EP4130379A1 - Method for correcting the lateral and vertical distances between a railway platform edge of a railway platform and a rail axis - Google Patents

Abstract

A method is specified for measuring the distance (D) and the height (H) of a platform edge from the track axis (GA) using a laser scanner (17) mounted on a track tamping machine (1) that can be driven on a track, with which a measuring run is carried out before work and by Comparison of the target distances (D) and target heights (H) with the actual values, correction values for the direction (VD, vl, vr) and the height (VH, h) are calculated and the measuring system of the machine (6, 8) is then guided in this way that the track position is corrected with the tamping unit (12) and the lifting and straightening unit (4) so that the new track axis follows the reference lines for the distance (ND) and the height (NH, NH').

Description

The invention relates to a method for correcting the lateral distance and the vertical distance of a platform edge of a platform to the track axis of a track with a track-movable track tamping machine equipped with a lifting and straightening unit and a tamping unit, wherein initially with a 3D Image recording device platform and track are recorded, that an evaluation device determines the spatial positions of the platform edge and track axis from the recorded image data, calculates the actual value for lateral distance and height distance and by comparing these actual values with nominal lateral distances and nominal height distances, correction values for the direction and the height depending on the track kilometers be calculated and that the track position is adjusted by the calculated correction values using the lifting and straightening unit and fixed in the correct position with the tamping unit.

From the WO 2017215777 A2 a method for maintaining a track for rail vehicles is known, with a laser rotation scanner attached to the front of the track construction machine, for example, recording the current condition of the track including any obstacles that may be present, such as platform edges or switch elements. The two-dimensional data obtained using the scanner are supplemented by the position data to form a 3D image. The correction data, which in turn are used to control the lifting/straightening or tamping unit, are determined from the desired track position data determined using this data. After the track processing, a final measurement with complete logging is planned with the same vehicle.

A track tamping machine that has a measuring system that has three measuring carriages reveals the WO 2020233934 A1 . That can be done with a camera system track being processed and obstacles in the track can be scanned, with which the tamping units can be controlled in a targeted manner in order to avoid obstacles.

Most railway tracks are designed as ballasted tracks. The sleepers are in the gravel. Irregular settlements in the ballast and shifts in the lateral geometry of the track are caused by the acting wheel forces of the trains running over it. Due to the settlement of the ballast bed, errors in the longitudinal height, the superelevation (in the curve) and the alignment occur. A tamping machine ( EP 1 028 193 A1 ) improves the track geometry, which was degraded by the loads on the trains. For this purpose, the track is lifted and straightened into the desired track position by means of electro-hydraulically controlled lifting and straightening devices and fixed in this position by compacting (tamping) the ballast under the sleepers.

Measuring and control systems based on the three-point method are mainly used to guide the correction tools of the superstructure machine. With this method, the target track geometry and the deviations of the track in height and direction from the target position are specified. The machine control controls the track lifting and straightening system in such a way that it brings the track to the desired position. This position is fixed by tamping the sleepers.

So that the track can be released for train operation again after such track geometry improvement work, the railway superstructure machines are equipped with so-called acceptance measuring systems and an acceptance recorder. The remaining errors are recorded with this acceptance recorder. For the release, specified tolerances of the track position errors must be undershot. Two-axle measuring cars are known which carry an inertial navigation measuring system, with the aid of which the geometric position of the track can be measured in terms of height, direction, superelevation, inclination and torsion. In addition, track geometry optimization programs are known, which consist of a measurement be able to determine a target geometry by means of an inertial navigation measuring system or a chord measurement and, by comparison with the actual position, correction values in height and direction as well as the transverse height.

Time-of-flight cameras can carry out 3D measurement recordings, i.e. deliver dimensional images and use the transit time method to measure distances to recorded motifs, i.e. they can measure distances. Spatial measurements are also possible with stereoscopically arranged digital cameras.

