EP3160820A1

EP3160820A1 - Device and method for determining at least one property of a track for a rail vehicle and rail vehicle

Info

Publication number: EP3160820A1
Application number: EP15714458.5A
Authority: EP
Inventors: Christian TELKE; Matthias Harter; Gero Zechel; Michael Beitelschmidt
Original assignee: Bombardier Transportation GmbH
Current assignee: Alstom Transportation Germany GmbH
Priority date: 2014-06-25
Filing date: 2015-03-31
Publication date: 2017-05-03
Anticipated expiration: 2035-03-31
Also published as: PL3160820T3; WO2015197206A1; DE102014212232A1; ES2773314T3; CN107074255A; CN107074255B; EP3160820B1

Abstract

The invention relates to a method and to a device (1, 1a, 1b) for determining at least one property of a track for a rail vehicle (4), wherein the device (1, 1a, 1b) comprises at least one profile-detection device for detecting a profile of at least one rail (3, 3a, 3b) of the track, wherein the device (1, 1a, 1b) comprises at least one positioning device (11), wherein the at least one profile-detection device can be moved by the positioning device (11). Furthermore, the invention relates to a rail vehicle comprising at least one such device.

Description

Device and method for determining at least one property of a track for a rail vehicle and rail vehicle

The invention relates to a method and a device for determining at least one property of a track for a rail vehicle and a rail vehicle.

For the safe operation of rail vehicles, it is necessary to determine characteristics of a track for rail vehicles, in particular track characteristics of the track, e.g. to monitor a functioning condition of the track.

Determining a track position may also be desirable, e.g. Locate positions of objects or obstacles along the track relative to the track position. A track layer may in particular be provided by a track center, e.g. be given in the form of a center line between the rails of a track, but also by a center line of a rail of the track. The track position may hereby be a reference line e.g. for a detection of a clear space relative to the track position. For example, dimensions of a tunnel passage relative to the track position, in particular a height and / or a width of the tunnel, can be detected.

GB 2403861 A discloses a system for monitoring and measuring

Positions of objects along a supervising route. The system is mounted on a vehicle that travels along the route to be monitored. The system includes a scanner and a data analyzer. However, the scanner is fixedly mounted on the rail vehicle and is designed as a so-called 3D scanner, wherein a laser beam is rotated continuously through 360 °.

EP 1544572 A2 discloses a device for non-contact detection of distances to objects next to a track system. The device comprises a reference position measuring unit comprising a first laser line generator and a first laser line generator

Area camera has, which are aligned in the direction of a first rail.

Furthermore, the reference position measuring unit is equipped with a second laser line generator and a second area camera, which are in the direction of the second rail are aligned. This reference position measuring unit is fixedly attached to the rail vehicle.

DE 1980131 1 A1 discloses a rail-mounted maintenance machine. This can use for detecting a rail cross profile, a measuring device having, for example, laser heads.

DE 4238034 C1 discloses a method for inspecting, non-contact scanning of the immediate surroundings of a track track with respect to certain

Measurement criteria. This is during a continuous test drive a

Measuring vehicle along the track section perpendicular to a radially encircling measuring beam emitted and receive the reflected signals of this measuring beam in the range of the transmitter and / or emitted from the environment signals, processed and stored. Next is additionally arranged by means of one on the measuring vehicle

Navigation system, the location and the position of the transmitter / receiver unit with respect to an earth-fixed coordinate system or reference point measured synchronously and determines the same data.

This raises the technical problem, a device and a method for

Determine at least one property of a track for a rail vehicle and to provide a rail vehicle, which allow a reliable and accurate determination of at least one property of the track.

The solution to the technical problem arises from the objects with the

Features of claims 1, 8 and 10. Further advantageous embodiments of

Invention will become apparent from the dependent claims.

A device for determining at least one property of a track for a rail vehicle is proposed. The term determination here also includes the term detection.

A property of the track may e.g. be a feature of a track of the track or both rails of the track. Thus, the device can also for

Rail measurement serve. A characteristic of the track may be a wear of the track, which can be determined for example by comparing an actual profile of the track with a desired profile of the track. Another property may be a gauge of the track. Another feature may be a track cant, which may, for example, denote a relative difference in height between a surface of a first rail and a surface of another rail of the track. Another property may be a radius of curvature of the track or a vertical curvature. Another property may be a gradient of the track, through which, for example, a slope or a slope of the track can be represented. Another property may be a track track, eg, a track center location or a track centerline.

