EP1338702A1 - Method for accurate spacial positioning of rail fixing bodies or of tool equipments and measurement apparatus to this effect - Google Patents

Abstract

The method involves providing first reference points near the desired position of a rail attachment body or tool, determining their positions in an external reference system, detecting the first reference points and positioning the attachment body or tool using the detected first reference points. The position attachment body or tool is determined both in a sensor reference system and also in the external reference system during positioning. The method involves using a measurement device (1), providing first reference points (11) near the desired position of a rail attachment body (2) or tool, determining their positions in an external reference system (12), detecting the first reference points and positioning the attachment body or tool using the detected first reference points. The position of the attachment body or tool is determined both in a sensor (8) reference system (10) and also in the external reference system during positioning. An Independent claim is also included for a measurement device for implementing the inventive method.

Description

The invention relates both to a method for spatially highly precise positioning of rail fasteners, such as. sleepers, sleepers packages, precast panels, or tools, one on the floor as a base Machining a concrete base course for rails, such as e.g. Milling or drilling machines, using a measuring device, where first reference points close to the Target position of a rail fastening body to be positioned or tool and their positions in one external reference system can be determined and being sensors detect the first reference points of the measuring device and the rail mounting body based on detected first reference points positioned in its target position is, as well as a suitable for performing the method Measuring device with sensors for position detection of Reference points.

Such a method and such a measuring device are known for example from DE 195 48 229 C1 .

The method known from DE 195 48 229 C1 is used for spatial highly precise positioning of rail fasteners in an external frame of reference, e.g. in the Gauss-Krüger system or a local coordinate system. Before the start of the Positioning will be just outside (about 10 to 50 cm away) the target position of the rail fastening body to be positioned locally fixed reference points in the external reference system created whose position in the external reference system is determined with high precision. The rail fasteners or tools are created at a predefined point by one Installation frame gripped on the sensors for detecting the reference points are attached. By evaluating the detected relative position between the reference point and the sensor the actual position of the rail fastening body in the outer Reference system determined. The one that has been measured Relation between the sensors and the mounting frame during the Positions accepted as unchangeable and on the Precision and reproducibility of the gripping mechanism of the Installation frame familiar. From the difference between the actual and target position of the rail fastening body to be positioned the corresponding control values for a positioning device calculated the installation frame including the rail fastening body positioned in its target position.

However, the weight of the rail fastener to be positioned lead (approx. 350 kg per threshold) and the for Moving the rail fastener required forces for deformations of the rail fastening body and the mounting frame. In addition, with a route geometry, the left and right rails have different inclinations, several sleepers one behind the other to be positioned Threshold package not in one level, which means Threshold package and mounting frame inevitably around the machine longitudinal axis be wounded. This also applies to possibly lighter tools which the rail mounting surfaces and / or prepare assembly points for the rail fastenings should. These deformations and twists lead to a changed relationship between the sensors and each other as well as the rail fastening body, whereby the surveying and thus decrease the positioning accuracy.

It is therefore the object of the invention in a method of the type mentioned at the outset to increase the measurement accuracy and a corresponding measuring device therefor provide.

This object is achieved in that Position both the position of the rail mounting bracket or the tool in a sensor-defined from the rail fastening body or from the tool independent sensor reference system as well as the position of the Sensor reference system can be determined in the outer reference system.

• höhere Genauigkeit bei der Bestimmung des Bezugs zwischen den Sensoren und dem zu positionierenden Schienenbefestigungskörper;
• keine Abhängigkeit von einer Positioniervorrichtung, wodurch Kalibration, Nachweis der Genauigkeit, Transport, Konstruktionsänderungen an der Maschine oder an der Vermessungsvorrichtung einfacher möglich sind;
• keine Beeinflussung der Vermessungsgenauigkeit durch Kräfte in der Positioniervorrichtung oder im zu positionierenden Schienenbefestigungskörper, insbesondere durch trassenbedingte Verformungen und Verwindungen.

