EP1738029B1 - Procede pour mesurer des voies de circulation - Google Patents

Procede pour mesurer des voies de circulation Download PDF

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Publication number
EP1738029B1
EP1738029B1 EP04728500A EP04728500A EP1738029B1 EP 1738029 B1 EP1738029 B1 EP 1738029B1 EP 04728500 A EP04728500 A EP 04728500A EP 04728500 A EP04728500 A EP 04728500A EP 1738029 B1 EP1738029 B1 EP 1738029B1
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EP
European Patent Office
Prior art keywords
platform
measuring
relation
track
position data
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
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EP04728500A
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German (de)
English (en)
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EP1738029A1 (fr
Inventor
Heinz Jäger
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Sersa Maschineller Gleisbau AG
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J Mueller AG
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    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B35/00—Applications of measuring apparatus or devices for track-building purposes

Definitions

  • the present invention relates to a method for surveying according to the preamble of claim 1.
  • the course of the road has to be measured accurately, compared with a target road course and then made any corrections to the road course by means of suitable track-laying machines.
  • the course of the lane from outside the carriageway with respect to geographical reference points can be measured very accurately with corresponding measuring means.
  • these are static measurements in which, for the measurement of larger road sections, the measuring location next to the carriageway has to be newly set up, calibrated and the measurement must be carried out.
  • such measuring methods are not suitable for the control of continuously operating track-laying machines, which are intended to correct the course of the lane in relation to a predetermined desired course, if necessary.
  • Track-laying machines of this kind are dependent on the most continuous and up-to-date measurement of the current road course directly in the processing area of the track-laying machine so that this work can be carried out in as short a time as possible and with the greatest possible accuracy.
  • Such a method for the maintenance of tracks for railways is for example from the EP 0 559 850 known.
  • a measuring platform which can be moved on the track is used, which detects optical position change values of the measuring platform by optical means based on reference points arranged next to the track. These values are converted into position data and compared with setpoints of a stored survey plan. The deviations between these values provide correction values which can be evaluated by a special maintenance track-laying machine in order to be able to correct the track course accordingly.
  • the values can be determined and converted continuously with a single measuring base, which can preferably be coupled directly in front of the maintenance track-laying machine.
  • Out DE 196 52 627 A1 is a method for the dynamic control of a continuous machine for handling of linear production processes known as road construction.
  • a measuring device installed on a towing device attached behind the continuously operating machine is from time to time suspended from the continuously operating machine and brought into a rest position in which a determination of the position of the measuring device is carried out.
  • the distance between the measuring device and the continuously operating machine is determined with simple, partly mechanical testing devices. From the result of the position determination and the determined distance, the position of the continuously operating machine is determined and a target-actual comparison is performed.
  • the object of the present invention was to provide a measuring method which allows a reliable and accurate detection of the change in position of the measuring platform and thus the road course, without a permanent connection to reference points is necessary and thus the method, even over long distances resp. longer distances can be used continuously with high accuracy.
  • a measuring platform is moved along the lane on which an inertial platform is located, which at the beginning initializes the measurement resp. calibrated and aligned with respect to the coordinate system, and which detects the respective positions of the measuring platform with respect to the coordinate system during the travel of the measuring platform, the position data of the inertial platform with respect to the coordinate system are periodically automatically checked and any deviations with respect to the coordinate system recorded as correction values and for correcting the measurement data resp. the measured actual position of the measuring platform can be used.
  • the course of the position of the measuring platform can continuously be recorded and recorded very accurately.
  • the advantage of the inertial platform is that it provides very accurate values, virtually independent of weather conditions, and can be used universally everywhere.
  • the periodic checking of the position data of the inertial platform preferably takes place by optical measurement of the position of the measuring platform in relation to fixed points arranged next to the roadway. In each case, a very accurate determination of the actual position of the measuring platform can take place and the possibly deviating values of the inertial platform can be corrected. Since the optical measurement in contrast to conventional systems does not have to be continuous, but only periodically and at defined locations, this is much less sensitive to external influences, such as the view of the fixed points obscuring obstacles. If necessary, even such a measurement can be dispensed with if it does not give accurate results deliver, and only at the following fixed point, a measurement and correction if necessary.
