EP1862593A2 - Système d'exploration de tracé commandé par GPS et continu doté d'un système sensoriel - Google Patents

Système d'exploration de tracé commandé par GPS et continu doté d'un système sensoriel Download PDF

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Publication number
EP1862593A2
EP1862593A2 EP07010752A EP07010752A EP1862593A2 EP 1862593 A2 EP1862593 A2 EP 1862593A2 EP 07010752 A EP07010752 A EP 07010752A EP 07010752 A EP07010752 A EP 07010752A EP 1862593 A2 EP1862593 A2 EP 1862593A2
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EP
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Prior art keywords
data
track
radar
scanning device
antenna
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EP07010752A
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German (de)
English (en)
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EP1862593B2 (fr
EP1862593A3 (fr
EP1862593B1 (fr
Inventor
Jürgen NIESSEN
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ARKIL A/S
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GBM Wiebe Gleisbaumaschinen GmbH
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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
    • 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
    • E01B35/06—Applications of measuring apparatus or devices for track-building purposes for measuring irregularities in longitudinal direction
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/01—Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs

Definitions

  • the invention relates to a method and a device for detecting the condition of line constructions, comprising the steps of: scanning the line structure by means of a scanning device attached to a measuring vehicle, transmitting and storing the data acquired by the scanning device to a central data storage device, and determining geographical position of the scanning device along the line structure
  • a line structure is understood to mean a structure extending substantially in a length, in particular a direction of travel, such as a track, a road, a bridge, a tunnel, a dyke or the like.
  • a measuring carriage which can be moved over a track and on which a laser scanner is mounted, with which the ballast profile of a ballast bed of a track can be scanned to excess or missing gravel to locate.
  • a cross-sectional profile of the ballast bed is scanned at discrete intervals and compared with a desired cross-sectional profile in order to determine in this way deviations of the actual value from the desired value.
  • the method has the disadvantage that only a superficial inspection of a single, the quality of the track path influencing factor is made and also the evaluation of the data in connection with the integrated displacement sensor is complex and the subsequent assignment of gravel bed error requires a complex subsequent data processing.
  • Out JP 200 506 20 34 A is a measuring method for checking the height and the course of tracks is known in which prisms are attached to the tracks and are scanned by a laser.
  • the method has the disadvantage that although it can reliably inspect individual sections of the route in which it is installed, rapid inspection over long distances is either too time-consuming or too cost-intensive due to the complicated installation of the system on the rails.
  • WO 01/90738 A2 It is known to guide an eddy current probe along a rail and to record the signal of the probe location dependent. To locate a GPS unit is used.
  • the method has the disadvantage that it only detects a single parameter for determining the condition of a rail and, moreover, only damage in the near-surface region of laid rails and points components can be detected.
  • the scanning device comprises at least one sensor device which generates an electromagnetic oscillation by means of an antenna device with an electric dipole, and by means of a waveguide whose cross-sectional area transversely to the direction of propagation of the electromagnetic oscillation from the dipole to an outlet opening increases, which couples the electromagnetic oscillation to the ambient air.
  • the invention is based on the finding that, although with conventional radar antennas, imaging of areas of a linear structure such as the substructure of track paths is possible, the radar antenna for this purpose must be brought as close as possible to the surface of the linear structure, such as the track bed and even then the imaging quality for a high-resolution analysis is not sufficient.
  • the small distance between line structure, in particular track bed surface and antenna causes considerable safety risks in collision with any objects in the line structure.
  • the distance between line structure, in particular track bed and antenna can be increased and this on the one hand air coupling can be achieved, whereby greater distances between antenna and ground are possible and thereby the safety of the device even at fast speeds of the Measuring cart be ensured.
  • the special antenna arrangement on the one hand provides a pronounced directional characteristic, so that the electromagnetic oscillation is emitted in one direction with a small opening angle.
  • the antenna device according to the invention may comprise one or more such waveguide antenna devices.
  • the antenna devices may radiate perpendicularly in the direction of the ground or inclined with respect to the vertical to measure in an oblique direction into the ground, for example to measure laterally below a track or to measure the floor areas sideways from the track.
  • the antenna device with waveguide can be placed at a safe height distance above the track, so that collisions with other Track systems, components or foreign bodies can be excluded.
  • the scanning device scans the linear structure with a further sensor devices, wherein the further sensor device preferably operates according to a different measuring method than the antenna device.
  • a multi-sensor device is used in the method according to the invention which comprises at least two, preferably more than two sensor devices, in particular sensor devices which operate with different measuring methods. This makes it possible with high-precision local assignment of the different measurement results to obtain a differentiated representation of the investigated linear structure.
