EP3160820A1 - Dispositif et procédé pour déterminer au moins une propriété d'une voie pour un véhicule ferroviaire et véhicule ferroviaire - Google Patents
Dispositif et procédé pour déterminer au moins une propriété d'une voie pour un véhicule ferroviaire et véhicule ferroviaireInfo
- Publication number
- EP3160820A1 EP3160820A1 EP15714458.5A EP15714458A EP3160820A1 EP 3160820 A1 EP3160820 A1 EP 3160820A1 EP 15714458 A EP15714458 A EP 15714458A EP 3160820 A1 EP3160820 A1 EP 3160820A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- profile
- track
- rail vehicle
- rail
- vehicle
- Prior art date
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000001514 detection method Methods 0.000 claims abstract description 120
- 238000005286 illumination Methods 0.000 claims description 11
- 230000033001 locomotion Effects 0.000 description 10
- 238000007493 shaping process Methods 0.000 description 10
- 230000003287 optical effect Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000011156 evaluation Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000012935 Averaging Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
- B61L23/042—Track changes detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
- B61L23/042—Track changes detection
- B61L23/045—Rail wear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
- B61L23/042—Track changes detection
- B61L23/047—Track or rail movements
Definitions
- 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.
- 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
- the system is mounted on a vehicle that travels along the route to be monitored.
- the system includes a scanner and a data analyzer.
- 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.
- 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
- 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.
- 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.
- the device can also for
- 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.
- 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.
- the profile detection device can enable a contactless detection of the profile.
- 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.
- 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.
- 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.
- 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
- rectilinear motion along a trajectory is movable, which is oriented parallel to a vehicle transverse axis of the rail vehicle.
- the at least one profile acquisition device can be replaced by the at least one profile acquisition device
- Positioning along several, in particular rectilinear, trajectories is movable.
- 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
- the means may, for example, an electric motor, in particular a stepper motor or a DC motor or a synchronous motor or a
- the positioning device may comprise at least one movement control means.
- 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
- the guide means may in particular enable a linear guide.
- the bearing device for example, a sliding guide, a rolling guide, a rail guide, a Enable waveguide.
- the positioning device can also comprise a means for transmitting drive energy.
- the bearing device for example, a sliding guide, a rolling guide, a rail guide, a Enable waveguide.
- the positioning device can also comprise a means for transmitting drive energy.
- 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
- Profile detection device is detected.
- profile data can be generated that represent or encode the profile of an item.
- Positioning device can also be a position and / or orientation of the
- 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.
- a central detection direction or detection axis of the detection area can be oriented parallel to a vertical axis of the rail vehicle.
- 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.
- the vertical direction may also be oriented counter to a direction of gravitational force.
- 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.
- 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.
- 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.
- 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.
- Vehicle transverse axis can be perpendicular to the vehicle longitudinal axis and perpendicular to
- 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.
- a layer may designate a position and / or orientation.
- Changes in the property are detected, for example, by a comparison of the specific property with a desired target property.
- the device comprises at least one
- the image capture device can also be attached to the positioning device, in particular to a movable part of the positioning device.
- the at least one image capture device by the positioning is attached to the positioning device, in particular to a movable part of the positioning device.
- 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.
- the image acquisition device can also have a detection range.
- the image capture devices 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.
- 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.
- the detection range of the image capture device an area below the Rail vehicle can capture can also be a central
- Imaging device to be oriented parallel to a vertical axis of the rail vehicle.
- 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.
- 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.
- a coordinate system of the image acquisition device and a coordinate system of the profile acquisition device can be registered with each other.
- Profile detection device relative to a coordinate system of the positioning known or determinable.
- 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.
- the position and / or orientation of the coordinate systems of the image capture device for profile acquisition device is also known or determinable.
- 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.
- the at least one property can be determined as a function of images generated by the image capture device.
- 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.
- edges of the rail are detected.
- profile data generated by the profile detection device these edges of the rail can be detected.
- 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.
- a predetermined amount 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.
- Property can e.g. by averaging or by a weighted
- Averaging can be determined.
- 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.
- an accuracy in determining the at least one property of the track increases in an advantageous manner.
- 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).
- INS inertial sensor
- 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.
- 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.
- 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.
- 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.
- 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.
- 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
- the distance detection device may be formed.
- the positioning device comprises a cable to drive the movable part
- the distance detection device may also be designed as Seilzugwegaufspawn noticed.
- 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.
- 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.
- the profile detection device is as
- the profile detection device can be so on
- the two-dimensional profile is arranged in a plane perpendicular to a vehicle longitudinal axis.
- the two-dimensional profile is arranged in a plane perpendicular to a vehicle longitudinal axis.
- the device comprises at least one
- the illumination device can likewise be movable by the positioning device.
- 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.
- the device comprises at least one means for beam guidance and / or beam shaping.