  • a gyrostabilized platform or a laser platform is used as the inertial platform.
  • the laser platform usually has a higher accuracy and has a smaller drift, i. a smaller deviation from the actual position after the calibration, as gyrostabilized platforms, which are cheaper to buy and have sufficient for only small changes in direction roadways sufficient accuracy.
  • the measurement platform is additionally equipped with a satellite-based navigation system and the position data of the inertial platform are compared with the position data of this navigation system, wherein when deviations of these position data mutually corrected position data are calculated and stored.
  • This is an ongoing adaptation resp. Correction of the position data originating from the inertial platform is also possible between two fixed points and the accuracy of the method is thus further improved overall.
  • the position data of the satellite-based navigation system are also checked periodically with respect to their effective position to the coordinate system and corrected according to deviations.
  • the position data of the satellite-based navigation system can be obtained by including values of a second, defined at a defined with respect to the coordinate system Navigation system are corrected and thus the accuracy of the results are further increased.
  • deviations of the position data of the inertial platform determined at a fixed point are applied linearly to the previously measured points in the sense of a correction.
  • the already recorded and stored position values of the measuring platform can be subsequently corrected when a deviation at a fixed point is detected.
  • the correction is advantageously applied linearly in relation to the distance to the previous fixed point on the position values.
  • the measuring platform is preferably connected to reference platforms which can also be moved on the roadway and follow the course of the roadway, the relative position of which with respect to the measuring platform is detected by optical means and supplement or correct the measured resp. calculated values are used.
  • additional relative reference points for example, the curve radius of the road can be detected and determined very accurately.
  • two reference platforms arranged one behind the other and connected to the measuring platform at a constant, defined distance are used.
  • the reference platforms are equipped with optical reflectors and on the measuring platform is at least one light scanner used.
  • the light scanner communicates visually with the reflectors and can very accurately detect their relative angular deviations, for example with respect to the longitudinal axis of the measuring platform. Due to the known geometric relationships between the measuring platform and reference platforms, it is thus possible to determine very precisely, for example, the curve radius of a roadway.
  • the inventive method for the measurement of tracks for railways is used.
  • defined conditions prevail, in particular with regard to the orientation of the measuring platform, so that it can precisely detect the course of the center line and, by detecting the inclination with respect to the horizontal, also the course of the two parallel track strands.
  • the deviations of the raw or corrected position data from the target position are fed directly as control data to a road surface processing machine following or directly connected to the measuring platform in order to align the roadway with the desired position.
  • the measuring platform can advantageously be coupled directly in front of a roadworking machine or even arranged on such a resp. be integrated and control them such that the course of the road is adjusted to the desired course. This can be a continuous and fast processing of the road. Especially with tracks for railways, this is particularly important, since there is a processing usually only during the non-operating hours of the railway can get shorter and shorter with longer and longer operating times.
  • FIG. 1 schematically the view of a traveling on tracks 1 measuring platform 2 is shown.
  • the measuring platform 2 is formed by a measuring carriage 3, which is equipped with two axles 4, 5.
  • an inertial platform 6 On the measuring platform 2, an inertial platform 6, an optical scanner 7 and a satellite-based navigation system 8 are arranged.
  • the inertial platform 6 provides absolute position data with respect to a coordinate system, with initialization of the inertial platform 6 first being required. In the initialization of the inertial platform 6, this is due to the known, i. measured resp. determined, absolute position of the measuring platform 2 aligned in a known manner. Thus, the inertial platform 6 in the process of measuring platform 2 resp. of the measuring carriage 3 along the tracks 1, the current position data with respect to the coordinate system.
  • an inertial platform 6 can be used conventionally known devices which either work on a mechanical basis with gyroscope-based platform, or lighting technology resp. Laser technology based on virtually wear-free elements are equipped. Depending on the operating time since initialization and the movements and forces exerted on the inertial platform 6, the position data deviate from the effective position of the measuring platform 2. As a rule, these deviations increase with increasing operating time and thus lead to falsified position results. This requires a periodic reinitialization resp. Calibration of the inertial platform 6 due to known resp. measured position data of the measuring platform to ensure sufficiently accurate position data.