In the case of train boarding areas, the distance and height of the train boarding should be within certain tolerances as far as possible. If the distances or height differences are too great, passengers can be endangered. The height and distance of the track from the platform (platform) must therefore be checked regularly and, if necessary, corrected with track tamping machines.

Various track correction methods have been developed to correct track errors ( WO2019140467A1 ). On the one hand there are relative methods that only smooth the track position and on the other hand there are absolute methods (three-point method). The latter have largely prevailed on modern railways. With the absolute method, the track positions are corrected according to specified target geometries. The target geometries of the railway tracks are available as track layout plans and, after being entered into the control computer of the superstructure machine, can be used to calculate the systematic errors if the behavior of the measuring systems is known.

Laser scanners currently allow measuring angles of more than 180°, measuring frequencies up to 50Hz, measuring distances of 0.3-5m and absolute accuracies of 1-2mm standard deviation.

Currently, the distances and heights of the track to the edge of the platform are measured using manual methods or total stations. The deviations from the target distance and the target height of the track to the platform are recorded at certain distances in the longitudinal direction of the track and the tamping machine or written to the sleepers. If the values are written on the thresholds, then these are entered manually into the control by the operator in front of the car. The work result is checked behind the tamping machine, again manually or with a total station. In addition to the costly and time-consuming measurement and control, another disadvantage is that the work result is not automatically recorded continuously (measurements every 5 m are usual) and that exceeding the tolerances are not automatically measured and recorded objectively.

The invention is therefore based on the object of specifying a method which allows absolute deviations of a track axis of a track to an associated platform edge of a platform to be checked with simple means and, if necessary, corrected in one operation. According to a development of the invention, it should also be possible to directly check the correction that has been made and compliance with specified tolerances.

The invention solves the problem in that a measuring system of the track tamping machine, which has three measuring carriages, a front, a middle and a rear measuring carriage, is guided in such a way that the track position with the tamping unit and the lifting and straightening unit is adjusted by the correction values for the direction and the height is corrected and the corrected track axis follows the reference lines for the lateral distance and the height distance, resulting in particularly simple correction relationships. This allows the measured track position error to be corrected within narrow tolerances.

It is essential for the 3D image capturing device used that objects or image points in the capturing and recording area are captured with associated distance data, so that a three-dimensional image can be generated over the course of the track using known methods. Individual recordings are assigned to a specific track kilometer, i.e. to a specific position along the track axis.

For example, a 3D image capturing device provided in the area of the front of the tamping machine and directed towards the track and platform captures the track and platform depending on the kilometer position. The position can be measured using an odometer or satellite position data. Image data and the evaluation data obtained from them are always stored together with the assigned position on the track, i.e. depending on the track kilometers. The spatial positions of the platform edge and track axis are calculated from the recorded image data. Ideally, the platform edge runs at least approximately parallel to the rails and the track axis, which is also parallel to the rails, is determined by the position of the rails. Using the recorded contour of the rail, the image can be scaled over the specified rail distance, usually 1,500 mm for standard gauge, and a transverse axis lying on the rail heads can be determined on which the track axis lies in the middle between the two rails. This transverse axis is mathematically shifted parallel upwards to the measured edge of the platform. The shifting distance corresponds to the height difference. The lateral distance is determined from the distance on the displacement axis between the edge of the platform and a displacement axis normal going through the track axis. The measured actual distances are compared with target distances and from this correction values are determined for the lifting and straightening device, which straightens the track at the position assigned to the measuring points, i.e. offset in the track axis direction to the 3D image acquisition device, according to the correction values and in the straightened position plug fixed.

A laser scanner, a time-of-flight (TOF) camera and/or a stereoscopic camera system are preferably used as the image acquisition device for surveying the track and the platform. Depending on which camera is more suitable for the respective purpose.