The property may also be a rail profile, in particular a rail cross profile.

Thus, the at least one property can be a geometric property of the track or a further property that can be determined as a function of at least one geometric property.

The device comprises at least one profile detection device for detecting a profile of at least one rail of the track. A profile may in this case, as explained in more detail below, in particular be a two-dimensional profile. The profile may be e.g. represent an outer contour of the rail. The profile is preferably a transverse profile of the rail, wherein the transverse profile is detected in a plane that is perpendicular to a longitudinal axis of the rail.

The profile detection device can in particular be an optical

Profile detection device be. Thus, the profile detection device can enable a contactless detection of the profile.

According to the invention, the device comprises at least one positioning device, wherein the at least one profile detection device is movable by the positioning device, in particular relative to the rail vehicle.

In this case, the positioning device may in particular comprise a stationary part and a part of the positioning device that is movable relative to the stationary part. The profile detection device can be on or at the positioning device, in particular on or on the moving part, be attached. In this case, the profile detection device can be detachably or permanently attached to the positioning device. Next one can

Position and / or orientation of the profile detection device relative to

Positioning be changeable or unchangeable.

The positioning, in particular the stationary part, can at the

Rail vehicle, in particular on a car body of the rail vehicle, in particular on an underside of the rail vehicle, be fastened. For this purpose, the positioning, in particular the stationary part, at least one

Have fastening means.

The positioning device may in this case preferably be fastened to the rail vehicle in such a way that the at least one profile detection device has a

desired, in particular rectilinear motion along a trajectory is movable, which is oriented parallel to a vehicle transverse axis of the rail vehicle.

In particular, the at least one profile acquisition device can be replaced by the

Positioning device along a predetermined, in particular rectilinear,

Trajectory be movable. Of course it is also conceivable that the

Profile detection device by the positioning or more

Positioning along several, in particular rectilinear, trajectories is movable. Of course, it is also conceivable that an orientation of the profile detection device by the positioning device or at least one further positioning device is variable.

The positioning device can in this case at least one means for generating

Include drive energy. The means may, for example, an electric motor, in particular a stepper motor or a DC motor or a synchronous motor or a

Asynchronous motor, be. Furthermore, the positioning device may comprise at least one movement control means. For example, the device may comprise at least one guide means for guiding the movement of the profile detection device along a, in particular rectilinear, trajectory. The guide can

For example, be a storage facility or include such. The guide means may in particular enable a linear guide. For example, the bearing device, for example, a sliding guide, a rolling guide, a rail guide, a Enable waveguide. Furthermore, the positioning device can also comprise a means for transmitting drive energy. For example, the

Positioning device comprise at least one cable, wherein via the cable drive energy from the means for generating drive energy to the movable part is transferable.

The positioning device may e.g. be designed as a linear unit, wherein the term linear unit comprises the stationary part, the movable part and the means for generating and / or transmission of drive energy.

The profile detection device can in this case have a detection area, in particular a two-dimensional detection area, wherein a profile of

Objects that are within the detection range of the

Profile detection device is detected. Thus, profile data can be generated that represent or encode the profile of an item. By changing the position and / or orientation of the profile detection means, e.g. relative to

Positioning device, can also be a position and / or orientation of the

Be changed detection range.

In this case, the positioning device and / or the profile detection device can be arranged relative to the rail vehicle or fastened to it in such a way that the detection area covers at least a partial area below the rail vehicle. In particular, a central detection direction or detection axis of the detection area can be oriented parallel to a vertical axis of the rail vehicle. Thus, by the profile detection means objects below the

Rail vehicle, in particular so the at least one rail, are detected.

The movable part can be arranged for this purpose in the vertical direction below the stationary part. The vertical direction may in this case be oriented parallel to a vehicle vertical axis. The vertical direction may be oriented from bottom to top when oriented from a vehicle floor to a vehicle roof. In this case, the vertical direction may also be oriented counter to a direction of gravitational force.

For example, it is conceivable that a carriage of the movable part is arranged in the vertical direction below a means for guiding movement. The means to Motion control can in this case be attached to the rail vehicle, in particular on the underside. For example, the profile detection device can be attached directly or indirectly to the carriage. In this way, a distance between the profile detection device and a rail of the track can be reduced in an advantageous manner, which is particularly advantageous for vehicles with high-lying floors.

