EP0780514A1 - Method of correct positioning of space processing equipment and device for the execution of the method - Google Patents

Abstract

On a frost protection layer (3) extending into the ground (1) is a support layer (5) of concrete. On the support layer in individual work stages the so-called support plates (7) of liquid concrete are fitted, in which the sleepers (9) are introduced in accurately predetermined positions by vibration. The laying machine (20) for sleepers has wheels (21), which run on the installation rails (23), which at the same time form a lateral sheathing for the support plates and locate laterally outside the sleepers to be laid and thus also the rails to be laid later. The machine incorporates a motor unit containing several internal combustion engines. The engines drive the machine on the installation rails, the hydraulic apparatus, and the electrical generators for current supply to various equipments in the machine.

Description

The invention relates to a method according to the preamble of claim 1.

In the case of high-speed trains in particular, the track-bound route, the track, must be laid exactly: material wear must be kept to a minimum, the environment should be as little impact as possible, for example by driving noises, and passengers must be assured a high level of driving comfort.

In the classic route of track-bound routes, the rails are fastened to cross sleepers. The sleepers in turn are stored softly in a ballast bed. In the case of high-speed lines, i.e. expansion speeds of more than 160 km / h. the ballast bed is increasingly being replaced by a solid surface.

The foundation body of the rails, such as the cross sleepers of classic railway construction, but also other conceivable rail fastening bodies are in a concrete, asphalt or other fixed support plate integrated or individually or as a rust on a concrete, asphalt or other fixed support plate.

• das Verfahren nach Rheda, bei dem ganze Gleisjoche in einen zuvor hergestellten Betontrog gelegt, mit Spindeln, die gegen die Trogwände greifen, in die richtige Position geschraubt und dann durch Einfüllen von Beton in den Trog fixiert werden.
• die Bauart Züblin, bei der die Querschwellen, die später die Schienen tragen, in noch weichen Beton eingerüttelt werden,
• das Verfahren Asphalttragschicht mit direkt aufgelagertem Gleisrost, bei dem die Schienenbefestigungskörper, z. B. die Querschwellen, aber auch andere Konstruktionen zum Befestigen der Schienen mit der Asphalttragschicht fest verbunden werden, etwa dadurch, daß man sie in einer zuvor gefertigten Nut verklebt oder in vorgefertigten Öffnungen befestigt.

There are several known construction methods, such as

• the Rheda method, in which entire track yokes are placed in a previously made concrete trough, screwed into the correct position with spindles that engage against the trough walls and then fixed by pouring concrete into the trough.
• the Züblin type, in which the cross sleepers, which will later carry the rails, are shaken into still soft concrete,
• the process asphalt base course with a directly mounted track grate, in which the rail fastening body, for. B. the cross sleepers, but also other constructions for fastening the rails with the asphalt base course, for example by gluing them in a previously made groove or fastening them in prefabricated openings.

Other methods are conceivable. They are all summarized under the generic term "slab track".

All of these methods have one thing in common: The tracks are not softly stored in a ballast bed as with the classic track, but they are immovable in or on a solid support plate. Therefore, the rail fastening body, such as the cross ties, must be positioned exactly before fixing. Exactly means: An arrow height measured at any point on the rail, over a 10 m long chord, must not deviate from the target by more than 3 mm. Want to achieve this high level of precision in terms of layout and layout, a great deal of surveying must be done. The aim should be that, for example, the cross sleepers have already been laid precisely so that rework is avoided as far as possible when the rails are later attached.

In the known, previously practiced methods
either first reference points and reference lines, in some cases a guide rope pegged outside the slab track, marked and determined in terms of coordinates and height,
then the position of the tracks to be laid, or of the fastening bodies carrying them, or of the manufacturing or laying machine, is measured and laid from these reference points or reference lines by means of horizontal and vertical distance sensors, for example by means of a scale or a mechanical distance sensor
or the manufacturing or laying machine in use is determined during the manufacturing or laying process by surveying experts from points outside the manufacturing or laying machine that are known in terms of coordinates and height, for example by polar measurement, with the help of outside the manufacturing or laying machine Instructional devices on the ground are instructed in the target position. The points known with regard to coordinates and height have mutual distances of several decimeters (they are attached, for example, to contact line masts that have already been created, the distance of which is 60 m) or much larger distances.