In the method according to the invention, the relationship between the sensor reference system and a rail fastening body or tool to be positioned is redetermined each time it is positioned on site and is not measured remotely as before and only measured once. The independence of the sensor reference system from the rail mounting body or tool creates the following advantages in particular:

• higher accuracy in determining the relationship between the sensors and the rail mounting body to be positioned;
• no dependency on a positioning device, which makes calibration, verification of accuracy, transport, design changes to the machine or the measuring device easier;
• No influence on the measurement accuracy by forces in the positioning device or in the rail fastening body to be positioned, in particular due to route-related deformations and twists.

The position of the rail fastening body is preferred or the tool in the sensor reference system based on am Rail fastening body or provided on the tool second reference points determined by sensors of the sensor reference system, in particular optically.

In a preferred process variant, the rail fastening body initially in a position slightly below his Target position stored and after determining its position in the external reference system in its target position spatially highly accurate positioned.

The above object is achieved by a Measurement device solved, the sensors on a separate Measuring frames are provided, the attachment of the Measuring frame independent of the rail fastening body to be positioned is.

The advantage of the measuring device according to the invention is in that the different sensors on one of the other mechanics independent measuring frames are attached. No variable forces act on them, only the weight of the mass of the measuring frame and sensors. The individual sensors therefore have a fixed and constant relation to each other. Deformation of the frame through Influences of temperature can be partly avoided and partly modeled and be taken into account.

The measuring frame is preferably mounted without constraint, in particular lying on e.g. using a 3-point bearing.

It is sufficient if the measuring frame has three first sensors Position detection of the first reference points and three second sensors for position detection of second reference points, which are provided on the rail mounting body. Prefers are the number and arrangement of the second sensors on the measuring frame according to the number and arrangement of height-adjustable supports chosen on which the rail fastening body is stored when positioning.

Fig. 1

die erfindungsgemäße Vermessungsvorrichtung schematisch in einer Seitenansicht gemäß I-I in Fig. 2; und

Fig. 2

eine Draufsicht auf die Vermessungsvorrichtung gemäß II-II in Fig. 1.

Further advantages of the invention result from the description and the drawing. Likewise, the features mentioned above and those listed further can be used according to the invention individually or in combination in any combination. The embodiment shown and described is not to be understood as an exhaustive list, but rather has an exemplary character for the description of the invention. It shows:

Fig. 1

the measuring device according to the invention schematically in a side view according to II in Fig. 2; and

Fig. 2

a plan view of the measuring device according to II-II in Fig. 1st

The in Fig. 1 and 2 shown measuring device 1 is used in the spatially highly precise positioning of rail fastening bodies 2 on a base layer 3 made of concrete, which is laid as a substructure on the ground 4 . The rail fastening bodies 2 can, for example, sleepers, sleeper packs or, as shown in FIG. 1, be a prefabricated panel with a length of up to approximately 9 m.

The measuring device 1 has a machine frame 5 which can be moved on the ground 4 and on which a deformation and torsion-resistant measuring frame 7 is positively mounted at three support points 6 . A total of ten, in particular optical sensors are attached to the measuring frame 7 symmetrically to its longitudinal axis, namely four first sensors 8 at each of the four outer corners of the measuring frame 7 and six second sensors 9 , which are offset inwards and equidistantly in relation to the first sensors 8 Double row are arranged. Due to the rigid measuring frame 7, the sensors 8, 9 define a fixed sensor reference system 10 , which is separated or independent of force from the rail fastening body 2. The position and height of reference points in the sensor reference system 10 can be uniquely determined with the sensors 8, 9.

1. Vor Beginn der Positionierung werden knapp (etwa 10 bis 50 cm entfernt) außerhalb der Sollposition des zu positionierenden Schienenbefestigungskörpers 2 auf der Tragschicht 4 (oder mehr) örtlich feste, erste Referenzpunkte 11 geschaffen, deren Position in einem äußeren Bezugssystem 12, z.B. im Gauss-Krüger-System oder einem lokalen Koordinatensystem, hochgenau bestimmt wird.