Alternatively or cumulatively, it is e.g. conceivable that a carriage of the movable part is arranged in the longitudinal direction in front of or behind the stationary part, in particular in front of or behind a means for guiding movement. In this way, advantageously, a desired distance between the profile detection device and a rail of the track can be ensured, which is particularly advantageous for vehicles with low floors.

The longitudinal direction may in this case be oriented parallel to a vehicle longitudinal axis. The longitudinal direction can be oriented from the back to the front, if this one of a

Vehicle rear is oriented to a vehicle front. The previously explained

Vehicle transverse axis can be perpendicular to the vehicle longitudinal axis and perpendicular to

Be oriented vehicle axis.

This advantageously results in a device for determining at least one property of a track, which on any rail vehicle,

in particular on its underside, can be fastened and allows the detection of the property during a standstill or during a journey of the rail vehicle.

The mobility of the profile detection device by the at least one

Positioning device allows advantageously during or after a change in a relative position of the rail vehicle to the track, a position and / or orientation of the profile detection device, in particular by the

Positioning device, can be changed so that the track, in particular a rail, further in the detection range of the profile detection device. For example, if the rail vehicle travels through a curve and, as a result, changes the relative position between the profile detection device and a track of the rail, a position of the profile detection device can be changed or tracked such that the rail remains in the detection area, in particular do not leave this. This can be achieved in particular by the previously explained movement parallel to a vehicle transverse axis.

For the purposes of this invention, a layer may designate a position and / or orientation.

Thus, in an advantageous manner in universal, flexible measuring system is provided, which allows a continuous and accurate detection of at least one property of the track and which can be attached to any rail vehicles, whereby an improved monitoring of these properties is possible. In particular, by determining the at least one property undesirable

Changes in the property are detected, for example, by a comparison of the specific property with a desired target property.

In a further embodiment, the device comprises at least one

Image capture device.

The image capture device can also be attached to the positioning device, in particular to a movable part of the positioning device. Thus, the at least one image capture device by the positioning,

For example, along a, in particular straight-line, trajectory, be movable.

The image capture device can be detachable or non-detachable on the

Positioning be attached. Also, a position and / or orientation of the image capture device relative to the positioning device can be unchangeable or changeable.

According to the profile acquisition device, the image acquisition device can also have a detection range. By means of the image capture devices, objects that are in the detection area can be imaged. Thus, therefore, images or image data of these objects can be generated.

In this case, the positioning device and / or the image capture device can be arranged relative to the rail vehicle, in particular be attached to this, that the detection range of the image capture device an area below the Rail vehicle can capture. In particular, can also be a central

Detection direction or detection axis of the detection range of

Imaging device to be oriented parallel to a vertical axis of the rail vehicle. Thus, objects below the rail vehicle, in particular therefore the at least one rail, can also be detected by the image capturing device.

The profile acquisition device and the image acquisition device can preferably be arranged relative to one another such that the acquisition regions overlap at least partially.

A relative position and / or orientation of the image capture device for

Profile detection device and thus also a relative position and / or orientation of their detection ranges to each other may be previously known or determinable. In particular, a coordinate system of the image acquisition device and a coordinate system of the profile acquisition device can be registered with each other. For example, can be a position and / or orientation of a coordinate system of

Profile detection device relative to a coordinate system of the positioning known or determinable. Also, a position and / or orientation of a coordinate system of the image capture device can be known or determinable relative to the coordinate system of the positioning device. In this case, the position and / or orientation of the coordinate systems of the image capture device for profile acquisition device is also known or determinable.

It results in an advantageous manner, a redundant optical and thus non-contact detection of the property of the track. For example, a detection of the at least one property, in particular of the profile of the rail, by the profile detection device by environmental conditions, for example by leaves on the rail, be disturbed. In this case, the at least one property can be determined as a function of images generated by the image capture device.

Alternatively or cumulatively, by the evaluation of the of

Image capture device generated images an accuracy of the determination of the property of the track, in particular an accuracy of the determination of the spatial position of a rail can be improved. For example, in images taken by the Imaging device can be generated, edges of the rail are detected. Also, in profile data generated by the profile detection device, these edges of the rail can be detected. Furthermore, in each case one position of these edges relative to the coordinate system of the positioning device can be determined. If these relative positions deviate from each other by more than a predetermined amount, then for example only the position determined from the profile data or only the position determined from image data can be used to determine the at least one property of the track. However, depending on the particular one

Properties, in particular the previously explained relative positions, also a fused property, in particular position, can be determined. A merged

Property can e.g. by averaging or by a weighted

Averaging can be determined. Also, a fused layer can be determined by suitable estimation methods, for example by a Kalman filter method. Of course, other methods of fusion are conceivable.