  • a track substructure and ground in the region between rails and preferably also under these rails is scanned with the antenna device.
  • the scanning of this area by means of the antenna allows a safe assessment of the particularly important area between and under the rails when measuring track paths.
  • the antenna device operates in the radar frequency range.
  • the radar frequency range includes frequencies that allow both a differentiated representation of geological layers and have a sufficient depth of penetration in the examined soil area.
  • the inventive method can be further developed by the geographical position is determined by a satellite-based location system.
  • a satellite-based location system As a result, the combination of a radar survey of the ground of track paths with a satellite-based positioning, for example by means of GPS, provided and thus on the one hand a precise location determination and on the other hand achieved a fast data analysis.
  • the data of the satellite-supported location system are compared with the data of a route database for position determination and / or with a Doppler radar for speed determination become.
  • the accuracy of currently available satellite navigation systems is not sufficient for many track-use condition detection applications to allow for rapid location of detected defects.
  • a route network such as for track tracks, roadways or the like available, with its exact data regarding directions, radii, branches and lengths of individual sections is stored in the route networks of many countries in a route database.
  • certain positions and positional shifts with the track paths of the route data network are compared and takes place on the basis of found congruities or similarities an exact position determination.
  • the accuracy of the navigation can be significantly improved and thus an accuracy of up to one meter can be achieved.
  • Adjustment is to be understood in this context as meaning, on the one hand, that the speed determined by the Doppler radar or the distance calculated therefrom is compared with that of the satellite navigation system, and a deviation factor is determined and this deviation factor is used as the correction value of the data obtained with the satellite navigation system.
  • the Doppler radar data a section of the route or period in which no satellite reception is possible, for example in tunnels, can be bridged. In this case, an extrapolation of the previous, driven direction is made on the basis of Doppler radar data and the current location is calculated.
  • the data determined with the antenna device are compared with reference data of previously known geological layer compositions stored in a reference database by means of digital data processing and assigned to specific geological layer compositions.
  • the comparison and the assignment by means of digital data processing can be made by comparing the radar data in certain surface sections or volume sections with the data stored in the reference database a certain tolerance range in order to make an assignment of the layer composition in this way.
  • the automatic identification of the geological layer structure allows a much faster evaluation of the obtained measurement data and thus a faster detection of possible critical layer structures, layer structure changes or defects in the layer structures.
  • the assignment takes place by visualizing the layer structures from the measured radar data and comparing these layer structures with the layer structures of geological layers previously known from radar data with a previously known layer composition.
  • This visualization allows a user of the device, who need not necessarily be a radar expert, to easily detect irregularities in known layers or unfavorable layer compositions as well as to immediately recognize changing gradients of layer structures.
  • the layers are displayed in two-dimensional sectional views, in particular transverse and longitudinal sections through or along the track path, on an image output device and the layer compositions are visualized by preferably standardized symbols or surface fillings.
  • the user of the method according to the invention is provided with a representation of the measured data, which enables a fast, traceable evaluation.
  • the surface profile or sections of the surface profile of the track path is scanned by means of a laser scanning device, preferably by means of scanning perpendicular to the movement of the measuring carriage oscillating by the laser beam.
  • the environment and / or the surface of the line structure is detected by means of a digital image capture device.
  • the digital imaging device records the trolley devices or parts of the trolley track, the surface and the trolley area of both railways of the track, and / or the surface of the sleepers and / or a fixed carriageway.
  • This development of the invention improves the disadvantage of known methods in that an inspection method for track paths is provided in which at the same time a comprehensive image acquisition of several relevant examination areas takes place. Damage to the contact wire of the track can thus be detected on the basis of an evaluation of the digital image data.
  • outbreaks, cracks or wear areas in the surface or in the driving edge area of the rail tracks can be detected and displayed. This is preferably done by vertical or slightly oblique recording direction on the surface of the rail tracks by means of two individual digital image capture devices, which are preferably each directed obliquely from the inside to the rail tracks. In this way, in particular the state of wear of the driving edges can be determined and possibly necessary measures to extend the service life of the rail or to remedy severe signs of wear are made.
  • this training allows one hand, the easier allocation of defects that have been detected by means of a radar or laser examination, to a certain point along the track, as it can be better found on the basis of the image data collected at the same time. On the one hand, this can allow a better orientation of a user within the investigated environment on the basis of the additional image data or a direct assignment of the image data to the radar data or laser scanning data.