2. Der Schienenbefestigungskörper 2 wird etwas unterhalb seiner Sollposition auf sechs Stützen 13 (z.B. Spindeln) abgelegt, die in ihrer Höhe (Doppelpfeil 14) höhenveränderlich sind. Das Anordnungsmuster der Stützen 13 am Schienenbefestigungskörper 2 entspricht zweckmäßigerweise dem Anordnungsmuster der zweiten Sensoren 9 am Meßrahmen 7. Auf dem zu positionierenden Schienenbefestigungskörper 2 sind z.B. vom Hersteller zweite Referenzpunkte 15 angebracht und im lokalen Bezugssystem 16 des Schienenbefestigungskörper koordiniert.

3. Der Meßrahmen 7 wird über den abgelegten Schienenbefestigungskörper 2 verfahren, bis sich die ersten und zweiten Sensoren 8, 9 zumindest nahezu über den ersten bzw. zweiten Referenzpunkten 11, 15 befinden.

4. Mittels der ersten Sensoren 8 werden die ersten Referenzpunkte 11 erfaßt und so die Position des Meßrahmens 7 im äußeren Bezugssystem 12, d.h. der Bezug vom Sensorbezugssystem 10 zum äußeren Bezugssystem 12, mit einem die Sensorsignale auswertenden Rechner (nicht gezeigt) bestimmt.

5. Mittels der zweiten Sensoren 9 werden die zweiten Referenzpunkte 15 erfaßt und so die Position des abgelegten Schienenbefestigungskörpers 2 im Sensorbezugssystem 10, d.h. der Bezug des lokalen Bezugssystems 16 zum Sensorbezugssystem 10, mit dem Rechner bestimmt.

6. Mit dem daraus auch bekannten Bezug des lokalen Bezugssystems 16 zum äußeren Bezugssystem 12 wird mit dem Rechner die Ist-Position des abgelegten Schienenbefestigungskörpers 2 im äußeren Bezugssystem 12 ermittelt. Aus der Differenz von Ist- zu Sollposition des Schienenbefestigungskörpers 2 werden vom Rechner die entsprechenden Stellwerte zum Verschieben des Schienenbefestigungskörper berechnet.

7. Entsprechend den berechneten Stellwerten wird der Schienenbefestigungskörper 2 in vertikaler Richtung über die höhenveränderlichen Stützen 13 und in horizontaler Richtung, wie in Fig.2 mit Doppelpfeilen 17 angedeutet ist, in seine Sollposition positioniert. Die horizontale Positionierung kann über geeignet abgestützte, horizontal wirkende Verstelleinrichtungen (z. B. Spindeln) erfolgen. Das vertikale Verstellen der Stützen 13 und das horizontale Verstellen der Verstelleinrichtung können manuell oder über eine vom Rechner gesteuerte Verstellautomatik (nicht gezeigt) erfolgen.

The individual method steps for positioning the rail fastening bodies 2 in their desired position are described below:

1. Before the start of the positioning, locally fixed, first reference points 11 are created just about (about 10 to 50 cm away) outside the desired position of the rail fastening body 2 to be positioned on the base layer 4 (or more), the position of which in an external reference system 12 , for example in the Gauss-Krüger system or a local coordinate system, is determined with high precision.

2. The rail fastening body 2 is placed slightly below its target position on six supports 13 (for example spindles), the height of which (double arrow 14 ) can be varied. The arrangement pattern of the supports 13 on the rail fastening body 2 suitably corresponds to the arrangement pattern of the second sensors 9 on the measuring frame 7. On the rail fastening body 2 to be positioned, second reference points 15 are attached, for example, by the manufacturer and coordinated in the local reference system 16 of the rail fastening body.

