening of at least one left door of the guided vehicle;
    • opening at least one right door of the oriented vehicle;
    • closing at least one left port of the guided vehicle;
    • closing at least one right door of the guided vehicle;
    • inhibiting the safety circuits of the guided vehicle;
    - a guided vehicle selection device;
    - camera selection levers (front, rear, external, internal, etc.) being able to equip the remote control means 24 of the remote control module 2;
    - at least one action lever on a camera, allowing to view recorded or stored images, zoomer, or even orient the camera;
    - a device for activating and deactivating an ice dryer;
    - a remote-oriented ignition and headlamp extinguishing device for the vehicle.
    Petition 870190017928, of 02/21/2019, p. 33/50
    27/34 [0048] The auxiliary means of command 441 comprise, in particular, at least one screen intended to store information useful for remote control of the guided vehicle, notably four screens, respectively:
    - a first screen for storing a synthetic view of the transport line; the synthetic view comprises, for example, one or more synthetic images, allowing to view over the whole of the transport line, there comprising an automated part of a garage or a workshop for the maintenance or replacement of the guided vehicle;
    - a status of transmission line automatisms;
    - a position of the guided vehicle, notably the position and formation of an extension and information regarding a movement of the guided vehicle, notably that extension;
    - a traction net;
    - a second screen for archiving images captured by a driving camera 241 placed in front of the guided vehicle. Advantageously, this screen allows a visualization of an image from the driving camera 241 located in the front of the selected guided vehicle and allows manual remote driving based on a visual reading by an intervention personnel, of the image stored on that second screen;
    - a third screen for archiving the status displays of the guided vehicle and the guided speed and the speed of the guided vehicle;
    - a fourth screen for archiving images taken by one or more cameras mounted on board the guided vehicle, notably on branches and on the sides of the guided vehicle. These are, for example, images from control cameras placed inside the guided vehicle, as well as images from
    Petition 870190017928, of 02/21/2019, p. 34/50
    28/34 entities of cameras able to be fixed on external or internal sides of the guided vehicle and intended to control the doors of the guided vehicle.
    [0049] The control data processing system 43 is able to process the control data from the remote control module 2. It is, in particular, being connected to the communication network (6) between the guided vehicle and the ground through an IP connection. The command data processing system 43 is particularly suited to:
    - handle video images from cameras of the remote control module 2;
    - analyze the content of these video images in order to extract and add value to particular elements when archiving these images. Putting these particular elements to good use makes it possible to warn intervention personnel of the presence of that particular element. These particular elements are, for example, a side signaling of the transport route, equipment of that transport route, a presence of a pier and a station identification, a presence of another vehicle guided on the transport route, or, more generally , a presence of any unexpected object present on the transport plane;
    - treat data from a rangefinder 242 and other eventual pickups included in the remote control means 24;
    - handle guided vehicle speed information;
    - generate a safety archive of at least a part of the command data for screens of the auxiliary means to command 441;
    - store video images and control data from the guided vehicle during a period of use of the guided vehicle in remote driving mode.
    Petition 870190017928, of 02/21/2019, p. 35/50
    29/34 [0050] The control data comprise, in particular, safety data and functional data, being able to pass between the guided vehicle and the remote control station. The safety control data from the guided vehicle, notably from the remote control module 2, includes information relating to:
    - a driving mode;
    - a state of the automatisms;
    - a condition of the rolling stock;
    - an alarm signal;
    - closing and locking a door, for example, the left and / or right doors of the guided vehicle;
    - a departure authorization.
    [0051] The safety command data from remote control station 4 and transmitted to the remote control module 2 of the guided vehicle comprises information relating to:
    - emergency braking;
    - traction or braking;
    - an opening or / and closing a door, for example, opening the right doors, opening the left doors, closing the right doors, closing the left doors of the guided vehicle;
    - an inhibition of safety circuits.