Thus, an accuracy in determining the at least one property of the track increases in an advantageous manner.

In a further embodiment, the device comprises at least one

Position determining device for determining an absolute position and / or orientation of the rail vehicle. The absolute position may hereby designate a position in a global reference coordinate system. The absolute orientation here may designate an orientation in the global reference coordinate system. The position determination device can be designed, for example, as an inertial sensor (INS). The position determination device can also be designed as a GNNS sensor.

The rail vehicle may have a vehicle coordinate system. The proposed position determination device can determine a position and / or orientation of this vehicle coordinate system relative to the global reference coordinate system. As a result, the rail vehicle and thus also of the profile detection device and / or the

Image capture device generated profile data or image data in the global

Reference coordinate system are located. For this purpose, a relative position and / or orientation of the coordinate system of the positioning device relative to the vehicle coordinate system can be known or determinable. For example, as explained in more detail below, the device may comprise a further position determining device for determining the position and / or orientation of the positioning device, in particular also the profile acquisition device and / or the image acquisition device, relative to the vehicle coordinate system.

This advantageously results in that the profile data generated by the profile acquisition device and / or the image data generated by the image acquisition device, e.g. after a journey of the rail vehicle can be assigned to a specific position in the global reference coordinate system. This simplifies one

subsequent evaluation and assignment of this profile data or image data, e.g. to a certain section of the route.

In a further embodiment, the device comprises at least one further position determination device for determining a position and / or orientation of the positioning device and / or profile detection device and / or the

Image capture device relative to the rail vehicle. The others

Position determination device makes it possible to determine the relative position and / or orientation of the positioning device and / or the profile acquisition device and / or the image acquisition device relative to the rail vehicle, in particular relative to a vehicle coordinate system of the rail vehicle.

For example, the device may comprise at least one distance detection device for detecting a distance of the profile detection device and / or the

Positioning device and / or the image detection device of a reference point or a reference portion of the rail vehicle include.

The at least one distance detection device may e.g. as optical

Distance sensor may be formed. In the case that the positioning device comprises a cable to drive the movable part, the distance detection device may also be designed as Seilzugwegaufnehmereinrichtung.

Preferably, a relative position and / or orientation of the

Profile detection device and / or image capture device relative to a Coordinate system of the positioning known or determinable. In this case, the at least one further position determining device can serve to determine a position and / or orientation of the positioning device relative to the rail vehicle. Overall, it is thus possible to assign profile data generated by the profile acquisition device and / or image data generated by the image acquisition device to a specific position and / or orientation in the vehicle coordinate system and thus possibly in a global reference coordinate system.

Of course, the device may comprise at least one memory device, wherein the profile data generated by the profile acquisition device and / or the image data generated by the image capture device and optionally information on a spatial position and / or orientation of this data in one of the previously described coordinate systems can be stored.

In a preferred embodiment, the profile detection device is as

formed two-dimensional profile detection device. However, it is due to the temporal arrangement of the detected properties in the global coordinate system

Three-dimensional profile generated by the profile detection device. So it is e.g. it is possible to generate three-dimensional profile data from two-dimensional profile data which were generated at different, in particular successive points in time. In particular, the profile detection device can be so on

Be arranged rail vehicle that the two-dimensional profile is arranged in a plane perpendicular to a vehicle longitudinal axis. Preferably, the

formed two-dimensional profile detection device as a laser scanner. This results in an advantageous manner, a particularly simple and reliable detection of the profile.

In a further embodiment, the device comprises at least one

Lighting device. In this case, the illumination device can likewise be movable by the positioning device. In particular, the illumination device may be attached to the positioning device, e.g. be releasably or permanently attached. Also, a position and / or orientation of the illumination device relative to

Positioning be changeable or unchangeable. The illumination device may in this case be arranged, for example, on the positioning device, in particular on the movable part of the positioning device, that the Lighting device at least part of the previously explained

Detection areas of the profile detection device or the image capture device illuminates.

This advantageously results in an improved optical detection of the profile of the at least one rail.

In a further embodiment, the device comprises at least one means for beam guidance and / or beam shaping. The means for beam guidance and / or

In this case, beam shaping serves in particular for guiding and / or shaping a light beam emitted and / or to be received by the profile detection device, in particular a laser beam emitted and / or to be received.

