DE4038860A1 - Control system for track and road construction machine - has laser measurement of height and position to generate curved path - Google Patents

Abstract

The control system provides accurate layout of curved sections (18) defined by a formula. The system has prisms (10-12) mounted on posts to provide height reference points with fixed spacings (13,14). A guide wire (3) is located between two measuring carriages (7,1) and between these is a direction mounting unit (4). A laser beam is reflected by the prisms and by a rotational angle transducer (9) to determine control signals. USE/ADVANTAGE - For construction machines used in track laying or road building. Accurate control of construction machine.

Description

The invention relates to a control system for construction machinery accordingly the preamble of claim 1.

It can preferably be used for such construction machines manufacture the linear structures, for example when stuffing and straightening tracks or in the manufacture of roads. This system can also be used for track-bound traffic routes Measuring and registering the three-dimensional actual position use Find.  

When controlling construction machines, a distinction is made between internal controls, which the recurring manufacturing work cycle control and differentiate between external controls. The latter can are divided into:

• a) Relative controls with control mechanisms that control the work organs of machines in such a way that they match the process take the corresponding changed position to the initial situation. This includes z. B. the three- and four-point control procedures the track tamping and straightening machines, with which one for Starting position improved curvature can be achieved can.
• b) Absolute controls with control mechanisms that control the work organs of the machines in such a way that they calculate a Take position regarding points that are not immediate connected to the building. Such points can e.g. B. coordinate-known fixed points.

The control of the pavers is one of the absolute control mechanisms on straight lines and levels with the help of laser control devices. This well-known type of control, in which the distance between In principle, laser transmitters and construction machines are irrelevant plays, can only be used to a limited extent in the production of traffic routes use, since they have little straight line and plane portion. So there is a need to use controls that the pavers can steer on space curves. It is known, that the space curve control for pavers through the assembly of control wires arranged sideways is carried out mechanically scanned by the paver. The between the brackets tensioned guide wires approach the space curve in a polygonal manner with the base distances stände 10 m. Although here both the location and the height of the work organs controlled The following disadvantages occur:

• - The space curve can only be controlled like a polygon. That's why this solution is not applicable for track-bound traffic routes.
• - The assembly of the guide wires can hardly be automated. they is therefore with an extraordinarily high manual effort connected.  
• - The inevitable wire sag affects the flatness of the e.g. B. negative road surfaces to be manufactured.

In track construction, control procedures and arrangements come almost exclusively for use based on the measurement of arrow heights. The two-string taxation methods are the most widespread (see Eisenbahntechnische Rundschau 13 [1964] 2, pp. 45-49), the three-point and the four-point method, in which the Measuring the arrow heights the control signals are derived. These Procedures assume that there is a track to which the longest possible chord is created. About the measurement An arrow height in the rear area of this tendon becomes the arrow height derived at the straightening point and for controlling the straightening process used. Because the control values measured on the existing track The following disadvantages arise:

• - The front end of the tendon is in the undirected and track section affected by position errors. This also falsifies the measured arrow height and so does it the arrow height. The positional errors of the anterior tendon end point are reduced in size but not eliminated.
• - Since the entire measuring system is based on the existing track, it is not possible to find the theoretically correct track position to achieve the straightening process (absolute track position). It can only curvature errors can be reduced (relative Track position). The result is a track position with a continuous Curvature. It is not possible to target the minimum distances to guarantee compulsory points. Therefore leave even long-wave sliding position errors cannot be eliminated.
• - The track height cannot be controlled.

To convert this relative to absolute taxation is further known, the front, lying in the undirected track Tendon end point of the measuring chord on an absolutely fixed Control space curve. In this case, both the absolute Track location with respect to points outside the track as well creates a continuous curvature (target curvature). This happens e.g. B. by using the so-called DRIVER Straightening procedure (see rails of the world) 1982 1, pp 30-43). The patents DD-PS 2 51 589 describe the same effect  and AT-PS 3 36 662. The front tendon end point is on the target position controlled, at intervals of in 80 m a laser transmitter in Connection established with coordinates known fixed points becomes. Oriented to the chord created with the laser beam the control device of the track tamping and straightening machine (front end point of vision) and controls the work organs in connection with the previously calculated and in the control device saved target arrow height on the target curve. The DRIVER process the solutions from DD-PS 2 07 743 are very similar and 2 48 159.