    [0052] Functional control data from remote control station 4 and transmitted to the remote control module 2 of the guided vehicle comprises information relating to:
    - a change in the driving mode of the guided vehicle from the remote switching device 41. In particular, a change in remote driving mode is capable of starting that guided vehicle remotely. Thus, switching the driving mode of the guided vehicle is particularly suitable for
    Petition 870190017928, of 02/21/2019, p. 36/50
    30/34 to command the guided vehicle to be powered up. Advantageously, a mode of driving the switching system (21) corresponds to an off-voltage setting of the guided vehicle, so that the start-up or off-voltage of the guided vehicle is able to be controlled remotely from from the remote control station (4). In addition, and in particular, at least one driving mode selectable by the switching system (21) by switching the driving mode from the driving mode is able to reset equipment of the guided vehicle;
    [0053] in addition, pre-quoted control data, the control data can comprise data specific to the remote control, that is to say, the remote driving mode, which can be transmitted from the guided vehicle to the remote control station 4 These are, for example, command data specific to:
    - an image of the transport route and a signpost for that transport route;
    - a guided vehicle speed;
    - an image from a train control camera;
    - an identification number of the guided vehicle capable of being controlled remotely and of at least one of its active cameras;
    - a phone from the distance-guided vehicle and images from the passenger and door control cameras.
    [0054] Thus, the present invention allows, in case of detection of a specific event, such as a breakdown of the automatic pilot (10) of an automatic guided vehicle, or a maneuver of an automatic guided vehicle in a path not adapted to its automation devices, manually control this guided vehicle remotely. In particular, when detecting a specific event, this detection can be transmitted by the vehicle guided to the remote control station (4). Intervention staff (11) placed in that post
    Petition 870190017928, of 02/21/2019, p. 37/50
    31/34 remote control can then select the vehicle guided to drive remotely, and use the remote control device (41) to switch from normal driving mode to remote driving mode. The normal driving mode, for example, an automatic driving mode of the vehicle guided free of the presence of a driver on board that vehicle and used by an automatic control system comprising notably an on-board autopilot, is then replaced by a driving mode. deviated manual driving, that is, the distance driving mode, generated remotely by these intervention personnel. The remote control module being able, on the one hand, to divert all functions from the on-board driving position of the vehicle guided to the remote control station, and, on the other hand, to transmitting control data to the remote control station. , allowing remote control of this guided vehicle, it is then possible for intervention personnel to remote control this guided vehicle. Finally, and advantageously, the remote control device is capable of controlling the switching of the switching system from a remote driving mode to a normal driving mode, so that, for example, the automatic pilot of a guided vehicle can again generate the control of the automatic guided vehicle.
    [0055] In summary, the method and the management system of a specific event, as well as the remote control module and the remote control post, according to the invention present many advantages over the methods and devices that exist that require intervention by intervention personnel on the location of a specific event. Indeed, the method and the management system of a specific event allow:
    - free themselves from intervention by intervention personnel on board the guided vehicle, over the location of an event
    Petition 870190017928, of 02/21/2019, p. 38/50
    Specific 32/34;
    - a remote control for the shoulder of an automatic or non-automatic guided vehicle; in fact, distance pickups, for example, at least a laser rangefinder or a variation of the focal length of a driving camera, allow, in particular, a controllable shoulder from the remote control post, regardless of an automatic shoulder procedure. that disadvantageously slow, due to an approach phase that requires a very low speed of the guided vehicle;
    - a remote conduit to replace a manual conduit on board the guided vehicle in the event of a specific event, for example, when an incident in operation arises;
    - a gain in time and personnel: in fact, the intervention time, when there is a breakdown that needs to be resumed in manual driving mode of the vehicle is greatly reduced. In effect, intervention personnel no longer have to travel over the location where the vehicle is driven in a breakdown. This allows, in addition, to avoid a chain of incidents that can be caused by the impatience of the passengers (descent on the track) and to improve the fluidity of the line traffic;
    - carry out an reconnaissance of an automatic guided vehicle transport line to start an exploration (beginning of journey, for example), in order to guarantee the safety and functionality of the transport line and the guided vehicle;
    - a movement of the automatic guided vehicle on a part of a transport line for which an automatic driving mode is no longer or is not possible;