3. The measuring frame 7 is moved over the deposited rail fastening body 2 until the first and second sensors 8, 9 are at least almost above the first and second reference points 11, 15.

4. The first reference points 11 are detected by means of the first sensors 8 and the position of the measuring frame 7 in the outer reference system 12, ie the reference from the sensor reference system 10 to the outer reference system 12, is determined with a computer (not shown) evaluating the sensor signals.

5. The second reference points 15 are detected by means of the second sensors 9 and the position of the stored rail fastening body 2 in the sensor reference system 10, ie the reference of the local reference system 16 to the sensor reference system 10, is determined with the computer.

6. With the known relationship of the local reference system 16 to the outer reference system 12, the computer determines the actual position of the stored rail fastening body 2 in the outer reference system 12. From the difference between the actual and the target position of the rail fastening body 2, the computer calculates the corresponding manipulated values for displacing the rail fastening body.

7. In accordance with the calculated control values, the rail fastening body 2 is positioned in its vertical position over the height-adjustable supports 13 and in the horizontal direction, as indicated in FIG. 2 by double arrows 17 . Horizontal positioning can be carried out using suitably supported, horizontally acting adjustment devices (e.g. spindles). The vertical adjustment of the supports 13 and the horizontal adjustment of the adjustment device can take place manually or via an automatic adjustment system (not shown) controlled by the computer.

If necessary, steps 4 through 7 are as long repeated until the rail mounting body 2 with the desired Accuracy positioned in its target position is.

If the sensors 8, 9 do not immediately refer to the reference points 11, 15, but detected signal areas plugged onto it these signal areas are time consuming leveling and high susceptibility to errors. This Leveling can be omitted if the Signal areas automatically determined by sensors 8, 9 becomes.

The measuring device can be used instead of the rail fastening body 1 also for spatially highly precise positioning tools (not shown). With the base layer 3 can then be processed with such tools so precisely, e.g. milled and drilled, that no separate Rail fasteners are required, but the rail are attached directly to the base layer 3 can.

Claims (7)

Method for spatially highly precise positioning of rail fastening bodies (2) or tools which process a concrete base layer (3) laid on the floor as a substructure for rails, using a measuring device (1), first reference points (11) being close to the desired position of a Rail fastening body (2) or tool to be positioned and their positions are determined in an external reference system (12) and sensors (8) of the measuring device (1) detect the first reference points (11) and the rail fastening body (2) or the tool is positioned in its target position on the basis of detected first reference points (11),
characterized in that when positioning, both the position of the rail fastening body (2) or the tool in a sensor reference system (10) defined by the sensors (8) and independent of the rail fastening body (2) or the tool and the position of the sensor reference system (10 ) can be determined in the external reference system (11). Method according to Claim 1, characterized in that the position of the rail fastening body (2) or of the tool in the sensor reference system (10) is determined on the basis of second reference points (15) provided on the rail fastening body (2) or on the tool, which is determined by sensors (9 ) of the sensor reference system (10) can be detected. Method according to Claim 1 or 2, characterized in that the first reference points (11) and / or the second reference points (15) are optically detected by the sensors (8, 9). Method according to one of the preceding claims, characterized in that the rail fastening body (2) is initially placed in a position somewhat below its target position and then, after determining its position in the external reference system (12), is spatially precisely positioned in its target position. Measuring device (1) with sensors (8, 9) for detecting the position of reference points (11, 15), in particular for use in the method according to one of the preceding claims,
characterized in that the sensors (8, 9) are provided on a separate measuring frame (7), the fastening of which is independent of the rail fastening body (2) to be positioned. Measuring device according to claim 5, characterized in that the measuring frame (7) is mounted without constraint, in particular lying thereon. Measuring device according to claim 5 or 6, characterized in that the measuring frame (7) at least three first sensors (8) for detecting the position of the first reference points (11) and at least three second sensors (9) for detecting the position of second reference points (15) which on Rail fastening body (2) are provided.

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