However, all of these solutions have the following disadvantages:

• - Only the track position and not the track height can be controlled will.
• - The manufacturing process must be carried out when moving the laser transmitter from one fixed point to the next be interrupted because the laser beam to which the arrow height measurements refer, is to be newly established. This finding also changes the tracked machine specified in accordance with DD-PS 2 51 589 for Measure and register or correct the track position or Levels including associated procedure for comparing Is-target arrow height positions nothing, because with this invention only the positioning of the laser transmitter with a remote controlled track-moving carriage is realized.
• - The position of the laser beam can change due to the vibration change when trains pass by on the neighboring track.
• - It is not used to control road pavers possible.

From DE-PS 24 34 073 is a method for straightening and or or Longitudinal leveling of railroad tracks using a rail-driven Track leveling machine and the device for Implementation of the procedure known, also on the comparison of actual and target angles and their comparison. This is done determining the station of the construction machine with a measuring wheel. The disadvantage here is that the distance measurement is continuously checked must be avoided, as slip phenomena falsify the measurement result. This is done by staking out the main route points. This work cannot and is not automated associated with a high manual effort.  

The angle comparison method according to DD-PS 2 15 377 does indeed some of the disadvantages mentioned do not, but require one relatively high technical effort. So one arrives electronically working angle-distance measuring device for use with equipped with an automatic tracking system is.

The reorientation of the electronic angle-distance measuring device to the next fixed point is done manually so that the control and manufacturing process must be interrupted. It also has to Ensure extremely short measuring cycles, so that the manufacturing process is not hindered. These problems are one against the economic introduction of this system.

The invention has for its object a control system for To create construction machines of the type mentioned, in which the control process with minimal manual and technical Effort in the work area based on pre-calculated room curves by means of laser beams according to position and height without special Classify height control means of controllable construction machines can, that the control arrangement is automatically oriented and thereby also with the reorientation to the next benchmark the manufacturing cycle while ensuring the required accuracy not delayed.

This object is achieved by the characterizing Features of claim 1 solved. requirement of it is it goes without saying that the space curve is formulated mathematically and is defined in a uniform coordinate system. Furthermore, close to the space curve must be coordinated at certain intervals Known fixed points, for example on a route close to the line Traverse. It must also be ensured that between the space curve and the fixed points one Line of sight exists.

The horizontal rotation angle measuring devices allow vertical or horizontally fanned laser beams that rotate on the as Laser beam reflectors hit triple prisms, reflect and as light pulses from a corresponding receiving element be received at the rotation angle measuring device. Dependent on the speed of rotation and the time interval of the reflected  Light pulses can change the angle between the directions after the triple prisms in quick succession and with high accuracy be determined. A triple prism has one coordinate known benchmark, which is up to 300 m in front of the paver lies, centered. Two more triple prisms are arranged that they are on a vertical plane with the former. This can be done by placing them separately on tripods or are arranged on a carrier. The vertical plane should are almost perpendicular to the direction after the construction machine. The The distances between the prisms are precisely defined. From this Measuring arrangement can be done in connection with the measured horizontal angles and the distances between the prisms the length of the connecting straight line between the fixed point and the rotation angle measuring device. The target coordinates of the Space curve point determined at the time of measurement the rotation angle measuring device is located. Since the fourth prism, the is located in the rear of the construction machine and its longitudinal axis specifies, or the same on a tracked measuring frame is arranged, a constant and known distance to the rotation angle measuring device, the target coordinates can be (Position and height) of this point also determine. That is the Prerequisite for calculating the horizontal and vertical target angles between the direction after the fixed point and the construction machine axis or measuring frame axis. After also the actual angle that from the light pulse of the fourth prism can be determined from the Measurements of the rotation angle measuring system are now available the rotation angle measuring devices together with the work organs the construction machine or the front end of the measuring tendon shifted until the actual and target angles match. In this case the working organs or the tendon end point are located the measuring chord on the mathematically formulated space curve. Normally, the horizontal and vertical components are together summarized in a measuring arrangement. With the track pots and straightening machines this is not possible because the measuring chord runs in the immediate vicinity of the top edge of the rail and in this area the refraction symptoms the measurement results falsify the vertical angle measurement.  