  • this further development of the method also makes it possible, in addition to the radar or laser examination, to perform a differentiated additional investigation of safety-relevant features from the surroundings and / or the surface of the track path.
  • a simultaneous detection of relevant radar or laser data and relevant image data can be carried out with the method according to the invention, which allows a comprehensive assessment of the condition of the track path.
  • the digital image capture device can be done, for example, with a line-scanning video camera.
  • the digital image acquisition can take place by digital individual images recorded at discrete intervals, the spacing of which is preferably selected such that a gap-free mapping of the track path results on the basis of the recorded image sections.
  • a plurality of digital image capture devices are used, in particular digital video or photo cameras, which record mutually offset and / or in different orientations relevant excerpts of the environment and / or the track path.
  • this training is also suitable for the analysis of fixed carriageway routes. These are typically made of concrete and are increasingly used for high-speed railways. For such routes concrete sleepers are used. This material requires a periodic check for cracks, which can be done conveniently by digital imaging of the surface of the components. In this case, a digital image evaluation can preferably take place, which automatically detects and marks the cracks.
  • the digital image acquisition can be further developed by using the digital image capture device, the fasteners of the rails are recorded on the thresholds and preferably automatically checked by digital image analysis for presence and correct location. Fasteners between the rail and the threshold can become loose or be loosened or even removed by vandalism. A review of these fasteners at regular intervals is required and can preferably be done with the method according to the invention. In this case, as described above, it is preferable to detect and display an automatic detection of a possible loosening or lack of these fastening elements by means of digital image evaluation.
  • the method mentioned above or the method developments described above are further developed by examining the wall of a tunnel with the antenna device, the digital image acquisition device and / or the laser scanning device.
  • the management of railways through tunnels has become increasingly important in the course of the route modernization.
  • tunnel superstructure to check elms at regular intervals to detect loose rocks or moisture.
  • After the construction of a tunnel to the Bauabdging often it is advantageous to check these parameters and to determine the rock thickness. This can be carried out with the inventive method in an advantageous manner by using the antenna device, the wall of the tunnel is examined.
  • the antenna device must have at least one antenna which is aligned corresponding to the tunnel wall.
  • the antenna device comprises a plurality of antennas, in particular radar antennas, which preferably measure in a direction perpendicular to the tunnel wall.
  • the method according to the invention can be further developed with regard to all method aspects and further developments according to the invention by analyzing the data measured with the antenna device and / or the digital image acquisition device and / or the laser scanning device by a digital data evaluation and thereby layer boundaries and / or defects by comparison with reference data and / or by comparing the local measured data with a data averaged over a certain environmental area and / or by comparing adjacent data or data areas are identified and marked.
  • a number of different measurement data can thus be determined in particular simultaneously during a single measurement run, for example radar measurement data for inspection of the substructure of the track, image measurement data for inspecting the surface of the track of the track, the contact wire and the surroundings and laser-determined measurement data for checking the position of track and sleepers or the ballast bed.
  • the evaluation of these data often has to be done in a short time and the evaluation time can be significantly reduced if the known manual assessment of the data is omitted and an automatic analysis is performed by comparison with reference data. This can be done either a comparison of local data with averaged data to detect deviations from the average normal state.
  • the method according to the invention can be developed with regard to all aspects and further training by sorting each automatically or manually recognized defect into one of at least two groups and these groups characterizing the measures to be taken for remedying the defect.
  • This allows a quick overview of the entire condition of a line structure and improves the coordination of repair measures considerably.
  • this training is advantageous when the inventive Inspection procedure in connection with immediately following repair measures, possibly even directly coupled to the measuring carriage, is used to make a quick decision on the manner in which a defect is repaired.
  • the sorting into the groups takes place on the basis of the extent or the manner of the detected defect and the measures known from previous repairs measures that are required to remedy such a defect.
  • a measure can also be understood as a preventive processing which is intended to increase the service life of the track route or parts thereof.
  • the measurement data of the radar device, the laser scanning device and / or the image acquisition device are assigned to each other for a measurement range and merged into a database and a measurement data statement is formed, which is composed of at least two of these data sets.
  • the simultaneous detection of measurement data sets by means of different measurement methods which is possible with the method according to the invention, not only enables the time required for the inspection to be shortened, but also allows the measurement data to be subjected to a common consideration and thus to gain further knowledge from the measurement data sets combined in this way. For example, analyzes from one measurement dataset can often be verified using another dataset.