Both procedures are very labor intensive. In the former method, inevitable measurement inaccuracies accumulate as a result of the step-by-step procedure.

In the second method, measurement and production are linked in time, which is why there are mutual dependencies with the resulting mutual disabilities and wasted time. E.g. surveyors cannot work in poor visibility conditions.

The invention has for its object to provide a method of the type mentioned, in which the measurement and production can be decoupled in time.

This object is achieved according to the invention in that the reference points are provided in such proximity to the track to be produced and at such a mutual distance that at least one reference point, preferably a plurality of reference points, can be measured by the production device from at least one selected position of the production device is (are), and that the arrangement of the rail fastening body or the openings for receiving the rail fastening body is controlled from the manufacturing facility (hereinafter also referred to as a device).

Because the reference points are metrologically sensed from the device, surveyors who are in an area in front of the device during laying work for the sleepers are not required, and because of the relatively small distance between the reference points and the devices that recognize the reference points on the device, the device can be controlled largely independently of the weather. In the invention the positioning accuracy of the track or the supporting body carrying it (eg sleepers) can be increased and the personnel expenditure reduced.

The invention includes embodiments in which the evaluation of the reference points at the location of the device and the adjustment of the position of the thresholds still require the work of a surveyor. However, it goes without saying that the aim should be to provide appropriate devices on the device which enable a person, in particular the machine operator, to position the device in a desired position known to the machine operator (which is contained in a list or stored in a computer) without complicated calculations can be set) relative to the reference points.

It is advantageous if the positioning can be carried out so precisely within the tolerances permitted for the finished track that, for example, the rails for the track can be arranged directly on the support surfaces provided for them on the sleepers (cross sleepers, since they run transverse to the direction of the track) . Where this is not possible, the invention results in a course of the contact surfaces that is precise within the scope of what is technically possible, and tolerances are then compensated for subsequently; for this purpose, it is expedient if the contact surfaces are at most deeper than the required target position, because the target position of the rail can then be easily achieved by interposing metal plates.

In the embodiment according to claim 2, thresholds already laid by the device can be used for control in addition to the reference points mentioned. This may increase the security of the process and reduce the risk of errors occurring will.

If one assumes that, for example, when laying a package of, for example, ten sleepers, these should always be in one plane, the plane itself is defined by three reference points arranged at a distance from one another. However, it can be advantageous to evaluate at least 4 reference points from the device because, as already mentioned above, this can increase the accuracy and reliability. If it is thought that the track in the area just machined by the device should run in the form of a curved surface, then three reference points are by no means sufficient and it is then advantageous to use considerably more than the four reference points mentioned and to arrange them in the area of the device , so that in such a case the reference points must be set closer than if only four reference points are to be evaluated in each case.

The reference points are advantageously provided with an automatically readable identification; this can be, for example, machine-readable plain text (for example OCR writing) or a bar code. However, the identification of the reference points by means of an identification attached to them is not mandatory because the other reference points can also be identified by counting from a known reference point. The reference points used in the invention can either be attached to a previously very precisely defined location with high accuracy, which requires a very high accuracy and thus a corresponding amount of time when attaching the reference points, or the reference points are attached relatively close to their desired position (for Example at a distance of one centimeter in the horizontal and vertical), then their position with means of surveying technology determined and recorded in a list. The reference point can be formed, for example, by a metal plate or ceramic plate, which is fastened using a dowel. In one embodiment, the plate mentioned then has an engraved cross marking (two crossing lines), the intersection of which forms the reference point. The said cross marking can either be present from the beginning or it is applied after the plate has been fastened, its exact position being determined by means of measurement technology.