The means for beam guidance and / or beam shaping can hereby at the

Positioning device, in particular on the movable part of the positioning, be fixed, e.g. detachable or unsolvable.

Preferably, a position and / or orientation of the means for beam guidance and / or beam shaping relative to the positioning and thus also a beam direction can be changed. This results in an advantageous manner that the spatial position and / or orientation of the detection range of the profile detection device can be changed by the means for beam guidance and / or beam shaping. Furthermore, it results in an advantageous manner that a space of the proposed device can be minimized, since the profile detection device is not mandatory on the

Positioning device is to be arranged that the detection area is already aligned in this position and / or orientation of the profile detection device such that the at least one rail of the track can be detected. Rather, by the means for beam guidance and / or beam shaping a spatial position and / or orientation of the detection range can be changed, whereby e.g. a height of the device in the vertical direction below the rail vehicle can be reduced.

Is / are the position (s) or the orientation (s) of the profile detection device and / or the image sensing device and / or the means for beam guidance / beam shaping and / or the at least one illumination device relative to the positioning changeable, so a change manually, for example by manual Actuation by operating personnel, or actorgestützt done. For example, it is conceivable that the position and / or orientation relative to the positioning device prior to operation of the device according to the invention, in particular before a driving operation of

Rail vehicle, is set manually, the position and / or orientation during operation remains unchanged. This relates in particular to the setting of a position and / or orientation of the profile detection device, the

Image capture device and the illumination device.

Alternatively or cumulatively, the position and / or orientation can also during the operation of the device, in particular during a driving operation of the

Rail vehicle, to be changed, in particular actuator-modified. This relates in particular to the position and / or orientation of the means for beam guidance and / or beam shaping.

Preferably, a system for determining at least one property of a track comprises at least two proposed devices, wherein each device may be designed according to one of the previously explained embodiments. In particular, the system can also be used to determine a track position. The

In this case, devices can be arranged relative to one another such that detection regions of the profile detection devices of the two devices do not overlap.

In particular, the devices may be arranged on a rail vehicle such that a first rail of a track for the rail vehicle through the

Profile detection device of a first device and a further rail of the track by the profile detection device of another device can be detected. In particular, the devices can be arranged with a, in particular variable, distance from each other on the rail vehicle, wherein the distance along a vehicle transverse direction is measured. For example, The devices may be arranged along a straight line parallel to the vehicle transverse direction spaced from each other. This allows, in particular, a track-independent detection of a track position.

For example, can be a guide to the movement of the profiling devices of both

Devices take place by a common guide means or by different guide means. Further proposed is a rail vehicle. The rail vehicle comprises at least one device according to one of the previously described

Embodiments. The device is attached to the rail vehicle.

Preferably, the device is attached to a car body of the rail vehicle, in particular on an underside of the car body. In this case, a stationary part of the positioning device may be fastened to the rail vehicle, wherein a movable part in this case is movable relative to the stationary part and thus to the rail vehicle.

In particular, the device may be attached to the rail vehicle such that the profile detection device is movable parallel to a vehicle transverse axis, in particular along a straight trajectory parallel to the vehicle transverse axis.

This results in an advantageous manner a rail vehicle, which, in particular in a driving operation, the determination of at least one property of the track allows, the determination is made possible continuously and with high accuracy.

In a further embodiment, the rail vehicle comprises two devices, each device according to one of the previously described

Embodiments may be formed. Here, a first device is arranged on the rail vehicle such that at least one property of a first rail of a track can be determined by the first device, wherein a further device is arranged on the rail vehicle such that at least one property of another rail of the track through the other Device is determinable.

In particular, the first device can be arranged on the rail vehicle such that a profile of the first rail can be detected by the profile detection device of the first device. Accordingly, the further device can be arranged on the rail vehicle such that a profile of the further rail can be detected by the profile detection device of the further device. On the basis of the profiles of both rails, a position and / or orientation of the track center can be determined in a simple manner, in particular if a relative position and / or orientation of both positioning devices or both

Profile detection devices and / or image capture devices to each other, for example in the vehicle coordinate system, known or determinable. The position and / or orientation of the track center may then be determined and stored relative to a vehicle coordinate system or relative to a global reference coordinate system, as previously explained.

Further proposed is a method for determining at least one property of a track for a rail vehicle, wherein a profile detection device detects a profile of at least one rail of the track.