  • the combination of multiple sets of measurements allows full evaluation of defects, for example, by obtaining the surface dimensions of a crack from the image acquisition data and the depth of the crack from the laser scan data or the radar data.
  • Another important further development of the method consists in carrying out at least two measurements at a location or in one area offset from one another, assigning the measurement data from the two temporally staggered measurements by means of digital data processing to geographically coincident positions, preferably comparing them Differences between the measured data the two measurements taken at different times are automatically marked.
  • the data recorded in a current measurement can be compared by exact position determination with the corresponding data of a previous measurement and in this way changes that have occurred between the two measurements can be detected. The thus detected defects or changes can be visualized and highlighted in image representations.
  • a monitoring ie a time-shifted multiple control of the track path, made possible, which allows the observation of a damage progress to determine the right time for repair measures.
  • the results may be subjected to a simple manual follow-up on the screen or in a print-out to decide whether to take remedial action or to make a description of the detected miss-change.
  • the data recorded with the device according to the invention can be compared with external data recorded at other times, provided that they also have sufficiently accurate position information.
  • the time-offset measurements at one location may in each case include measurement data from at least two different measurement methods. This allows monitoring with differentiated measurement data for different line structure properties.
  • the method according to the invention is suitable for detecting the condition of dike structures, wherein the measuring vehicle travels on the dike crown and the state of the dyke in front of and / or behind the dike crown is detected by means of at least one antenna device mounted on a cantilever arm.
  • a further aspect of the invention is a device for detecting the condition of line structures, in particular track ways, comprising: a scanning device mounted on a measuring vehicle for measuring the track path, a central data storage device for storing the measurement data acquired by the scanning device, and a navigation device for determining the geographical position of the scanning device along the track path in which the scanning device comprises an antenna device with an electric dipole for generating an electromagnetic vibration and a waveguide for coupling the vibration to the ambient air, whose cross-sectional area transversely to the propagation direction of the electromagnetic oscillation from the dipole to an outlet opening increased.
  • the apparatus according to the invention may be further developed according to claims 22 to 38.
  • These advanced apparatuses have features that make them particularly suitable for use in carrying out the method according to the invention and its further developments.
  • specific features, variants and advantages of the features of these devices and device developments reference is made to the preceding description of the corresponding method features.
  • Another aspect of the invention is the use of a previously described device to detect the condition of dyke structures or the condition of driveways, especially roads. It has surprisingly been found that the device according to the invention are particularly well suited for detecting upcoming damage in the area of dyke structures and driveways in advance, for example by detecting incipient under-rinses.
  • the method according to the invention can be further developed for detecting the condition of dike structures by detecting the state of the dyke in front of and behind the dike crown by means of a outrigger with radar antennas mounted thereon, and in this way both the dyke substance immediately below the dike crown with the aid of the directly in the vicinity of the measuring vehicle installed radar antennas are detected as well as the dyke substance in the area of the foot of the dike by correspondingly radar antennas are arranged on the extension arm in this area.
  • a jib 21 extending in the direction of travel and having a transverse jib 22 fastened thereto is mounted on a measuring vehicle 10.
  • an antenna device with a waveguide 30 is fixed, which radiates downward in the vertical direction and between two rail tracks 11,12 on which the measuring carriage 10 rolls, measures.
  • two radar antennas 31,32 are arranged.
  • the left in the direction of travel radar antenna 31 measures on the left rail track 11 laterally past, the right in the direction of travel radar antenna 32 measures on the right rail track 21 laterally over.
  • the antenna device with waveguide 30 measures up to 4m in soil and substructure below the track strands 11,12 in and thus allows an evaluation of this soil, the substructure and the superstructure, i. the sleepers and the ballast bed of the railway track.
  • the radar antennas 31,32 measure in the typical frequency range up to 4m in the substructure and the soil in, with specially tuned frequency ranges even deeper, and allow an evaluation of superstructure, substructure and soil in this lateral area.
  • the radar measurement can be done at speeds up to 200km / h with a horizontal resolution, the defects from a size of a few meters makes recognizable.
  • a laser scanning device 40 is arranged, which scans the gravel profile and compares with a desired profile to detect in this way excess or missing gravel. Sampling can also be done at speeds up to 200km / h.
  • a plurality of digital line scan cameras 50, 51, 52 which receive the surface of the track path, are arranged between the two wheelsets 13, 14 or 15, 16 of the measuring carriage 10.
  • two digital line scan cameras 50,52 which are directed to the rail head in the area of the driving edge and record this with a resolution of 0.1 x 0.5 mm.