The data of the individual reference points are expediently collected in a list, and the list may also contain the deviations of the positions of the reference points from their desired position. The list can either be read and evaluated by a surveyor on the device, or it can be entered in a machine-readable form into a computer that largely automatically evaluates the data in the table.

In one embodiment of the method it is provided that for the positioning in the horizontal plane the reference points are sensed by means of an optical device, expediently one for each reference point located in the area of the device, in particular by a camera generating an electronic image, and that for the correct one Arrangement in the height of these reference points can be detected by means of distance sensors. The cameras or more generally optical devices can be located, for example, at fixed points of the device, and the device is first moved by driving on its assembly tracks until the reference points come into view of the optical devices and then the device is either moved on as a whole and / or a separately positionable one Part of the device, for example the mounting frame that holds the sleepers, is essentially moved in the longitudinal and transverse directions of the device until this part of the device has reached the desired position in the horizontal plane.

Simultaneously or in time before or after, the height of the installation frame mentioned in the example within the device, for example, is also determined by detecting the distance between the distance sensors and the reference points. changed relative to a machine frame movable on the mounting rails so that the mounting frame occupies the correct position. If the installation frame holds sleepers that are to be used in liquid concrete, as is known per se, the immersion of the sleepers in the concrete is accompanied by a shaking movement, as a result of which the sleepers can be inserted into the concrete with relatively little effort, and after At the end of the vibrating movement, the sleepers then maintain their position in the still flowing concrete. The height sensors can be designed in any technically feasible form, for example, the respective height by means of laser distance measurement, by targeting the reference point from two spaced locations or by a height measuring rod placed on the reference point, the height of which is read mechanically, electrically or optically will.

In one embodiment of the method, the results determined when the reference points are acquired are made visible on a display to a machine operator or surveying technician, who can use this information to steer the device into a desired position in which, for example, the reference points are located exactly in the center of the respective screen. It is also possible to automate the process, in particular with the aid of a program-controlled one Computers, whereby a display just mentioned is nevertheless expedient in order to be able to always monitor the safe functioning of the method or the device.

A device according to the invention, which is designed to carry out the method and, if appropriate, its further developments, has the devices which are required in order to be able to carry out the method according to the individual claims relating to the method. In a sleeper laying machine, the sensors are expediently located on the part that holds the sleeper and is movable relative to the rest of the device. The rest of the device is referred to here simply as a machine frame and in the example includes the wheels rolling on the mounting rails, drive motors (preferably internal combustion engines) for locomotion on the mounting rails and for the supply of hydraulic and / or electrical devices, such as vibrators, servomotors, sensors and a computer and a cabin for the machinist.