This can be implemented in a structurally simple manner if the determination of the correction values for the direction and the height as well as the correction of the track position take place in one operation, with that of the image acquisition device in the working direction leading measuring carriages of the measuring system that are lagging behind by a distance are guided virtually on the desired track position corrected by the correction values. This allows track geometry errors to be corrected particularly gently and, in particular, transverse joints or major changes in curvature in the transverse direction of the track are avoided.

Before the tamping work, the platform and track are recorded with the image capturing device installed on the track tamping machine, either in a separate measuring run or, particularly preferably, in the directional run with a first image capturing device arranged at the front end of the tamping machine, which may be connected in the working direction with an actuator via a front Buffer breast of the tamping machine can also be moved. If the image capturing device can be moved in the working direction with an adjusting drive beyond a buffer breast of the tamping machine, then it can be withdrawn into a secured area of the track tamping machine during transfer journeys. In measuring operation, on the other hand, it is ensured that the platform and track as well as any obstacles can be properly recorded. Due to the known distances along the longitudinal axis of the track tamping machine, correction values determined depending on the track kilometers can be corrected in the correct position.

If, after correcting the track position, another measurement run is carried out with the image acquisition device, during which the course of the correction position and correction height achieved by the tamping work is recorded on a storage medium and compliance with the tolerances is verified, the track can be released again after the measurement run.

If a second image recording device is installed at the rear end of the tamping machine, which records the course of the correction position and correction height achieved by the tamping work on a storage medium during the tamping work and verifies compliance with the tolerances, the track can be released again immediately after the track work has been completed and decreases the duration of a required track closure. For this purpose, the second image capturing device can optionally counter to the working direction be displaceable with an actuator via a rear buffer breast of the tamping machine.

The advantages of the invention lie in the precise, automatic and dense detection in the longitudinal direction of the track of the deviations in the actual position of the track relative to the edge of the platform and the automatic guidance of the tamping machine according to the detected deviations. Another advantage is the automatic quality control by recording the remaining deviations after tamping. Quality control checks whether the tolerances are exceeded. Exceedances are marked and the tamping machine can correct them in a correction process if necessary. Another advantage is the automatically achieved higher quality of the correction and measurement and a reduction in the susceptibility to errors.

If the absolute correction values for the front end of the machine measuring device are known, then this front end can be guided (virtually) on the nominal track position and the rear end on the track that has already been corrected. The straightening and lifting process is carried out at the work site. The position of the tamping machine in the longitudinal track axis is determined with an odometer.

• Fig. 1 Schematische Seitenansicht einer Gleisstopfmaschine,
• Fig. 2 eine Definition von Soll-Abstand und Soll-Höhe Bahnsteigkante zu Gleisachse anhand eines Gleisquerschnittes,
• Fig. 3 eine Darstellung eines mit einem Laserscanner an einem bestimmten Gleiskilometer aufgenommenen Gleisquerschnittes,
• Fig. 4 eine Darstellung eines Messverlaufs des Ist-Abstands der Gleisachse zur Bahnsteigkante, und
• Fig. 5 eine Darstellung des Messverlaufs der Ist-Höhe der Gleisachse zur Bahnsteigkante.

In the drawing, the subject of the invention is shown schematically as an example. Show it

• 1 Schematic side view of a track tamping machine,
• 2 a definition of the target distance and target height of the platform edge to the track axis based on a track cross-section,
• 3 a representation of a track cross-section recorded with a laser scanner at a specific track kilometer,
• 4 a representation of a measurement curve of the actual distance of the track axis to the edge of the platform, and
• figure 5 a representation of the course of measurement of the actual height of the track axis to the edge of the platform.

1 shows a track tamping machine 1 working in the working direction A. The machine is designed to be mobile on a track 3 with bogies 2 . With the help of a lifting and straightening unit 4, namely the roller tongs 15, the lifting hook 14 or the track straightening roller 7 and the lifting cylinders 5, the track can be lifted and aligned laterally. The track lifting unit is articulated to the machine frame via a drawbar 13 and can be moved in the longitudinal direction of the machine by means of hydraulic cylinders. The travel distance along the track is measured with an odometer or a GPS system. All recorded data are processed and recorded by an evaluation device 16 . The three measuring carriages 6 and 8 form the usual three-point system for measuring the track. With an inertial navigation measuring system 9, which is located on the rear measuring car 8, the current track position and the course of the track in space is recorded. By compacting the ballast under the sleepers with the tamping unit 12, the position of the track is fixed after lifting and straightening.