In this case, the rotation angle measuring devices are used on different Set the construction machine. The rotation angle measuring device and the associated control device for the control the horizontal component is on the measuring car already mentioned, the the tendon end point of the measuring chord of the three or four point method embodied, arranged. So that is the point controllable on the horizontal target curve, so that with this arrangement variant an indirect control of the work organs in horizontal direction.

The rotation angle measuring device for the vertical component is in front upper part of the construction machine and arranged with a Device for controlling the vertical component of the space curve connected.

Because both control devices have a clearly defined position in relation to each other have, the horizontal and vertical components of the Room curve controllable at the same time.

This control system according to the invention has compared to the known advantages listed below:

• - By controlling the absolute position and height of the work organs on the space curve it is guaranteed that the minimum distances a priori of the traffic route at compulsory points according to location and height can be realized with great accuracy.
• - The measured values fall in extremely short time intervals fully automatic with a comparatively low technical Effort. This is a despite the sequential measurement sequence Quasi-continuous control process can be implemented.
• - The angles are independent of previous ones with each straightening process Measurements determined so that error propagation not in the control sequence.
• - Use in connection with track-bound traffic routes with a suitably equipped measuring vehicle for metrological Registration and registration of the absolute location and Elevation course (actual state before working through) of the traffic route possible.
• - The control of the front tendon end point on the track plug and straighteners causes its inevitable residual control errors through the subsequent three- or four-point method  be significantly reduced and thus a extraordinarily high control accuracy is achieved.
• - The control process can be interrupted and closed at any time The start of work or resumption are none Correction and adjustment of the measuring and control device required.
• - The arrangement is also workable in the dark.
• - The for the calculation of the distance between the rotation angle measuring device and fixed point required three triple prisms can be arranged on several fixed points before the start of tax be so that the manufacturing process when reaching the fixed point continued without interruption with the following benchmark can be.
• - By arranging the rotation angle measuring devices on the construction machine the influence of the refraction on the vertical angle measurement to 25% compared to the previously known methods of Straight line and plane control reduced.

The invention will be explained in more detail using an exemplary embodiment will. Show in the accompanying drawings

Fig. 1 is a schematic representation of the control system of the invention by means of the front end point tendons three-point straightening method measuring carriage with inserted front of the construction machine,

Fig. 2 shows the schematic representation of the geometric relationships in the control of the horizontal component and

Fig. 3 shows the schematic representation of the geometric relationships in the control of the vertical component.

The prerequisite for controlling a construction machine - here a track tamping and straightening machine - is a track with possible position and height errors, the mathematical formulation of the space curve 18 to be produced according to the track axis and coordinate-known fixed points 10 near the track with longitudinal distances of up to 300 m. The following preparatory work must be carried out to create and start up the control system according to the invention ( FIG. 1):

• - Setting up and centering a triple prism 10 on a fixed point 40 and measuring the relative height difference 41 between fixed point 40 and triple prism 10 .
• - Arrangement of two further triple prisms 11, 12, which lie approximately in a vertical plane, and precise measurement and registration of their distances 13, 14 from one another.
  If the three triple prisms 10, 11, 12 mentioned are arranged on a carrier, the middle prism 11 is to be centered over the fixed point 40 and the connecting line of the three prisms is to be set up approximately at right angles to the connecting line 17 defined between the rotation angle measuring device 9 and fixed point 40 . In this case, the distances 13, 14 are assumed to be known.
• - Enter the mathematically formulated space curve 18 and the coordinates of the prism 10 on the fixed point 40 in an on-board computer.
• - Advance the track tamping and straightening machine to the starting point of the space curve to be processed and switching on the rotation angle measuring devices 9, 27 .