• 1. Im unmittelbaren Nahbereich von Fertigungsvorrichtungen, Fertigungsmaschinen oder Verlegemaschinen für den Bau der "Festen Fahrbahn" nach beliebiger Methode werden im festen Unterbau, beispielsweise in der hydraulisch gebundenen Tragschicht (HGT) (dies ist eine Betonschicht) oder auf dem Trogrand oder auf der Asphaltschicht oder auf einer anderen festen Tragschicht oder auf eigens hergestellten Fundamenten Bezugspunkte abgesteckt, markiert, geodätisch nach Lage und Höhe exakt eingemessen und zwar vor Beginn der Fertigung bzw. zeitlich vor dem Fixieren der Schienenbefestigungskörper bzw. vor dem Verlegen des Gleises. Die dreidimensionalen Koordinaten der markierten Bezugspunkte werden vorzugsweise in einem übergeordneten, einheitlichen Koordinatensystem, etwa dem Gauß-Krüger-System, berechnet.
  Die Anordnung und die Anzahl der Bezugspunkte und deren gegenseitiger Abstand richten sich nach der jeweiligen Fertigungsmethode und nach der Anordnung der im folgenden Punkt 2 beschriebenen Erfassungsgeräte. Es ist Redundanz anzustreben, um die Genauigkeit zu erhöhen.
• 2. An der Fertigungseinrichtung, der Fertigungsmaschine oder Verlegemaschine oder dergleichen, werden Geräte angebracht, die die in 1. beschriebenen Bezugsmarken erfassen können, etwa Kameras oder Abstandssensoren. Um die Genauigkeit zu erhöhen sind die Erfassungsgeräte möglichst im äußeren Randbereich der Fertigungseinrichtung, Fertigungsmaschine, Verlegemaschine anzuordnen. Aus dem selben Grund sind möglichst mehr Erfassungsgeräte anzubringen, als für eine einfache Berechnung notwendig wäre.
  Die Erfassungsgeräte sind zu kalibrieren und zu justieren. Ihr meßtechnischer Nullpunkt ist in einem einrichtungs- bzw. maschinenbezogenen Koordinatensystem exakt zu bestimmen.
• 3. Die Fertigungseinrichtung, Fertigungsmaschine bzw. Verlegemaschine ist in den Nahbereich der Bezugspunkte gemäß Ziffer 1 zu bringen. Die Erfassungsgeräte ermitteln die horizontalen und vertikalen Abstandsmaße zwischen Bezugsmarke und dem meßtechnischen Nullpunkt des Erfassungsgerätes.
• 4. Mit Hilfe eines vor Ort befindlichen und mit den Erfassungsgeräten online verbundenen PC und mit Hilfe entsprechender Auswertesoftware wird
  anhand der ermittelten Koordinaten und Höhen der gemäß Ziffer 1 beschriebenen Bezugsmarken und
  anhand der nach Ziffer 2 ermittelten einrichtungs- bzw. maschinenbezogenen Koordinaten und Höhen der meßtechnischen Nullpunkte der Erfassungsgeräte und
  anhand der nach Ziffer 3 ermittelten Abstandsmaße die Istposition der Verlegeeinrichtung, der Fertigungsmaschine bzw. der Verlegemaschine unmittelbar vor Ort berechnet.
• 5. Unmittelbar danach werden die Abweichungen der Istposition der Fertigungseinrichtung, Fertigungsmaschine bzw. Verlegemaschine von der Sollposition berechnet. Die ermittelten und Verschiebewerte in Längs- und Querrichtung und in der Höhe werden angezeigt und einem Maschinisten oder direkt an einem Mechanismus zur Steuerung der Fertigungseinrichtung, Fertigungsmaschine bzw. Verlegemaschine übergeben. Entsprechend wird die Fertigungseinrichtung, Fertigungsmaschine bzw. Verlegemaschine mechanisch durch Handsteuerung oder automatische Steuerung in die Sollposition gebracht.

An exemplary process flow according to the invention is the following:

• 1. In the immediate vicinity of manufacturing devices, manufacturing machines or laying machines for the construction of the "slab track" by any method are in the solid substructure, for example in the hydraulically bound base layer (HGT) (this is a concrete layer) or on the trough edge or on the asphalt layer or marked on another solid base layer or on specially made foundations, marked, geodetically measured according to position and height, before the start of production or before fixing the rail fasteners or before laying the track. The three-dimensional coordinates of the marked reference points are preferred in a higher-level, uniform coordinate system, such as the Gauss-Krüger system.
  The arrangement and the number of reference points and their mutual distance depend on the respective production method and on the arrangement of the detection devices described in point 2 below. Redundancy should be sought to increase accuracy.
• 2. Devices are attached to the production facility, the production machine or laying machine or the like, which can detect the reference marks described in 1, such as cameras or distance sensors. In order to increase the accuracy, the detection devices are to be arranged as far as possible in the outer edge area of the manufacturing device, manufacturing machine, laying machine. For the same reason, as many detection devices as possible should be installed than would be necessary for a simple calculation.
  The recording devices are to be calibrated and adjusted. Your metrological zero point is to be determined exactly in a device or machine-related coordinate system.
• 3. The manufacturing facility, manufacturing machine or laying machine is to be brought into the vicinity of the reference points according to number 1. The detection devices determine the horizontal and vertical distance dimensions between the reference mark and the measuring zero point of the detection device.
• 4. With the help of a PC located on-site and connected online with the recording devices and with the help of appropriate evaluation software
  on the basis of the determined coordinates and heights of the reference marks described in number 1 and
  on the basis of the equipment or machine-related determined according to number 2 Coordinates and heights of the measuring zero points of the recording devices and
  the actual position of the laying device, the production machine or the laying machine is calculated directly on site on the basis of the distance measurements determined according to number 3.
• 5. Immediately afterwards, the deviations of the actual position of the production facility, production machine or laying machine from the target position are calculated. The determined and displacement values in the longitudinal and transverse directions and in height are displayed and passed on to a machinist or directly to a mechanism for controlling the manufacturing facility, manufacturing machine or laying machine. Accordingly, the manufacturing device, manufacturing machine or laying machine is brought into the desired position mechanically by hand control or automatic control.