  • Another set of digital line scan cameras 51 is directed at the mid-track track surface and allows a solid track 17 and the sleepers 18 to be inspected for cracks.
  • a camera set 51 is used, which consists of four digital line scan cameras that can detect cracks with a width of 0.1 mm or more.
  • two line scan cameras per rail are arranged, which detect in the direction of travel left and right of this rail, the road surface and threshold surface.
  • a GPS antenna 70 is arranged, which is coupled to a GPS processing device 71.
  • the data of the GPS processing apparatus is matched with the data of a wheel incremental encoder 72, thereby achieving an accuracy of 1m in determining the position of the meter.
  • the measurement data of the radar antennas 30-32, the laser scanning system 40, the digital line scan cameras 50-52 and 60-61 and the position data from the GPS unit 70,71 and the Radinkrementalgeber 72 are fed to a central storage and evaluation computer 90.
  • a radar apparatus 130 having a plurality of radar antennas, a laser scanner 140, a digital image capturing apparatus 150 for observing the surface of a fixed lane and the sleepers, a digital image capturing apparatus for detecting the catenary wire of the track, a digital image capturing apparatus for detecting the surroundings 161 and an incremental displacement sensor 172 for detecting the number of revolutions and rotational position of a wheel of the measuring carriage shown schematically.
  • These measurement data acquisition elements 130, 140, 150, 160, 161 and 172 transmit their measurement data via an input interface to a first data processing station 200 within a central data processing device 190.
  • the first data processing station 200 further receives data from a GPS antenna 170 about the runtime signals to particular satellites. Within the first data processing station 200, the signals received from the GPS antenna are matched with the data of the incremental encoder 172 and the route network data stored in a memory unit 210, thus accurately determining the location of the trolley at 1 m.
  • the data is forwarded to a second data processing station 220.
  • the measurement data of the individual measurement acquisition devices is compared with the reference data stored in a second storage device 230.
  • the reference data stored in the second storage device represent typical measured values, such as gray values or gray value curves for known assignment values, whereby assignment values are, for example, the wear width in the region of the running edge of a rail or certain soil types or track substructures, for example soiled or new gravel or the like.
  • the processing of the measurement data in the second data processing station 220 therefore makes it possible to associate certain layer properties or surface properties to the obtained measurement data.
  • the properties assigned in this way are assigned to the measured data in the identified area by means of a visualization parameter and can thus be highlighted or displayed on a screen or in an expression by manual data evaluation or by visualization of the measured data.
  • an evaluation of the measured data continues to take place with regard to possible defects.
  • This can be done in various known ways.
  • a single measurement value can be compared with an average value of the measured values in its environment, and if the individual measured value deviates from this mean value by a certain amount, a defect at the location of the individual measured value can be detected.
  • cracks in the measured data of a surface of the fixed roadway can be detected or sub-rinses in the substructure of the track bed can be detected from the radar data.
  • the measurement data thus parameterized are forwarded to a third data processing station 240.
  • the third data processing station 240 based on the parameters of the measured data from a third data memory 250, which contains a catalog of measures, each measure found a measure assigned, which must be taken to maintain the route security and to extend the service life of the route or should.
  • measurement data from different transducers can furthermore be compared with one another in order to obtain a conclusion about the depth of a crack or the orientation of a wear surface, for example based on the surface profile data obtained by laser scanning and the image data of an examination site obtained by digital image acquisition.
  • the data of all transducers for any given examination site can be assigned to one another in order in this way to enable a comprehensive assessment of an examination site.
  • the measurement data can an earlier measurement and compared with the measurement data of the current measurement. In this way, the track track can be monitored to detect the progress of defects and to determine the timely time for a maintenance or repair action.
  • the measured data are forwarded in a parameterized and prepared way to a screen in order to make a visualization for a user on this screen.
  • the user can fade in on the screen longitudinal or transverse profiles of the examined track and at the same time retrieve and display a surface image and a surface profile of this track at the appropriate location.
  • the geographical position data for the examined site can be retrieved and to better navigate images of the environment of this place can be displayed.
  • the transducers are designed to measure at speeds above 50km / h and a range of transducers can measure at speeds up to 200km / h.
  • the data preparation allows differentiation and identification of defects by digital image analysis and assignment of measurement data from different measurement systems for a study site and therefore allows a user to quickly detect defects or changes in the area of a track.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Machines For Laying And Maintaining Railways (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Geophysics And Detection Of Objects (AREA)
EP07010752.9A 2006-06-01 2007-05-31 Système d'exploration de tracé commandé par GPS et continu doté d'un système sensoriel Not-in-force EP1862593B2 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102006026048A DE102006026048A1 (de) 2006-06-01 2006-06-01 GPS gestütztes, kontinuierliches Trassenerkundungssystem mit Multisensorik