    - a formation of remote controlled branches, in a garage area, in a parking lot, in a terminal, or in areas dedicated to this;
    Petition 870190017928, of 02/21/2019, p. 39/50
    33/34
    - split manually and at a distance from the branches in a garage area, in a parking lot, in a terminal, or in areas dedicated to it;
    - a garage at a distance from an automatic guided vehicle, when garage areas are not automated;
    - make the workshop available to guided vehicles by remote control;
    - a conduit at a distance independent of the transport line, which comprises the areas covered (garage tunnel) or uncovered areas;
    - driving at a distance regardless of the ambient light state of the guided vehicle, and independent of the weather (rain, snow, fog);
    - a reconstitution of the driving environment (view of the road and its environment, sight and sound environment from inside the branch, commands available for annual driving, alarms or controls available for manual driving) of the guided vehicle diverted to the command post at a distance;
    - to eliminate the redundancy of an on-board autopilot: in effect, an automatic guided vehicle generally comprises two on-board autopilots to show a failure of one of the two on-board autopilots. In the event of a breakdown of the active embedded autopilot, the second embedded autopilot arms the relay in order to generate the automatic displacement of the guided vehicle. The present invention makes such redundancy useless. Indeed, in the event of a breakdown, the automatic guided vehicle is driven by intervention personnel from the remote control station. Intervention personnel can then drive the guided vehicle to the next station or exactly as far as boarding a driver. At the end of the line, the remote control station is
    Petition 870190017928, of 02/21/2019, p. 40/50
    34/34 able to move the guided vehicle to a maintenance workshop to replace the automatic maintenance pilot to replace the failed autopilot;
    - a reduction in costs linked to a transport line, eliminating, for example, redundant autopilots, the displacement of the guided vehicle, being able to be remotely controlled by an intervention staff.
    Petition 870190017928, of 02/21/2019, p. 41/50
    权利要求:
    Claims (15)
    [1]
    1. A specific event management method, comprising the detection of at least one specific event, capable of disturbing a displacement of a guided vehicle (3), comprising,
    - a reversible, remote-controlled switching from a normal driving mode to a remote driving mode of that guided vehicle (3) when this specific event is detected;
    - measurement and collection, in real time, of command data, when using the remote driving mode;
    - real-time communication of these control data between a remote control module (2) of that guided vehicle and a remote control station (4);
    - processing, in real time, of these command data,
    - a real-time manual control of that guided vehicle (3), and at a distance when using the remote driving mode, based on these control data, characterized by the fact that the switching from a normal driving mode to a driving mode distance is reversible.
    [2]
    2. Guided vehicle remote control module (2) (3) capable of being loaded on board a guided vehicle (3) comprising a normal control system (5), intended to control that guided vehicle (3), this remote control module (2) being able to cooperate with the normal control system (5) of that guided vehicle, and comprising,
    - a switching system (21) for a guided vehicle driving mode (3), capable of being remotely controlled by a remote control station (4), in order to remotely switch to a normal driving mode at a distance driving mode;
    - an embedded communication system (22), between the
    Petition 870190072944, of 07/30/2019, p. 5/12
    2/5 guided culo (3) and the remote control station (4), able to switch, when in the remote driving mode, with a communication system (42) from that remote control station (4), data command;
    - an on-board system for processing these control data (23) capable of processing these control data, in order to allow a manual remote control of that guided vehicle (3), when using the remote driving mode;
    - remote control means (24) of that guided vehicle (3) capable of being manually controlled, by means of control (44) of the remote control position, when this means of remote driving, characterized by the fact that the system switching mode (21) is also suitable to be remotely controlled by the remote control station (4), to perform a remote switching from a remote driving mode to a normal driving mode.
    [3]
    3. Remote control module (2), according to claim 2, characterized by the fact that these remote control means (24) are capable of measuring and collecting control data.
    [4]
    4. Remote control module (2) according to claim 2 or 3, characterized in that the remote control means (24) comprise devices for measuring and collecting control data.
    [5]
    Remote control module (2) according to any one of claims 2 to 4, characterized in that the remote control means (24) comprise a driving camera (241) positioned at each end of the vehicle guided.
    [6]
    6. Remote control module (2) according to any of claims 2 to 5, characterized in that the remote control means (24) comprise a remote control camera
    Petition 870190072944, of 07/30/2019, p. 6/12
    3/5 control of a guided vehicle environment.