The invention is not limited to the positioning of rails or rail fastening bodies, but is also suitable, for example, for controlling machines which produce the track substructure, for example also for milling a groove or for drilling an opening in which the rail fastening bodies are to be fastened. The invention is also not only limited to railroad tracks with two rails, but is also suitable, for example, for monorails or also for a train floating on a rail, such as for example a magnetic levitation train.

If an automatic control is provided, the invention creates a method according to which manufacturing machines of any design position themselves automatically when building track-bound traffic routes via previously precisely measured reference points.

Fig. 1

eine schematische Seitenansicht einer Vorrichtung, nämlich einer Schwellenverlegemaschine, zur Ausführung des Verfahrens,

Fig. 2

eine schematische Endansicht der Vorrichtung,

Fig. 3

in einer Draufsicht die Zuordnung von Referenzpunkten zu den zu verlegenden Schwellen während verschiedener Arbeitstakte der Verlegemaschine.

Further features and advantages of the invention result from the following description of an embodiment of the invention with reference to the drawing, which shows details essential to the invention, and from the claims. The individual features can be implemented individually or in any combination in any combination in an invention. Show it:

Fig. 1

2 shows a schematic side view of a device, namely a sleeper laying machine, for carrying out the method,

Fig. 2

a schematic end view of the device,

Fig. 3

in a top view the assignment of reference points to the sleepers to be laid during different work cycles of the laying machine.

All figures are highly schematic and are not to scale.

First, reference is made to the cross section shown in FIG. 2 through the structure of the web body. A base layer 5 made of concrete, a so-called hydraulically bound base layer (HGT), is arranged on a frost protection layer 3 reaching into the ground 1, and the so-called base plate 7 made of liquid concrete is applied to it in individual work cycles, in the sleepers 9 in a precisely predetermined position are to be introduced by shaking.

The laying machine for sleepers referred to as device 20 has wheels 21 which run on the mounting rails 23, which simultaneously form a lateral formwork for the support plate 7 and laterally outside the sleepers to be laid and thus also the rails to be laid later lie, as Figure 2 shows.

The device 20 has a motor unit 25, to which several internal combustion engines belong, which on the one hand serve to drive the device 20 on the mounting rails 23 and on the other hand serve to supply hydraulic devices and to drive electrical generators for supplying power to various devices of the device.

A cabin 30 is provided for the machine operator, in which the devices required for manual control of the device and also visual devices are located, by means of which the machine operator can determine the position of the device relative to reference points detected by sensors. The parts of the device just mentioned (but without sensors and computers) are collectively referred to here as machine frames. A mounting frame 40 is held on the machine frame, the position of which can be changed relative to the machine frame by hydraulic lifting devices 43 in the vertical direction and by servomotors 44, 45 in the longitudinal direction of the device and in the transverse direction. For this purpose, a cross slide-type device 46 is fastened to the machine frame in its two end regions via the lifting devices 43, on which the mounting frame is held so that it can be displaced via the servomotors 44 and 55 such that rotation about a vertical axis is possible to a limited extent. By different actuation of the lifting devices 43 rear and front, left and right, the mounting frame 40 can be inclined relative to the horizontal plane. On the mounting frame 40, a gripping device 49 is arranged via a vibrating device 47, which is designed in such a way that, in the example, it can grip ten sleepers arranged at a predetermined distance of 65 cm from center to center and can move them into a desired position.