The operator works from the tamping booth 11. Access to the cabins is via doors 10. The acquisition, recording of the data and the calculation of the correction values, as well as the target values, takes place in the evaluation device 16. Telescoping image acquisition device carriers 18 are located at the front and, if necessary, at the rear of the machine 1, by means of which the laser scanners 17 can be moved beyond the buffer breast and corresponding scans can be made there Position 19 can make. The distance c lies between the scanning plane and the front measuring carriage 6 of the measuring system. If the correction values are measured at position 19, a cross-section through the platform and track at a certain track kilometer, they are offset by the distance c and fed to the three-point system. This data is fed into the evaluation device 16 .

First, platform 19 and track 3 are recorded with a 3D image acquisition device 17 built on the tamping machine 1 . The evaluation device 16 determines and calculates the spatial positions of the platform edge K and track axis GA from the recorded image data from this the actual value for the lateral distance D and the vertical distance H. By comparing these actual values with the specified target lateral distances SD and target heights SH stored in the evaluation device, correction values for the direction VD, vl, vr and the height VH, h are calculated depending on the track kilometers by subtraction. The track geometry is finally straightened by the calculated correction values by means of the lifting and straightening unit 4 and fixed in the straightened position with the tamping unit 12 .

2 shows schematically two platforms 19 enclosing a track 3, usually only one platform will be provided, the sleeper 20 and the transverse axis 21 between the rails 3, which rests on the upper edge of the rails. The lateral distance D to the edge of the platform K is measured from the connecting line 23 which goes through the track axis GA and is normal to the transverse axis 21 . The track axis GA lies in the middle between the two rails on the transverse axis 21. A line 22 intersecting the platform edge is drawn parallel to the transverse axis 21. The normal distance between the line 22 and the transverse axis 21 corresponds to the vertical distance H of the track axis GA to the edge of the platform. These actual values of height and distance are compared with specified target values. Typical target height distances with tolerances are, for example, 760 +5/-35mm. Typical target lateral distances to the track axis with tolerances are 1,700 +35/-50mm. Accuracies in the range of 1mm are achieved with currently available laser scanners, which is sufficient for the required accuracy.

3 shows a schematic of a scan of a certain track kilometer, i.e. a cross-section through platform 19 and track 3. You can see the outline of rail 3, the sleeper contour 20 and the ballast on the front head 24. The rail spacing S (usually with standard gauge 1,500mm) and scale the image. The transverse axis 21 resting on the top of the rails is also obtained from the scan. This is mathematically shifted parallel upwards to the measured platform edge K 22. This results in the measured vertical distance H. In the middle of the gauge S, the connecting line 23 is calculated at right angles. The The distance between the edge of the platform K and the connecting line 23 on line 22 corresponds to the measured lateral distance D.

4 shows schematically the measurement diagram of the measured lateral distance MD of the platform edge from the track axis GA. The target lateral distance ND of the platform from the track axis is drawn into the curve. MIN and MAX indicate the permissible tolerances. If the course of MD were within the tolerances, no correction would be necessary in principle. The differences between the measured lateral distance MD and the target lateral distance ND result in corrections to the left from left or right from right depending on the position. The three-point system of the tamping machine, in particular the front measuring carriage 6, is corrected by the correction values VD (on the right in 4 ) virtually at the front tendon point. DAW corresponds to the reference line of the average target distance to the edge of the platform. If the platform edge line ND is not flat and straight, the course of the platform edge is formed by smoothing (sliding averaging) in the longitudinal direction. This compensates for or smoothes out any outliers such as flaking at the edge, joints or grooves on the edge of the platform.