    [7]
    Remote control module (2) according to any one of claims 2 to 6, characterized in that the remote control means (24) comprise a rangefinder (242).
    [8]
    8. Remote control station (4) of a remote control module (2) of a guided vehicle (3) comprising a normal control system (5), that remote control station (4) being able to control the remote control of that guided vehicle (3) by means of that remote control module (2), comprising,
    - a remote control device (41) of a switching system (21) of the remote control module (2), that switching system (21) being able to switch from a normal guided driving mode to a driving remotely and conversely, when using a remote control device (41),
    - a communication system (42) between the guided vehicle (3) and the remote control station (4), capable of switching, when in the remote driving mode, with an on-board communication system (22) of the control module remote control (2) of that guided vehicle (3), of the control data;
    - a system for processing such control data from the guided vehicle (3), capable of processing such control data,
    - means of manual remote control (44), capable of controlling means of remote control (24) of the remote control module (2) of the guided vehicle (3), when operating in remote driving mode (2) , characterized by the fact that the switching system (21) is capable from a command issued by the remote control device (41) to switch from a remote driving mode to
    Petition 870190072944, of 07/30/2019, p. 7/12
    4/5 a normal driving mode.
    [9]
    9. Remote control station (4), according to claim 8, characterized by the fact that it comprises auxiliary means to the control (441).
    [10]
    Remote control station (4) according to any one of claims 8 to 10, characterized in that the means of manual remote control (44) comprise a guided vehicle selection device (3).
    [11]
    11. Specific event management system (1), comprising a remote control module (2), as defined in claim 2, and a remote control post (4) as defined in claim 8, characterized by the fact that it is able to perform a remote control of the guided vehicle (3).
    [12]
    12. Specific event management system (1), according to claim 11, characterized by the fact that the command data, comprises information, commands and parameters related to the operation, the command, and an external and internal environment of the guided vehicle (3).
    [13]
    13. Specific event management system (1) according to claim 11 or 12, characterized by the fact that the specific event management system (1) is capable of maintaining identical stopping distances between the normal driving mode and distance driving mode.
    [14]
    14. Specific event management system (1), according to any of claims 11 to 13, characterized by the fact that the command data treatment system (43) is able to be connected to a communication network between the guided vehicle and the ground via an IP connection.
    [15]
    15. Specific event management system (1), according to any of claims 11 to 14, characterized by the fact
    Petition 870190072944, of 07/30/2019, p. 12/12
    5/5 that the embedded command data treatment system (23) is able to be connected to the network of the guided vehicle processing an IP link.
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    同族专利:
    公开号 | 公开日
    EP2550191A1|2013-01-30|
    BR112012024372A2|2017-08-08|
    CN102858615B|2016-09-21|
    CA2794194A1|2011-09-29|
    CN102858615A|2013-01-02|
    WO2011116837A1|2011-09-29|
    HUE036606T2|2018-07-30|
    US10618536B2|2020-04-14|
    US20130046421A1|2013-02-21|
    CA2794194C|2018-05-29|
    EP2550191B2|2022-01-26|
    EP2550191B1|2017-12-13|
    KR20130018795A|2013-02-25|
    ES2662699T3|2018-04-09|
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    法律状态:
    2019-01-15| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-01-22| B06T| Formal requirements before examination [chapter 6.20 patent gazette]|
    2019-07-16| B06A| Patent application procedure suspended [chapter 6.1 patent gazette]|
    2019-09-17| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2019-11-05| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 28/04/2010, OBSERVADAS AS CONDICOES LEGAIS. |
    2020-05-12| B25G| Requested change of headquarter approved|Owner name: SIEMENS S.A.S. (FR) |
    2020-05-26| B25A| Requested transfer of rights approved|Owner name: SIEMENS MOBILITY SAS (FR) |
    优先权:
    申请号 | 申请日 | 专利标题
    EP10290159|2010-03-26|
    PCT/EP2010/055740|WO2011116837A1|2010-03-26|2010-04-28|Method and system for managing specific events related to the movements of a guided vehicle|
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