According to the invention, the at least one profile detection device is moved before and / or during and / or after the detection of the profile by a positioning device. In particular, the profile detection device can be replaced by the

Positioning device relative to the rail vehicle, in particular parallel to a vehicle transverse axis of the rail vehicle to be moved. Here, the

Profile detection device along a predetermined, in particular rectilinear, trajectory are moved.

The proposed method is in this case in particular by a device according to one of the embodiments described above feasible. Further, a position and / or orientation of the generated profile data relative to a

Coordinate system of the positioning or relative to a

Vehicle coordinate system or relative to a global reference coordinate system. Furthermore, the profile data and possibly the associated information relating to the position and / or orientation can be stored in one of the aforementioned coordinate systems.

Furthermore, the profile data can be evaluated in such a way that at least one of the properties of the track explained in the introduction is determined. Also, a check of the property by adjusting the inventively determined property with a predetermined desired property done. The particular property or a deviation, in particular an undesired deviation, can be displayed to a driver and / or maintenance personnel via a display device, for example.

For example, For example, the device may comprise at least one communication device, for example a wireless or wired communication device. This can e.g. for transmitting the profile data, information about the position and / or

Orientation and / or other information. It is further conceivable that the device already comprises an evaluation device, which is designed to determine the at least one property. In this case, the specific property and, if necessary, an undesirable deviation over the

Communication device are transmitted.

The invention will be explained in more detail with reference to an embodiment. The figures show:

1 is a schematic detail view of a device according to the invention,

Fig. 2 is a schematic front view of a rail vehicle, and

Fig. 3 is a schematic side view of a rail vehicle.

Hereinafter, like reference numerals designate elements having the same or similar technical features.

FIG. 1 shows a schematic representation of a device 1 according to the invention. The device 1 comprises a profile detection device embodied as a two-dimensional laser scanner 2 for detecting a transverse profile of a rail 3 of a track for a rail vehicle 4. Schematically illustrated is a

Detection area 5 of the laser scanner 2. Furthermore, the device 1 comprises a camera 6 designed as an image capture device. Also shown schematically is a detection area 7 of the camera 6, the device 1 further comprises two trained lighting devices 8, wherein also schematically

Illumination areas 9 of the lighting devices 8 are shown. Also shown is a mirror 13 for guiding the laser scanner 2

emitted and to be received light rays. The mirror 13 is on the movable part 1 1 b, in particular in the housing 12, respectively.

The mirror 13 in this case forms the previously described means for beam guidance and / or beam shaping. The mirror 13 can in this case in particular be displaceable, that is to say be movable with one or more translational movements, and be rotatable, that is to say be movable with one or more rotational movements.

This advantageously makes it possible to arrange the laser scanner 2 such that it is not aligned with its detection area 7 towards the rail 3, but transversely to the rail 3. As a result, an installation space of the device 1, in particular a height along a vertical direction zf of the rail vehicle 4, can be minimized.

Furthermore, the device 1 comprises a distance sensor 10.

The device 1 further comprises a positioning device 1 1. The positioning device 1 1 comprises a stationary part 1 1 a and a relative to the stationary part 1 1 a

movable movable part 1 1 b. The movable part 1 1 b may be attached via a movable carriage on the stationary part 1 1 a. The movable part 1 1 b comprises a housing 12 or has this. The movable part 1 1 b can continue one

Include carrier device. Thus, the housing 12 may also be referred to as a carrier housing. On the movable part 1 1 b, in particular within the housing 12, the laser scanner 2, the camera 6, the lighting devices 8 and the distance sensor 10 is arranged. Of course, an arrangement of the distance sensor 10 outside of the carrier housing 12 is conceivable. In this case, at least a part of the distance sensor 10 may be arranged outside an outer wall of the carrier housing 12.

The housing 12 may in this case corresponding openings, in particular on a

Have underside of the housing 12 to allow the detection and / or illumination of a rail 3 out of the housing 12, so from an internal volume of the housing 12. It is shown that the laser scanner 2 and the camera 6 at the

Positioning device 1 1 are attached, that the detection areas 5, 7

overlap and each include the rail 3.

The lighting devices 8 are in this case arranged on the positioning device 1 1 that the illumination areas 9 also overlap with the detection areas 5, 7 and thus illuminate the rail 3.

Not shown is a coordinate system of the positioning device 1 1, which e.g. fixed relative to the movable part 1 1 b can be arranged. A position and / or orientation of the laser scanner 2, the camera 6 and the illumination devices 8 relative to the coordinate system of the positioning device 11 can be adjustable in this case. In particular, a desired position and / or orientation in time before an operation of the device 1, in particular before a driving operation of

Rail vehicle 4, are set, wherein during operation of the device 1, this position and / or orientation remains unchanged.