figure 5 shows schematically the measurement diagram of the measured height distance MH of the platform edge to the track axis. The nominal height distance NH of the platform from the track axis GA is drawn into the curve. Min and Max indicate the permissible tolerances. F shows a track error where the track is too high and therefore above MAX. This error cannot be corrected with a track tamping machine. Tamping machines cannot lower the track, only lift it and straighten it sideways. The error will remain in this area. So that there is a continuous transition to this track error F, the reference line of the height distance NH' can be brought up to the MAX line as a polygon. The reference line of the height distance NH' is then guided in such a way that it lies within the MIN and MAX tolerances and above the actual height MH. The resulting elevations h (dotted line) relative to the reference line HAW (from NH') are given in the diagram on the right. The diagram shows the correction values VH with respect to the altitude. The height edge NH of the platform can also be compensated by smoothing any unwanted errors such as breaks, joints, etc.

Claims (8)

Method for correcting the lateral distance (D) and the vertical distance (H) of a platform edge (K) of a platform (19) to the track axis (GA) of a track (3) with a track-movable, with a lifting and straightening unit (4) and a The track tamping machine (1) equipped with a tamping unit (12), with the platform (19) and track (3) first being recorded with a 3D image acquisition device (17) built on the track tamping machine (1), that an evaluation device (16) from the recorded image data The spatial positions of the platform edge (K) and track axis (GA) are determined, from which the actual value for lateral distance (D) and vertical distance (H) is calculated and by comparing these actual values with nominal lateral distances (SD) and nominal vertical distances (SH), correction values for the direction (VD, fl, vr) and the height (VH, h) are calculated depending on the track kilometers and that the track position is adjusted by the calculated correction values using the lifting and straightening unit (4) and with the tamping unit (12) in is fixed in the aligned position, characterized in that a measuring system of the track tamping machine (1) having three measuring carriages (6, 8) is guided in such a way that the track position with the tamping unit (12) and the lifting and straightening unit (4) around the Correction values for the direction (VD, vl, vr) and the height (VH, h) is corrected and the corrected track axis (GA) follows the reference lines for the side distance (ND) and the height distance (NH, NH'). Method according to Claim 1, characterized in that the platform (19) and track (3) are recorded before the tamping work with the image recording device (17) installed on the track tamping machine (1), either in a separate measurement run or in the guide run with an am front end of the tamping machine (1) arranged first image capturing device (17), which is optionally displaceable in the working direction A with an actuator over a buffer breast of the tamping machine (1). Method according to Claim 1 or 2, characterized in that a laser scanner for measuring the track (3) and the platform (19) is used as the image acquisition device (17). Method according to one of Claims 1 to 3, characterized in that a time-of-flight camera for measuring the track (3) and the platform (19) is used as the image acquisition device (17). Method according to one of Claims 1 to 3, characterized in that a stereoscopic camera system for surveying the track (3) and the platform (19) is used as the image acquisition device (17). Method according to one of Claims 1 to 5, characterized in that the determination of the correction values for the direction (VD, vl, vr) and the height (VH, h) and the correction of the track geometry are carried out in one operation, with that of the image acquisition device (17 ) in the working direction (A) by a distance (c) trailing front measuring carriage (6) of the measuring system is guided virtually on the desired track position corrected by the correction values. Method according to one of Claims 1 to 6, characterized in that after the correction of the track position, a further measurement run is carried out with the image acquisition device (17), which records the course of the correction position (MD) and correction height (MH) achieved by the tamping work on a storage medium and compliance with the tolerances (MIN, MAX). Method according to one of Claims 1 to 7, characterized in that a second image acquisition device (17) is installed at the rear end of the tamping machine (1) and during the tamping work the course of the correction position (MD) and correction height (MH) achieved by the tamping work recorded on a storage medium and compliance with the tolerances (MIN, MAX) verified.

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