. The measuring carriage 1 shown in Figure 1 with the front tendon end point 2 - the same Rotationswinkelmeßgerätes 9 breakpoint - and Meßsehne 3 of the known three-point straightening process definitely connected. As is known, the measuring chord 3 is designed as a tightly tensioned steel cable, on which a straightening unit 4 at the straightening point 5 places the arrow height 6 , which corresponds to the desired geometric curve. The measuring chord 3 is brought into connection with the directional track at the rear end of the chord - at the same time stopping point of another triple prism 8 - by a measuring carriage 7 . The cyclical control process comprises the following substeps:

• a) Control of the horizontal component
  Emanating from Rotationswinkelmeßgerät 9 vertically fanned laser beams are reflected by the triple prisms 10, 11 and 12 and meet as light pulses to a corresponding receiver member on Rotationswinkelmeßgerät 9 are registered by this and converted to a function of the rotation speed in the horizontal angle variables 15, 16th From the distances 13, 14 between the triple prisms 10, 11, 12 and these angles 15, 16 , the path length of the connecting straight line 17 from the rotation angle measuring device 9 to the triple prism 10 is calculated according to known mathematical relationships. From the coordinates 20, 21 of the fixed point 40 and the mathematical formulation of the space curve 18 to be produced ( FIG. 2), an on-board computer with known mathematical relationships calculates the target coordinates 22, 23 of the front chord end point 2 with respect to the coordinate cross x, y. He also calculates the target coordinates 24, 25 of the tendon end point 8 in the production direction using the known line length of the measuring chord 3 , the target coordinates 22, 23 of the tendon end point 2 and the mathematical formulation of the space curve. The coordinates shown allow the calculation of the target horizontal angle 19 between the measuring chord and the direction after the fixed point 40 . This angle 19 is derived simultaneously from the light pulses which are reflected by the prism 10 at the fixed point and the prism 8 at the rear position (actual angle 19 ' ) and compared with the target angle 19 .
  If there is a difference between the angles 19 and 19 ' , the front chord end point 2 is moved horizontally together with the rotation angle measuring device 9 until a match is reached. Then this point 2 is on the horizontal component of the target curve. Since the rear chord end point 8 of the measuring chord also lies on the target space curve, the directional point 5 is also brought to the horizontal component of the target space curve by lowering the arrow height 6 . It is assumed that this control system, which is characterized by the measuring carriage 1 , the measuring carriage 7 and the straightening device 4 - as already mentioned at the beginning - is functionally related to a known duct pot and direction machine.
  After the straightening process has ended, the gland pot and straightening machine advances by a corresponding amount and the process repeats itself to the triple prisms 10, 11 and 12 arranged in unchanged position. Once the construction machine has reached this, the system is switched to the triple prisms that are positioned in the same position further ahead and centered over the next fixed point without interrupting the measuring and straightening process.
• b) Control of the vertical component
  In Fig. 3, the geometric relationships for control of the height with respect to the coordinate axes H, S are shown. A rotation angle measuring device 27 arranged at the top front in the gland pot and straightening machine corresponding to the front chord end point 26 and which rotates a horizontally fanned out laser beam measures the vertical angle 28 ' between the triple prism 10 on the fixed point 40 and on the triple prism 29 arranged above the rear transverse axis . From the known stationing (kilometering) 30 of the fixed point 40 , the station 31 of the front tendon end point 26 derived from the horizontal angle measurement and the station 32 of the rear tendon end point 29 and the known heights 33, 34 of the triple prisms 10 arranged at the fixed point and on the rear transverse axis , 29 , the nominal vertical angle 28 can be calculated using known mathematical relationships using the on-board computer. The front tendon end 26 is shifted to the Rotaitonswinkelmeßgerät 27 so long vertically coincident to the measured vertical angle 28 'with the desired vertical angle 28th This point 26 is thus at the desired height 39 . The steel cable 35 , which is tightly connected to the points 26, 29 , is scanned by a lifting device 36 in the measuring point 37 and causes the directional point 38 to lie on the desired gradient. This process is repeated every measuring cycle. The measuring and control process runs automatically in a short sequence, that is to say quasi-continuously.