Publications (4)

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EP1862593A2 true EP1862593A2 (fr) 2007-12-05
EP1862593A3 EP1862593A3 (fr) 2008-06-04
EP1862593B1 EP1862593B1 (fr) 2011-10-19
EP1862593B2 EP1862593B2 (fr) 2016-11-02

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EP (1) EP1862593B2 (fr)
AT (1) ATE529571T1 (fr)
DE (1) DE102006026048A1 (fr)

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CN105844995A (zh) * 2016-05-20 2016-08-10 中铁第勘察设计院集团有限公司 基于车载LiDAR技术的铁路线路运营维护测量方法
EP3522511A1 (fr) 2018-02-05 2019-08-07 Schweizerische Bundesbahnen SBB Procédé de communication et système de communication pour la taxation
CN112558045A (zh) * 2020-12-07 2021-03-26 福建（泉州）哈工大工程技术研究院 自动驾驶设备多线激光雷达功能下线验收方法
US11643121B2 (en) 2017-11-09 2023-05-09 Track Machines Connected Gesellschaft M.B.H. System and method for navigating within a track network
AT526491A1 (de) * 2022-08-31 2024-03-15 Plasser & Theurer Export Von Bahnbaumaschinen Gmbh Verfahren zum Bestimmen der Anordnung eines Gleisobjekts, insbesondere eines Gleisstrukturbauteils, Messvorrichtung und System

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ES2967281T3 (es) 2019-10-21 2024-04-29 Siemens Mobility GmbH Plataforma informatizada para la representación de una infraestructura ferroviaria y de los procedimientos para su explotación
RU2733907C1 (ru) * 2020-02-06 2020-10-08 Алексей Геннадьевич Логинов Многофункциональный автономный роботизированный комплекс диагностики и контроля верхнего строения пути и элементов железнодорожной инфраструктуры
DE102021203305A1 (de) 2021-03-31 2022-10-06 Siemens Mobility GmbH Verfahren zum Ermitteln einer Durchfeuchtung eines Oberbaus

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EP3522511A1 (fr) 2018-02-05 2019-08-07 Schweizerische Bundesbahnen SBB Procédé de communication et système de communication pour la taxation
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US11991307B2 (en) 2018-02-05 2024-05-21 Schweizerische Bundesbahnen Sbb Communication method and communication system
CN112558045A (zh) * 2020-12-07 2021-03-26 福建（泉州）哈工大工程技术研究院 自动驾驶设备多线激光雷达功能下线验收方法
CN112558045B (zh) * 2020-12-07 2024-03-15 福建（泉州）哈工大工程技术研究院 自动驾驶设备多线激光雷达功能下线验收方法
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EP1862593B2 (fr) 2016-11-02
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EP1862593A3 (fr) 2008-06-04
EP1862593B1 (fr) 2011-10-19

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