- 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.
- 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.
- 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.
- 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 actorgechem done.
- 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 are Image capture device and the illumination device.
- 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.
- 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.
- the system can also be used to determine a track position.
- devices can be arranged relative to one another such that detection regions of the profile detection devices of the two devices do not overlap.
- 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.
- 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.
- 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.
- the rail vehicle comprises at least one device according to one of the previously described
- the device is attached to the rail vehicle.
- the device is attached to a car body of the rail vehicle, in particular on an underside of the car body.
- 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.
- 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.
- the rail vehicle comprises two devices, each device according to one of the previously described
- Embodiments may be formed.
- 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.
- 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.
- 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.
- 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.
- a profile detection device detects a profile of at least one rail of the track.
- 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.
- 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.
- 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
- Vehicle coordinate system or relative to a global reference coordinate system 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.
- 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.
- 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
- the device already comprises an evaluation device, which is designed to determine the at least one property.
- FIG. 1 is a schematic detail view of a device according to the invention
- Fig. 2 is a schematic front view of a rail vehicle
- Fig. 3 is a schematic side view of a rail vehicle.
- 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
- 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
- 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.
- 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
- 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
- the housing 12 may also be referred to as a carrier housing.
- the laser scanner 2, the camera 6, the lighting devices 8 and the distance sensor 10 is arranged 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.
- 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
- Positioning device 1 1 are attached, that the detection areas 5, 7
- 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.
- a coordinate system of the positioning device 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.
- Rail vehicle 4 are set, wherein during operation of the device 1, this position and / or orientation remains unchanged.
- Coordinate system of the positioning device 1 1 can be variable, in particular actuator-assisted changeable.
- 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 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.
- the positioning device 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.
- 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
- 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.
- the device 1 comprises a designed as inertial unit 16
- 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
- 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.
- 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.
- 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.
- a misdetection or function of the laser scanner 2 can be detected.
- 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.
- 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.
- 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.
- first device 1 a for detecting a first rail 3a and a further device 1 b for detecting a further rail 3b.
- 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.
- 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 with a positioning device 1 1, which has a stationary part 1 1 a and a movable part 1 1 b arranged.
- the device 1 can be designed like the device 1 described in FIG. Also shown is a vehicle longitudinal direction xf.
- the device 1 enables the determination of a track center and thus the determination of the information for
- the device 1 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.
- 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.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Machines For Laying And Maintaining Railways (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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PL15714458T PL3160820T3 (pl) | 2014-06-25 | 2015-03-31 | Urządzenie i sposób określania co najmniej jednej właściwości toru dla pojazdu szynowego oraz pojazd szynowy |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102014212232.5A DE102014212232A1 (de) | 2014-06-25 | 2014-06-25 | Vorrichtung und Verfahren zur Bestimmung mindestens einer Eigenschaft eines Gleises für ein Schienenfahrzeug sowie Schienenfahrzeug |