  • the calibration can now be carried out automatically in each case in the vicinity of fixed points 9, which are each preferably arranged in the vicinity of the tracks 1. For example, these may be registered in the surveying plan of the tracks and accurately measured fixed points 9, which are attached to catenary masts 10, for example.
  • the position of the measuring carriage 3 and thus of the measuring platform 2 can be determined exactly by measuring with respect to such fixed points 9.
  • Such a measurement is preferably carried out by means of the optical scanner 7, which is arranged on the measuring platform 2, respectively. connected to this.
  • Such optical scanners can automatically provide very accurate measurement results, and based on these measurement results, the current absolute position of the measuring carriage 3 and thus the measuring platform 2 with respect to the coordinate system can be determined in a known manner.
  • the deviation of the thus measured position values from the position values supplied by the inertial platform 6 directly indicates the effective deviation of the inertial platform 6 and can be used for the calibration of the inertial platform 6.
  • the position of the measuring platform 2 is additionally determined with the aid of the satellite-supported navigation system 8.
  • This navigation system 8 also supplies parallel to the inertial platform 6 absolute position data of the measuring platform 2.
  • a deviation of the position values of the inertial platform 6 and the navigation system 8 now indicates a deviation or drift of the inertial platform 6. When such deviations occur, the position values of the inertial platform 6 can now be corrected accordingly.
  • the satellite-based navigation system 8 does not provide absolutely accurate position data, since these are dependent on the reception quality of the signals originating from satellite 11, the deviations are preferably not with the full value but only with a certain percentage as a trend value for correcting the position data of the inertial platform 6 used.
  • FIG. 2 is shown schematically the result of this measurement process graphically.
  • the points M represent the result of the position determination due to a travel of the measuring carriage 3 on the actual track course.
  • the arrow D indicates the direction of the deviation resp. the drift of the inertial platform 6 again, which is usually not directed parallel to the track course.
  • a correction of the position values based on determined differences between the position values of the inertial platform 6 and the satellite-based navigation system 8 is made, which leads to the illustrated course of the position values.
  • the method can now for example be used to create an accurate survey plan of the actual position of the track 1.
  • the data can also be used to in order to control a track-laying machine, which can change the position of the tracks 1 and thus adapt them to the desired position according to the survey plan or to correct them.
  • this data can be corrected on the basis of measurements of an adjacent stationary second satellite-based navigation system 12 located at a defined position.
  • This correction signal which results from the difference between the position value ascertained in the second navigation system 12 and the effective position of the second navigation system 12, can be supplied via a receiver 13 to the evaluation unit 14 of the measuring platform 2, in which all other calculations are carried out and the determined values are stored resp. to be recorded.
  • FIG. 3 is again schematically the course of measured resp. corrected by the above method position data between two fixed points 9 resp. 9 'shown.
  • the distance A between two consecutive measuring points M 1 and M 2 with respect to the desired course S represents the error resp. the deviation of the track position.
  • the distance D between the measuring point M n and the calibration measuring point M k represents the accumulated deviation resp. Drift of the inertial platform 6. If, for example, the measuring platform 2 resp. the measuring carriage 3 is moved at an approximately constant speed to record the actual track course, ie perform a test drive, then it can be assumed that the deviation resp. Drift of the inertial platform 6 between two fixed points 9 resp. 9 'has occurred linearly. Thus, the 9 between the two fixed points.
  • FIG. 5 Another embodiment of a measuring carriage 3 for carrying out the measuring method according to the invention is shown.
  • the measuring carriage 3 is with two additional reference cars 15 respectively. 16 connected.
  • These reference cars 15 resp. 16 each advantageously have a reference axis 17 respectively. 18, which with optical reflectors 19, respectively. 20 are connected.
  • the relative position of the reference cars 15 can now. 16 measured automatically in relation to the measuring carriage 3, respectively. be determined.
  • this information can serve, for example, to determine the curve radius R of the tracks 1. Since the reference cars 15 resp. 16 are connected with a certain, known distance to the measuring carriage 3 with this, the radius can be easily calculated due to the known geometric conditions.
  • the measuring method is not for use with rails resp.
  • Rail 1 is limited, but can also be used for example for roads.
  • the measuring carriage 3 must be moved manually along the center line of the road, if necessary, in order to supply the corresponding position values.