Also, the position and / or orientation of the mirror 13 relative to the

Coordinate system of the positioning device 1 1 can be variable, in particular actuator-assisted changeable. In this case, a change may in particular also take place during operation of the device 1, in particular during driving operation of the rail vehicle 4, in particular during operation of the laser scanner 2.

The stationary part 1 1 a of the positioning device 1 1 may for example comprise parts of a linear drive, in particular a stepper motor for driving the movable part 1 1 b. Furthermore, the positioning device can comprise or form guide means for the linear guidance of the movable part 11b relative to the stationary part 11a. Thus, a linear drive is provided by the positioning device 1 1.

It is shown that the positioning device 1 1, in particular the stationary part 1 1 a, on a car body 14, in particular on an underside of the car body 14, the rail vehicle 4 is fixed. Also shown is a vehicle coordinate system, wherein a vehicle transverse direction yf and a vehicle vertical direction zf is shown. A vehicle longitudinal direction xf (see FIG. 3) is oriented in FIG. 1 orthogonal to the plane of the drawing and oriented toward a viewer. The positioning device 1 1 is in this case designed and arranged on the rail vehicle 4, that the movable part 1 1 b, in particular the laser scanner 2, along a rectilinear trajectory is movable, wherein the rectilinear trajectory is oriented parallel to the vehicle transverse direction yf.

In this case, the vehicle longitudinal direction xf parallel to a roll axis of the

Rail vehicle 4, the vehicle transverse direction yf parallel to a vehicle pitch axis of the rail vehicle 4 and the vehicle vertical direction zf parallel to a

Vehicle yaw axis of the rail vehicle 4 be oriented.

The distance sensor 10 detects a distance of the movable part 1 1 b from a reference portion of the rail vehicle 4, in particular a portion of the

Carcass 14. In this way, a position and / or orientation of the positioning device 1 1, in particular the movable part 1 1 b, and thus detects a position and orientation of the laser scanner 2, the camera 6 and the other parts of the device 1, relative to the vehicle coordinate system continuously become.

The distance sensor 10 or another, not shown, distance sensor may alternatively or cumulatively a distance between the two devices 1 a, 1 b shown in Fig. 2, in particular a distance between the moving parts 1 1 b of the positioning device 1 1 of the two devices. 1 a, 1 b.

Furthermore, the device 1 comprises a designed as inertial unit 16

Orientation device of the rail vehicle 4. This allows a

Determining a position and / or orientation of the rail vehicle 4 in a global reference coordinate system, not shown. This in turn makes it possible to determine the position of the laser scanner 2, the camera 6 and the other parts of the device 1 and in particular the profile data generated by the laser scanner 2 and the image data generated by the camera 6 relative to the global

Reference coordinate system. The carrier housing 12 can be moved translationally by a not fully shown linear unit to the housing 1 1 and thus the laser scanner 2 and the camera 6 to the moving relative to the car body 14 rail profile

to track. The carrier housing 12 may in this case be part of the linear unit or be attached to a part, in particular the movable part 1 1 b, the linear unit.

Through the mirror 13, a position and / or orientation of the detection area 5 can be changed. As a result, different distances between the car body 14, the housing 12 and the upper edge of the rail 3, for example in different rail vehicles 4, can be taken into account in an advantageous manner. Of course, an embodiment is conceivable in which the laser scanner 2 is oriented such that the rail 3 directly, ie without mirror 13, in the detection range 5 of

Laser scanner 2 is located.

The images or image data generated by the image acquisition device embodied as a camera 6 can hereby be processed with known image processing algorithms. In this case, in particular an orientation of the movable part 11 b of the positioning device 11 relative to the rail 3 can be image-based, that is to say determined by evaluating the image data. By evaluating the image data but also a misdetection or function of the laser scanner 2 can be detected.

In Fig. 2 is a schematic front view of a rail vehicle 4 with two devices 1 a, 1 b shown, with the sake of clarity, only the

Positioning 1 1 and in particular their stationary parts 1 1 a and moving parts 1 1 b are shown. Here, the devices 1 shown in Fig. 2 may be formed as the device 1 shown in Fig. 1. The devices 1 a, 1 b are in this case arranged along a vehicle transverse direction yf on opposite sides of the car body 14 of the rail vehicle 4.