List of the reference numerals used

1 measuring car
2 front tendon end point of the measuring tendon
3 chord
4 straightening unit
5 reference point
6 arrow height
7 measuring car
8 Laser beam reflector - at the same time rear tendon end point
9 Rotation angle measuring device
10, 11, 12 laser beam reflector
13, 14 distances of the laser beam reflectors
15, 16 horizontal angles
17 straight line connecting the rotation angle measuring device 9 and the laser beam reflector 10
18 space curve
19 horizontal angle (target)
19 ′ horizontal angle (actual)
20, 21, 22, 23, 24, 25 coordinates
26 front tendon endpoint (vertical component)
27 Rotation angle measuring device
28 vertical angle (target)
28 ′ vertical angle (actual)
29 Laser beam reflector - at the same time rear tendon end point
30 fixed point station (kilometrage)
31 station derived from horizontal angle measurement of 26 and 27
32 station of the laser beam reflector 29
33 known height at fixed point 40 (prism height)
34 known height of the posterior end of the tendon
35 measuring chord (steel cable)
36 lifting device
37 Guide point for lifting device
38 point on the target gradient
39 Target height of the rotation angle measuring device 27
40 benchmark
41 relative height of the triple prism 10 above the fixed point 40

Claims (3)

1. Control system for construction machinery by means of laser beams using mechanisms which position the working elements of the machine at respective stations mainly indirectly in a cyclical and automatic process in such a way that they have a predetermined position and height in relation to a fixed point known in the same system in terms of coordinates ingest, characterized in that in the production direction in the front part of the construction machine and / or centrally on a measuring carriage ( 1 ) located in front of it - corresponding to the front end point of the chord ( 2, 26 ) of a measuring chord ( 3, 35 ) - at least one horizontal rotation angle measuring device ( 9, 27 ) is arranged, which rotates horizontally and vertically fanned out laser beams onto a laser beam reflector ( 10 ) centered at the coordinate point known in terms of coordinates and two further laser beam reflectors - with the first mentioned lying at precisely defined horizontal distances on a vertical plane ( 11, 12 ) as well as on a in the rear part of the construction machine or a tracking measuring carriage ( 7 ), simultaneously embodying the rear end point of the measuring chord ( 3, 35 ) and impinging the direction of the same fixed laser beam reflector ( 8, 29 ), with which Help depending on the speed of rotation and the time interval between the reflected light pulses received by the laser beam receiver and the horizontal angle ( 15, 16, 19 ) and vertical angle ( 28 ) can be determined, that furthermore an input, output and storage unit provided with the measuring and and object data of preprogrammed on-board computer is provided which, from the horizontal angles ( 15, 16 ), the route length of the connecting straight line ( 17 ) from the rotary angle measuring device ( 9, 27 ) to the laser beam reflector ( 10 ), the associated desired location coordinates ( 20, 21, 22, 23 and 31 respectively , 39 ) and the target horizontal angles ( 19 ) and vertical angles ( 28 ) at the respective station of the machine ne calculated and compared with the measured actual angles ( 19 ', 28' ) and ultimately a control device coupled to the on-board computer and to the rotation angle measuring devices ( 9, 27 ) by means of the control commands formed from the actual / target comparison of the mentioned angle measured values, displaces the work organs in this way that the rear part of the construction machine remains in relative calm and the actual horizontal and actual vertical angles ( 19 ′, 28 ′ ) change together with the corresponding displacement of the work organs of the construction machine until the actual and target angles correspond to the predetermined target position and height of the working bodies agree. 2. Control systems according to claim 1, characterized in that only one rotation angle measuring device ( 27 ) including the associated control device for the joint control of horizontal and vertical components is arranged in the front part of the construction machine. 3. Control system according to claim 1, characterized in that there is a rotation angle measuring device ( 9 ) including the control device for controlling the horizontal component on a measuring carriage ( 1 ) in front of the construction machine and another rotation angle measuring device ( 27 ), connected to a control device for controlling the vertical component the space curve, in the front part of the construction machine, the position of both rotation angle measuring devices ( 9, 27 ) being clearly defined with respect to one another.