Sensors 51 and 53 are fixedly connected to the mounting frame, of which the sensors 51 are designed as television cameras, each of which detects an assigned reference point 55 in a viewing direction perpendicular from top to bottom when the device has moved sufficiently close to the reference points. The sensors 53 determine the height of the mounting frame in comparison to the height of the respectively assigned reference point 55. The reference points 55 are, as shown in Figure 3, arranged in the example so that they lie outside the mounting rails 23 so that they are not affected by the concreting work for the support plate 7, the reference points in the area of the beginning and the end of a surface area for a number of thresholds (ten in the example) to be installed at the same time. In this way, the device 20, which is located with its installation frame in a first laying step in the uppermost third of the area shown in FIG. 3, can with the sensors all four reference points 55-1 to 55-4, which are just in the area of the corners thereof mentioned area, and if the device has moved into the middle area of FIG. 3 after jogging and releasing the sleepers and after gripping further sleepers, there are again four reference points (55-3 to 55-6) in the Field of view of the sensors of the device, of which, however, two had already been detected by the device in the previous work step, whereas some (in the example, two) of the reference points are in an area in which no thresholds have yet been laid and which are still in the previous work step had not been caught by the device. In order to create another control option, inclination sensors are arranged on the mounting frame, which measure the inclination with respect to the horizontal plane to capture.

In Fig. 1, two reference points 55 are visible, which there are shown in deviation from Fig. 2 as horizontal plate-like parts which are attached to the base layer 5 with a dowel or peg. The drive devices and gripping devices of FIG. 2 are not shown in FIG. 1 for reasons of simplification. In the cabin 30 there is a computer 62 on a table 60 which is coupled to the sensors and actuating devices mentioned above. A display device 64 allows the operator to position the entire machine and the mounting frame with the aid of a keyboard 66 with control stick.

Claims (11)

Method for the spatially accurate positioning of manufacturing facilities, such as manufacturing machines, track or rail fastening laying machines, in particular for high-speed railways, using reference points that were staked out, marked and geodetically measured before the positioning of the facilities mentioned, the portable manufacturing facility for arranging the Rail fastening bodies is controlled using the reference points so that the rail fastening bodies or the openings for receiving the rail fastening bodies are arranged at the desired location with the desired accuracy, characterized in that the reference points are provided in such proximity to the track to be produced and at such a mutual distance be that at least at selected positions of the device at least one reference point, preferably several reference points, from the device g is (can be) measured and that the arrangement of the rail fastening body or the openings for receiving the rail fastening body is controlled from the device. Method according to Claim 1, characterized in that rail fastening bodies which have already been arranged from the device are also used for control together with the reference point or reference points. Method according to claim 1 or 2, characterized in that at least four reference points are evaluated from the device. Method according to one of the preceding claims, characterized in that the reference points are provided with an automatically readable identification. Method according to one of the preceding claims, characterized in that the relative position of device parts which carry out the arrangement is determined in a substantially horizontal plane by detecting reference points by means of a camera, and in that the relative position of the device parts with respect to the height by detecting Reference points is determined using distance sensors. Method according to one of the preceding claims, characterized in that the results determined when the reference points are recorded are made visible to a machine operator on a display so that the operator can control the device into a desired position. Method according to one of claims 1 to 5, characterized in that the device is automatically controlled by detecting the reference points. Device for carrying out the method according to one of the preceding claims, characterized in that it has sensors (51, 53) for detecting the position of reference points relative to the device. Device according to Claim 8, characterized in that at least one sensor is arranged on a region of the device which faces away from the receptacles already arranged. Apparatus according to claim 8 or 9, characterized in that at least one sensor is arranged on an area of the apparatus which is at the front in the direction of work progress. Device according to one of claims 8 to 10, characterized in that there is a control device on the device, the manual actuating elements of which are located on the device.

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