EA041696B1 - TRACK MACHINE AND METHOD FOR RAIL TRACK TAMPING - Google Patents

Description

Technical field

The invention relates to a track machine for tamping a rail track, which has sleepers located on a crushed stone bed with rails fixed to them, which includes a machine frame moving on rail running gears, and a tamping unit, which includes made with the possibility of moving towards each other and tamping tools exposed to vibration and immersed in a crushed stone bed, while a camera is installed in front of the tamping unit in the working direction of movement for real-time transmission of images to the output device. The invention also relates to a method for operating a track machine.

State of the art

The publication WO 2018/206214 A1 describes a track machine of this type, which is provided with an auxiliary system for remotely carrying out the tamping process. At the same time, the camera is directed to the working units of the machine in order to transfer pictures in real time to the display device. Thus, there is no need to install a working cabin with a view of the working units. The camera image corresponds to the view received by the service personnel in such a working cabin.

Brief description of the invention

The claimed invention is based on the task of improving the real-time images obtained using the specified type of track machine for remote control of the tamping unit. At the same time, an improved method for operating the corresponding track machine should be proposed.

In accordance with the claimed invention, these problems are solved thanks to the features of claims 1 and 9 of the claims. Preferred embodiments of the invention are described in the dependent claims.

At the same time, in the working direction of movement, a first camera system is installed in front of the tamping unit in order to register the first area of the rail track surface as the first image sector, in the working direction of movement, a second camera system is installed behind the tamping unit in order to register the second area of the rail track surface as the second sector image, while the registered image sectors partially intersect each other, and at the same time, an output device is installed for transmitting image sectors in the form of a summary display. Thanks to the placement of such a video system, the operating personnel are provided with real-time images of the track located under the tamping unit without any interference. Hidden from the components of the tamping unit in the image sector of the front camera system, the areas of the rail track are recorded in the image sector of the rear camera system. On the contrary, the front camera system registers areas that are hidden from the rear camera system. Due to the geometric relationships of the fastening elements and the directions of the chamber systems and the tamping unit, the position of the tamping unit in the summary image is also known. The output device thus transmits to the operating personnel a complete image of the currently tamped area of the track in relation to the current position of the tamping unit. Thanks to this real-time information, the tamping unit can be effectively positioned remotely above the corresponding sleeper and the tamping cycle can be carried out.

In another implementation of this technical solution, it is provided that the tamping unit is located with the possibility of movement relative to the chamber systems by means of moving drives and that an output device is installed to indicate the current position of the tamping unit. For this purpose, for example, the travel paths of the displacement drives are continuously recorded and processed. This applies, for example, to movements of the tamping unit in the direction of the working movement or in a direction transverse to it, as well as rotations of the tamping unit around a vertical axis.

In one preferred embodiment of the invention, camera systems are provided with downwardly tilted camera axes, with a computing device installed to dewarp the recorded image sectors. Inclined camera axes allow to register large image sectors without closed areas. At the same time, the elimination of distortions contributes to the fact that in the resulting composite image a real overall image of the rail track and the projection from above is obtained.

In another improved embodiment of the invention, it is provided that each camera system includes at least two cameras located next to each other in the transverse direction of the machine for registering a part of the image sector, that the parts of the image sector of both cameras located next to each other intersect and that the device output is set to transmit all parts of the image sector together. With this arrangement, additional images without blind areas are provided, thereby increasing the information content of the additional images directed. In this case, cameras with optics that have

- 1 041696 longer focal length, resulting in reduced costs for the prevention of errors due to distortion.

In another embodiment of the invention, an illuminating device with downwardly directed light beams is arranged to create a light marking, in particular in the form of an illuminated pattern, in the registered area of the track surface. This light marking is visible in the directional summary image and provides the service personnel with additional positioning information.

In order to prevent negative effects on image quality from direct sunlight, it seems appropriate if camera systems are installed to detect infrared rays, and if at least one source of infrared radiation is installed to illuminate the surface area being recorded. In this case, an infrared radiation source is also used for the light marking obtained in this case.

In another preferred embodiment of the invention, it is provided that a sensor device for registering the position of the sleepers is located in front of the first camera system in the direction of the working movement. Such a sensor system sends additional auxiliary information to the operating personnel for remote control of the tamping unit.

In this case, it is advantageous, when the output device is connected to the sensor device, to display the recorded positions of the sleepers in a directional summary image. For example, the depicted sleepers are indicated by digital markings. This increases the reliability when positioning the tamping unit.

Preferably, at least one camera is installed at the side of the tamping unit in order to register the current height position of the tamping tools. Thus, it is also possible to remotely control the depth of penetration of the tamping tools into the crushed stone bed.

In accordance with the claimed method of operation of the track machine, a directional summary image is displayed for maintenance personnel using the output device in real time, while the tamping unit is positioned relative to the rail track using a directional summary image. Thanks to the top view of the rail track, the tamping tools can be positioned in a simple manner above the respective sleeper space.

