EP3351452A1 - Verfahren und anlage zur automatischen analyse der entwicklung der gleisgeometrie - Google Patents

Verfahren und anlage zur automatischen analyse der entwicklung der gleisgeometrie Download PDF

Info

Publication number
EP3351452A1
EP3351452A1 EP18152813.4A EP18152813A EP3351452A1 EP 3351452 A1 EP3351452 A1 EP 3351452A1 EP 18152813 A EP18152813 A EP 18152813A EP 3351452 A1 EP3351452 A1 EP 3351452A1
Authority
EP
European Patent Office
Prior art keywords
vertical
instant
geographical position
determined
rolling stock
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
Application number
EP18152813.4A
Other languages
English (en)
French (fr)
Other versions
EP3351452B1 (de
Inventor
Estelle BONGINI
Christine FUNFSCHILLING
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SNCF Reseau
Original Assignee
SNCF Reseau
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by SNCF Reseau filed Critical SNCF Reseau
Publication of EP3351452A1 publication Critical patent/EP3351452A1/de
Application granted granted Critical
Publication of EP3351452B1 publication Critical patent/EP3351452B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
    • B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
    • 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
    • B61L15/0094—
    • 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 vehicle trains
    • B61L23/04—Control, warning, or like safety means along the route or between vehicles or vehicle trains for monitoring the mechanical state of the route
    • B61L23/042—Track changes detection
    • B61L23/047—Track or rail movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
    • B61L25/021—Measuring and recording of train speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
    • B61L25/026—Relative localisation, e.g. using odometer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/50—Trackside diagnosis or maintenance, e.g. software upgrades
    • B61L27/53—Trackside diagnosis or maintenance, e.g. software upgrades for trackside elements or systems, e.g. trackside supervision of trackside control system conditions