Further illustrated are wheels 17 of the rail vehicle 4, which run on rails 3. The wheels 17 may in this case be fastened to a bogie 18 (see FIG. 3) of the rail vehicle 4. If the rail vehicle 4 travels a curve, at least the relative position between a car body 14 of the rail vehicle 4 and the tracks 3 changes. In order to prevent the track 3 from the detection areas 5 of the laser scanner 6 and the detection areas from being prevented by this change in the relative position 7 of the Cameras 6 of the devices 1 a, 1 b move out, the laser scanner 2 and the camera 6 of the respective devices 1 can be moved by the positioning 1 1 such that the rails 3 remain in the detection areas 5, 7 or moved into it again.

This is a first device 1 a for detecting a first rail 3a and a further device 1 b for detecting a further rail 3b. Also shown is an inertial unit 16 for the global referencing of a vehicle coordinate system and thus also the position and orientation of the laser scanner 2, the cameras 6 and the profile data and image data generated thereby.

The detection of the profiles of both the first rail 3a and the further rail 3b further enables the detection of a position and / or orientation of a track center, in particular a center line between the tracks 3. This track center or center line can be used as a reference point or reference line for a light measurement serve by other systems. Of course, the position and orientation of the track center can also be determined relative to the global reference coordinate system according to the preceding embodiments and optionally stored.

FIG. 3 shows a schematic side view of a rail vehicle 4 with a device 1 according to the invention. It is shown that wheels 17 are arranged on a bogie 18. The wheels 17 run on rails 3. At an underside 15 of a car body 14 of the rail vehicle 4 is a

Device 1 according to the invention with a positioning device 1 1, which has a stationary part 1 1 a and a movable part 1 1 b arranged. In this case, the device 1 can be designed like the device 1 described in FIG. Also shown is a vehicle longitudinal direction xf.

Also shown is a device 19 for detecting the available clear space around the rail vehicle 4. The device 1 according to the invention enables the determination of a track center and thus the determination of the information for

available clear space relative to this track center.

The device 1 according to the invention can also be referred to as a track position detection system, wherein it is connected to a car body of any road, subway or full-train can be attached. Overall, the proposed device 1 allows the determination or detection of a track, a radius, a track center, a vertical curvature and a gradient of the rail or the track. Furthermore, a rail profile and its quality can be determined.

Claims

claims

1 . Device for determining at least one property of a track for a rail vehicle (4), wherein the device (1, 1 a, 1 b) at least one

Profile detection device for detecting a profile of at least one rail (3, 3a, 3b) of the track comprises

characterized in that

the device (1, 1 a, 1 b) comprises at least one positioning device (1 1), wherein the at least one profile detection device by the

Positioning device (1 1) is movable.

2. Apparatus according to claim 1, characterized in that the device (1) comprises at least one image capture device.

3. Device according to one of the preceding claims, characterized in that the device (1, 1 a, 1 b) comprises at least one position determining device for determining an absolute position and / or orientation of the rail vehicle (4).

4. Device according to one of the preceding claims, characterized in that the device (1, 1 a, 1 b) at least one further

Position determining device for determining a position and / or orientation of the positioning device (1 1) and / or the profile detection device relative to the rail vehicle (4).

5. Device according to one of the preceding claims, characterized in that the profile detection device as a two-dimensional

Profile detection device is formed.

6. Device according to one of the preceding claims, characterized in that the device (1, 1 a, 1 b) comprises at least one illumination device.

7. Device according to one of the preceding claims, characterized in that the device (1, 1 a, 1 b) at least one means for beam guidance and / or Beam forming includes.

8. Rail vehicle, comprising at least one device (1) according to one of claims 1 to 7, wherein the device (1, 1 a, 1 b) is attached to the rail vehicle (4).

9. Rail vehicle according to claim 8, characterized in that the

Rail vehicle comprises two devices (1 a, 1 b) according to one of claims 1 to 7, wherein a first device (1 a) on the rail vehicle (4) is arranged, that at least one property of a first rail (3 a) of a track through the first device (1 a) is determinable, wherein a further

Device (1 b) is arranged on the rail vehicle (4) such that at least one property of another rail (3b) of the track can be determined by the further device (1b).

10. A method for determining at least one property of a track for a rail vehicle (4), wherein a profile detection device detects a profile of at least one rail (3, 3a, 3b) of the track,

characterized in that

the at least one profile detection device is moved before and / or during and / or after the detection of the profile by a positioning device (11).