In one preferred embodiment of the method, the current position of the tamping unit is recorded, while the immersed elements of the tamping tools are displayed in a summary image. Advantageously, the actual positions of the tamping tamps located at the lower ends of the tamping tools relative to the track are determined by means of sensors and a computing device and displayed in a composite image. This proves to be advantageous, in particular, when tamping units are moved or swiveled, as well as when tamping tamps are used. Thus, real-time images are provided for the operating personnel, namely, in which places the tamping pads could be immersed in the process of lowering into the crushed stone bed.

In another improved embodiment of the method, it is provided that a light marking appears on the illuminated areas of the track surface by means of a lighting device. This marking can be used to display, for example, the current position of the tamping unit.

In this case, it is advantageous if a light sample is obtained by means of the illumination device and if the image sectors are guided together by means of the superimposition of the light samples. Thus, simple registration of image sectors can be performed.

Further possibilities are advantageously provided by a further extended application of the method, in which a three-dimensional image of the recorded areas of the track surface is achieved on the basis of the recorded image data by camera systems. In this way, a three-dimensional track model with information about the depth of the crushed stone bed, sleepers and rails can be provided using the output device in real time.

The positioning of the tamping unit above the sleeper is facilitated if, when the track machine is moving forward, the positions of the sleepers are registered with a sensor device and if the operator receives a summary image of the positions of the sleepers. Thanks to this enriched real-time information, reliable operation is also possible even under poor lighting conditions. For example, sleepers are marked on the image with a colored frame.

Additional relief for the operating personnel is achieved when the tamping positions are set using the auxiliary system and when the tamping positions are displayed for the operating personnel in the summary image. The positioning of the tamping unit is then carried out in such a way that the current positions of the tamping tools correspond to the preset tamping positions.

- 2 041696

Brief description of the figures

The claimed invention is explained below in more detail on examples of its implementation with reference to the attached drawings. The figures are shown schematically in Fig. 1 shows a track machine;

in fig. 2 - in the side view, a sleeper tamping unit with a camera system located above the rail track;

in fig. 3 shows the construction according to FIG. 2, in the cross section of the rail track;

in fig. 4 - projection from above onto the rail track with registered surface zones;

in fig. 5 - output device;

in fig. 6 - tamping unit in the side projection for tamping several sleepers.

Description of embodiments of the invention

Shown in FIG. 1 track machine 1 is a tamping machine and includes a machine frame 3 moving on rail running gears 2. A tamping unit 4 is located on the machine frame 3. The tamping machine is designed for processing rail track 5, in which rails 7 fixed on sleepers 6 are located on a gravel bed 8. Track machine 1 can also perform additional functions. For example, the machine 1 includes a cleaning device for cleaning gravel or a stabilizing unit for stabilizing the track.

During the tamping process, the railway grate, consisting of sleepers 6 and rails 7, is lifted with the help of a lifting and leveling unit 9 and a measuring system 10 to a predetermined position and, in this case, is shifted to the side. To fix this position, vibrating tamping tools 11 with tamping tamps 12 located at the lower ends are immersed in the crushed stone bed 8. Submerged tamping tamps 12 move towards each other with an auxiliary movement and compact the crushed stone under the raised sleepers 6 with help.

In the working direction of movement 13 are located in front of the tamping unit 4 the first system 14 chambers and after the tamping unit 4 the second system 15 cameras. The systems 14, 15 of the cameras are connected to the output device 16, which is located in the cab 17 of the track machine 1. In this cab 17, a service device 18 is also installed with service elements for remote control of the tamping unit 4. More specifically, with the help of the control system 19, the machine can be serviced by various drives of units 4, 9 and travel drive of track machine 1.

In the working direction of movement 13, a sensor device 20 is located in front of the camera system 14 for registering the position of the sleepers. This sensor device 20 includes, for example, a rotary scanner 21 for detecting surface contours and inductive sensors 22 for detecting rail fasteners. Thanks to the direction of the joint sensor signals, the position of the corresponding sleeper 6 can be accurately recorded.

In FIG. 2 and 3 show, for example, the construction of the chamber systems 14, 15. With the help of the first camera system 14, the first area of the surface 23 of the track 5 is recorded as the first image sector 24, 25 (FIG. 4). The second camera system 15 registers the second area of the surface 26 of the track 5 as the second image sector 27, 28. It is essential that the image sectors 24, 25, 27, 28 partially intersect, so that they partially have the same image contents. .

In the output device 16, the image sectors 24, 25, 27, 28 are brought together in the form of an image 29 of the rail track 5 located under the tamping unit 4. Such a summary image of the image sectors 24, 25, 27, 28 in the form of a common image 29 is also called alignment. Since in this case we are talking about the display of images in real time, the operating personnel can in this case control the tamping unit 4 on the basis of the summary image 29. In this case, a sufficiently high frame rate is set to register the dynamics of the tamping process.