PCT/EP2015/056971 WO2015197206A1 (fr) | 2014-06-25 | 2015-03-31 | Dispositif et procédé pour déterminer au moins une propriété d'une voie pour un véhicule ferroviaire et véhicule ferroviaire |
Publications (2)
Publication Number | Publication Date |
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EP3160820A1 true EP3160820A1 (fr) | 2017-05-03 |
EP3160820B1 EP3160820B1 (fr) | 2019-11-27 |
Family
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Application Number | Title | Priority Date | Filing Date |
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EP15714458.5A Active EP3160820B1 (fr) | 2014-06-25 | 2015-03-31 | Dispositif et procédé pour déterminer au moins une propriété d'une voie pour un véhicule ferroviaire et véhicule ferroviaire |
Country Status (6)
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EP (1) | EP3160820B1 (fr) |
CN (1) | CN107074255B (fr) |
DE (1) | DE102014212232A1 (fr) |
ES (1) | ES2773314T3 (fr) |
PL (1) | PL3160820T3 (fr) |
WO (1) | WO2015197206A1 (fr) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
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JP5885895B1 (ja) * | 2014-08-07 | 2016-03-16 | 三菱電機株式会社 | レール位置計測装置および演算部 |
CN111433560B (zh) * | 2017-12-01 | 2022-02-08 | 沃尔沃卡车集团 | 用于车辆维护的方法 |
RU2680927C1 (ru) * | 2018-02-07 | 2019-02-28 | Открытое акционерное общество "Радиоавионика" | Способ диагностики рельсового пути и синхронизации результатов измерений |
DE202019102407U1 (de) | 2019-04-29 | 2019-05-16 | PRZEDSIEBIORSTWO USŁUGOWO TECHNICZNE GRAW Sp. z o. o. | Einrichtung zum Vermessen von Schienenparametern, insbesondere von Eisenbahnschienen |
CN110143218B (zh) * | 2019-06-27 | 2020-07-31 | 合肥工业大学 | 一种高铁道岔直线度和扭曲角度检测方法及其检测装置 |
CN110525463A (zh) * | 2019-07-30 | 2019-12-03 | 武钢资源集团有限公司 | 地下矿山有轨运输轨道检查车及检查方法 |
DE102020118964A1 (de) | 2020-07-17 | 2022-01-20 | Data M Sheet Metal Solutions Gmbh | Messvorrichtung zur Vermessung langer Strangprofile |
AT525210A1 (de) * | 2021-07-07 | 2023-01-15 | Ait Austrian Inst Tech Gmbh | Verfahren zur dreidimensionalen Rekonstruktion des Verlaufs der Schienenmittellinie von Schienen eines Schienennetzes für Schienenfahrzeuge |
AT525305A1 (de) * | 2021-08-04 | 2023-02-15 | Siemens Mobility Austria Gmbh | Sensoranordnung und Fahrwerk |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS51101561A (en) * | 1975-03-05 | 1976-09-08 | Japan National Railway | Kogakushikikidokuruisokuteisochi |
DE4238034C1 (de) | 1992-11-11 | 1994-03-31 | Michael Dipl Ing Sartori | Verfahren und Vorrichtung zum inspektierenden, berührungslosen Abtasten der unmittelbaren Umgebung einer Gleisstrecke hinsichtlich bestimmter Meßkriterien |
US6064428A (en) * | 1996-08-05 | 2000-05-16 | National Railroad Passenger Corporation | Automated track inspection vehicle and method |
DE19801311A1 (de) | 1997-10-30 | 1999-05-06 | Gsg Knape Gleissanierung Gmbh | Schienengebundene Instandhaltungsmaschine |
JP3411861B2 (ja) * | 1999-08-30 | 2003-06-03 | 財団法人鉄道総合技術研究所 | 慣性正矢法軌道狂い検測装置 |
GB2403861B (en) | 2003-07-11 | 2006-03-29 | Omnicom Engineering Ltd | A method and system of surveying and measurement |
DE10359710A1 (de) | 2003-12-18 | 2005-07-28 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Vorrichtung zum berührungslosen Erfassen von Abständen zu Gegenständen |
GB0410328D0 (en) * | 2004-05-08 | 2004-06-09 | Aea Technology Plc | Track monitoring |
RU2385446C2 (ru) * | 2004-06-30 | 2010-03-27 | Джорджтаун Рэйл Эквипмент Компани | Система и способ для контроля железнодорожного пути |
DE102007015257B4 (de) * | 2006-03-29 | 2016-03-10 | Schmid Elektronik Ag | Messeinrichtung |
EP1970279A1 (fr) * | 2007-03-12 | 2008-09-17 | Strukton Railinfra Installatietechniek B.V. | Unité de caméra pour la surveillance d'une voie ferrée |
US7659972B2 (en) * | 2007-08-22 | 2010-02-09 | Kld Labs, Inc. | Rail measurement system |
EP2485010B1 (fr) * | 2011-02-03 | 2014-08-06 | DMA S.r.l. | Procédé de mesure d'un profil de rail par triangulation optique et système de mesure correspondant |
CN103635375A (zh) * | 2011-05-24 | 2014-03-12 | 内布拉斯加大学董事会 | 适于对导轨偏转进行成像和测量的视觉系统 |
DE102011106345B4 (de) * | 2011-06-08 | 2017-01-12 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Streckenvalidierung |
CN202400107U (zh) * | 2011-10-19 | 2012-08-29 | 北京鼎汉检测技术有限公司 | 铁路轨道动态检测钢轨侧面磨耗检测装置 |
KR101228349B1 (ko) * | 2012-07-03 | 2013-02-13 | (주)스마텍 | 철도시설물 동기화 감시 시스템 |
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2014
- 2014-06-25 DE DE102014212232.5A patent/DE102014212232A1/de not_active Ceased
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2015
- 2015-03-31 WO PCT/EP2015/056971 patent/WO2015197206A1/fr active Application Filing
- 2015-03-31 ES ES15714458T patent/ES2773314T3/es active Active
- 2015-03-31 EP EP15714458.5A patent/EP3160820B1/fr active Active
- 2015-03-31 PL PL15714458T patent/PL3160820T3/pl unknown
- 2015-03-31 CN CN201580034469.XA patent/CN107074255B/zh active Active
Also Published As
Publication number | Publication date |
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CN107074255A (zh) | 2017-08-18 |
WO2015197206A1 (fr) | 2015-12-30 |
EP3160820B1 (fr) | 2019-11-27 |
PL3160820T3 (pl) | 2020-05-18 |
ES2773314T3 (es) | 2020-07-10 |
CN107074255B (zh) | 2020-02-21 |
DE102014212232A1 (de) | 2015-12-31 |
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