Claims (10)

  1. Procédé pour mesurer des voies de circulation par rapport à un plan de mesure de la voie, qui contient une position de consigne de la voie par rapport à un système de coordonnées absolue, une plateforme de mesure (2) étant déplacée le long de la voie (1), sur laquelle une plateforme d'inertie (6) est arrangée, qui est initialisée respectivement calibrée au début de la mesure et est alignée par rapport au système de coordonnées, et qui pendant la course de la plateforme de mesure (2) détecte la position respective de la plateforme de mesure (2) par rapport au système de coordonnées, caractérisé en ce que la plateforme d'inertie (6) est calibré de manière périodique par rapport sur le système de coordonnées en vérifiant automatiquement les données de position de la plateforme d'inertie (6) par rapport au système de coordonnées et des déviations éventuelles par rapport au système de coordonnées sont détectées comme des valeurs de correction et sont utilisées comme des valeurs de correction pour la correction des données de mesure respectivement de la position effective mesurée de la plateforme de mesure (2).
  2. Procédé selon la revendication 1, caractérisé en ce que la vérification périodique des données de position de la plateforme d'inertie (6) est effectué par mesure optique de la position de la plateforme de mesure (2) par rapport à des points de repère (9; 9') près de la voie.
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce qu'une plateforme gyroscope ou une plateforme de laser est utilisé comme plateforme d'inertie (6).
  4. Procédé selon une des revendications 1 à 3, caractérisé en ce que la plateforme de mesure (2) est munie avec un système de navigation (8) de base de satellite et que les données de position (M) de la plateforme d'inertie (6) sont comparées aux données de position de cette système de navigation (8), les déviations de ces données de position (M) sont calculées comme des données de position corrigées (M') entre eux et sont enregistrées comme des données de correction.
  5. Procédé selon la revendication 4, caractérisé en ce que les données de position du système de navigation (8) de base de satellite sont aussi vérifiées de manière périodique par rapport à leur position effective par rapport au système de coordonnées et sont corrigées de manière respective en cas de déviations.
  6. Procédé selon une des revendications 1 à 5, caractérisé en ce que des déviations remarquées (A) des données de position de la plateforme d'inertie (6) à un point de repère (9; 9') sont utilisées de manière linéaire aux points auparavant mesurés (M) dans le sens d'une correction.
  7. Procédé selon une des revendications 1 à 6, caractérisé en ce que la plateforme de mesure (2) est liée à des plateformes de référence qui sont aussi déplaçables lelong de la voie (1), suivant la course des voies, dont leur position relative par rapport au plateforme de mesure (2) étant détecté avec des moyens optiques (21) et est utilisé pour le complément ou la correction des valeurs mesurées respectivement calculées.
  8. Procédé selon la revendication 7, caractérisé en ce que les plateformes de référence (15; 16) sont munies avec des réflecteurs (19; 20) et au moins un scanner de lumière (21) est utilisé sur la plateforme de mesure (20).
  9. Procédé selon une des revendications 1 à 8 pour la mesure des voies de chemin à fer.
  10. Procédé selon une des revendications 1 à 9, caractérisé en ce que la déviation des données de position (M; M) crues ou corrigées de la position de consigne sont alimentées directement comme des données de contrôle à une machine de traitement de voie qui suit la plateforme de mesure (2) ou est directement liée avec elle pour ajuster la position de consigne de la voie.
EP04728500A 2004-04-21 2004-04-21 Procede pour mesurer des voies de circulation Expired - Lifetime EP1738029B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CH2004/000241 WO2005103385A1 (fr) 2004-04-21 2004-04-21 Procede pour mesurer des voies de circulation

Publications (2)

Publication Number Publication Date
EP1738029A1 EP1738029A1 (fr) 2007-01-03
EP1738029B1 true EP1738029B1 (fr) 2011-09-21

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US (1) US7469479B2 (fr)
EP (1) EP1738029B1 (fr)
JP (1) JP4676980B2 (fr)
AT (1) ATE525529T1 (fr)
NO (1) NO338964B1 (fr)
WO (1) WO2005103385A1 (fr)

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KR20200086258A (ko) * 2017-11-09 2020-07-16 플라세 & 토이러, 엑스포트 본 바흔바우마쉬넨, 게젤샤프트 엠. 베. 하. 선로망 내의 탐색 시스템 및 방법
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CN109753765B (zh) * 2019-03-13 2023-05-19 中铁山桥集团有限公司 一种钢轨顶弯轨迹的确定方法
CN110095101B (zh) * 2019-04-20 2021-03-02 北京工业大学 一种用于柱状零件测量仪的坐标系标定装置及方法
CN111521164B (zh) * 2020-04-17 2021-06-04 中建五局土木工程有限公司 一种用于单轨轨道梁的调节检测系统及方法
RU2743640C1 (ru) * 2020-04-29 2021-02-20 Федеральное государственное бюджетное образовательное учреждение высшего образования "Казанский национальный исследовательский технический университет им. А.Н. Туполева - КАИ" (КНИТУ-КАИ) Установка для настройки одноосного силового горизонтального гиростабилизатора малогабаритного путеизмерительного устройства в лабораторных условиях
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Also Published As

Publication number Publication date
NO338964B1 (no) 2016-11-07
JP4676980B2 (ja) 2011-04-27
WO2005103385A1 (fr) 2005-11-03
US20070213926A1 (en) 2007-09-13
NO20065047L (no) 2006-11-03
US7469479B2 (en) 2008-12-30
ATE525529T1 (de) 2011-10-15
EP1738029A1 (fr) 2007-01-03
JP2007533878A (ja) 2007-11-22

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