In FIG. 5 shows in the monitor window of the output device 16 a composite image 29 of the image sectors 24, 25, 27, 28 shown in FIG. 4. In this case, two sectors of partial images 24, 25 or 27, 28 respectively correspond to the corresponding surface area 24, 26. As can be seen in FIG. 3, the corresponding camera system 14, 15 for recording partial image sectors 24, 25 or 27, 28 in the transverse direction of the machine includes two cameras 30 located next to each other. To obtain free, lossless registrations, the partial image sectors 24, 25 intersect or 27, 28 of the corresponding camera system 14. 15.

In order to minimize the covering area of the track 5 by the components of the tamping unit 4, it is advantageous if the chambers 30 have their axes 31 directed downwards. Thus, the resulting distortion of the image sectors 24, 25, 27, 28 is eliminated by the computing device. In this case, for example, each camera or each camera system 14, 15 includes its own computing device. To eliminate distortion in the image sectors 24, 25, 27, 28, a common computing device located in the output device 16 can also be used.

For example, 30 video cameras are used with HD resolution and high depth of field.

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Claims (3)

sti. The resulting video data is processed in real time and displayed as a summary image 29 on the output device 16. Due to efficient video data compression, it can be accumulated for documentation without large workflow costs. Remote control of the tamping unit 4 is achieved when a lighting device 32 is installed, which produces light marks 33 within the registered areas of the surface 23, 26 with light beams directed downwards. In this case, it is advantageous for the light markings 33 to create light patterns. The light beams of the lighting device 32 are preferably directed along the axis of symmetry 34 of the tamping unit 4. Thus, the attendants receive an additional image when the axis of symmetry 34 is above the sleeper 6. In this case, the light markings 33 can be used to align the image sectors 24, 25, 27, 28. As luminaires of the lighting device 32, for example, so-called parallel luminaires LEDs can be used. In the presence of the sensor device 20, additionally detected positions of the sleepers are known. The position of the tamping unit 4 relative to the detected sleepers 6 is obtained by means of a known geometric relationship between the location of the sensor device 20 and the location of the tamping unit 4 on the machine frame 3. Due to the connection with the output device 16, the positions of the sleepers 6 are displayed in the summary image 29 with markings 35. Thus, the operating personnel then also know the momentary position of the sleeper unit 4 relative to the sleepers 6 when they are partially covered with crushed stone. The requirements for the operating personnel are further reduced if the output device 16 is connected to an auxiliary system for determining the position for padding in order to display the suggested positions for padding in the summary image 29. For example, using the sensor device 20, obstacles on the track are detected, and the auxiliary system suggests staff accordingly agreed position for padding. In any case, it turns out to be advantageous if the summary image 29 displays the currently obtained penetration depths 36 of the tamping tamps 12 in the crushed stone bed 8 on the basis of the position of the tamping unit 4. These displayed penetration depths 36 then correspond in this case with the proposed tamping positions. It is more expedient to install the output device 16 to display additional information. As can be seen in FIG. 5, along with sleepers 6, data of 37 sections of the track are displayed. In another window, data 38 of the state of the tamping unit 4 or other devices of the track machine 1 are displayed. Such additions to the image allow the maintenance personnel to get a complete overview and quickly respond to errors that occur. In the case of a tamping unit 39 for simultaneous tamping of several sleepers 6, it seems expedient to place additional chambers 30 between the individual units of the unit 40 (Fig. 6). Thus, additional image sectors 24, 25, 27, 28 are provided to obtain a composite image 20 of the track 5 under the tamping unit 29 for tamping several sleepers. In this case, a lighting device 32 is located above each block 40 of the unit in order to mark the corresponding axis 34 of symmetry. CLAIM 1. A track machine (1) for tamping a rail track (5) having sleepers (6) located on the rail track (8) with rails (7) fixed to them, which includes a machine frame (3) moving on rail running gears (2), and a tamping unit (4), which includes tamping tools (11) that vibrate and move towards each other, while in the working direction of movement (13) a camera (30) is installed in front of the tamping unit for transmission images in real time to the output device (16), characterized in that in the working direction of the working movement (13) in front of the tamping unit (4) the first system (14) of cameras is installed to register the first area of the surface (23) of the rail track (5 ) as the first sector of images (24, 25), that in the working direction of movement (13) after the tamping unit (4) a second system (15) of cameras is installed to register the second surface area (26) p track (5) as the second image sector (27, 28), that the registered image sectors (24, 25, 27, 28) partially intersect, and that the output device (16) is installed to indicate the image sectors (24, 25, 27, 28) as a summary image. 2. The track machine (1) according to claim 1, characterized in that the tamping unit (4) is located with the ability to move relative to the systems (14, 15) of the chambers using a moving drive and that an output device (16) is installed to display the current position of the tamper unit (4). 3. Track machine (1) according to claim 1 or 2, characterized in that the systems (14, 15) of the cameras have axes (31) of the cameras directed obliquely downwards and that a computing device is installed to eliminate the problem -