Definitions

  • the present invention relates to railway traffic lanes, and more specifically to monitoring the evolution of the geometry of such lanes.
  • the railway traffic lanes can be subject to local damage mainly resulting from the trains' traffic density and the dynamic behavior of the trains in their interaction with the track and / or the climate and / or the type the ground on which they lie and / or the maintenance operations they have undergone.
  • Some of these degradations result in a local modification of the geometry of the track, characterized for its vertical part mainly by a vertical defect and / or a left defect or cant deviation, and for its horizontal part by a defect of transversal leveling and / or a gap defect.
  • the railways are tracked either by means of machines measuring an arrow, for example of the Mauzin type, or by means of so-called inertial systems, for example a an inertial unit and cameras acquiring video images, such as the GEOV / GEOV2 system from MERMEC (installed on the IRIS train dedicated to the surveillance of high-speed lines in France).
  • inertial systems for example a an inertial unit and cameras acquiring video images, such as the GEOV / GEOV2 system from MERMEC (installed on the IRIS train dedicated to the surveillance of high-speed lines in France).
  • the detection of damage requires the use of specific equipment whose circulation is expensive and usually requires dedicated traffic paths (especially in the case of IRIS), or even the interruption of train traffic.
  • a detected degradation exceeds a predefined threshold at a specific location, an alert is issued.
  • a predefined threshold There are several degrees / warning thresholds. If the last warning threshold (or slowdown value) is reached, a maintenance operation is immediately decided. This operation requires the temporary closure of the track concerned and the use of machinery maintenance and personnel. However, if these maintenance machines and / or personnel are not available, or if it is not possible to temporarily prohibit traffic on the track concerned, a slowdown in traffic is imposed.
  • the invention relates to a method of analyzing the geometry of at least one traffic lane of a network including rail, to overcome the aforementioned drawbacks.
  • this installation may also include accelerometers installed in a rolling stock box.
  • the rolling stock can be selected from a group comprising at least one locomotive, a motor vehicle, a railway car, and a wagon.
  • the object of the invention is in particular to propose a method, and an associated facility 1, for enabling the automatic analysis of the geometry of traffic lanes 2 belonging to a rail network and each comprising two rail queues.
  • FIG. 1 We schematically and functionally illustrated on the figure 1 an exemplary non-limiting embodiment of an analysis facility 1 according to the invention.
  • an analysis facility 1 comprises at least rolling stock 3 equipped with sensors, at least acceleration, and suitable for driving on railway traffic lanes 2 each comprising two rows of rails, processing means 4, and analysis means 5.
  • the rolling stock 3 can be of any type as long as they can ride on a railroad lane, including a high-speed line. Therefore, it may be for example a locomotive, a self-propelled vehicle, a railway car, or a wagon.
  • the rolling stock 3 is a locomotive forming part of a passenger or freight train 6.
  • the rolling stock 3 comprises at least two vertical acceleration sensors 7 installed on two opposite lateral sides and at the same altitude level as longitudinally. They can for example be installed respectively in or on the right and left axle boxes. Alternatively, they could be installed respectively in or on two lateral sides of a bogie frame or at the box.
  • These vertical acceleration sensors 7 are adapted to acquire, at selected times, for example when the rolling stock 3, on which they are installed, circulates on a traffic lane 2, two vertical accelerations respectively right and left.
  • the rolling stock 3 may include a geolocation device 8 for determining its geographical position as a function of information transmitted by a geolocation system 9 and received by an on-board communication module 10.
  • this geolocation system 9 may be satellite.
  • this geolocation system 9 may, for example, be a system type GPS ("Global Positioning System"). But the geolocation information could be transmitted by terrestrial antennas.
  • geolocation device 8 and the communication module 10 are not necessarily part of the rolling stock 3, although this is preferable for a question of precision. Indeed, they could be installed in another rolling stock of his train 6, such as in the driver's cabin, possibly on the dashboard, or behind the windshield, when the rolling stock 3 is not the same. locomotive or the self-propelled vehicle.
  • the analysis method is intended to be implemented by the analysis facility 1 presented partially above. It includes first and second steps.
  • the two vertical accelerations av k (tj) are determined by the two right and left vertical acceleration sensors 7 of the rolling stock 3 and the geographical position pg (tj) is determined by the geolocation device 8 of the rolling stock 3 or other rolling stock of train 6.
  • the time difference between two successive instants tj and tj + 1 is equal to one period.
  • the latter may, for example, be between 1 ms and 5 ms.
  • processing means 4 of the analysis facility 1 which carry out for each instant tj the spatial filtering, by means of the transfer function of a reference inspection car which is used on the rail network, of each vertical acceleration av k (tj) associated with the instant tj considered. It is also the processing means 4 of the analysis facility 1 which determine the two vertical arrows (or levelings) pvc k (tj) and associate these latter (pvc k (tj)) at this instant tj and at the position geographic pg (tj) associated.
  • processing means 4 may, for example, be arranged in the form of software or computer modules or "software”. But in an alternative embodiment they could be made in the form of a combination of software modules and electronic circuits or "hardware".
  • the processing means 4 are part of a computer 11 which is installed in a server 12.
  • the two vertical accelerations av k (tj) are transmitted by waves to the server 12. and the geographical position pg (tj) associated with each instant tj.
  • This transmission is performed by means of the communication module 10 which is embedded in the train 6, here in the rolling stock 3, and which is connected to at least one non-wired communication network 13 which can transmit data directly to the server 12 or indirect.
  • This non-wired communication network 13 may be of terrestrial and / or satellite type, as illustrated in FIG. figure 1 .
  • the reception of the transmitted data is carried out by means of a communication module 14 which is installed in the server 12, connected to at least one wired or non-wired communication network and which is coupled to the computer 11.
  • the data transmissions can be possibly encrypted.
  • the processing means 4 can be part of a computer installed in the hardware. rolling 3.
  • each spatial filtering by convolving each vertical acceleration av k (tj) to a spatial pulse filter which is specific to the rolling stock 3.
  • This convolution by a spatial (and not a frequency) filter is also used here to stabilize the accelerations, that is to say to remove in particular the high frequency contributions that pollute the integration step.
  • the two vertical arrows pvc k (tj), determined for rolling stock 3 are compared to a selected geographical position pg (tj) of traffic lane 2, to at least two other vertical arrows pvc k. (tp), determined at a geographical position pg (tp) substantially equal to this geographical position pg (tj) chosen at least a previous instant tp.
  • These comparisons are intended to obtain information relating to an evolution of the geometry of the traffic lane 2 at this selected geographical position pg (tj).
  • Knowing the vertical arrow is used to decide if maintenance operations should be triggered. For example, when this arrow is greater than a predefined threshold, it may be decided to trigger maintenance operations. But it is also possible to take into account the temporal evolution of this arrow and / or the meteorological and / or topographical and / or geological context, in order to decide on the relevance of the triggering of maintenance operations, possibly preventively when the arrow is slightly below the predefined threshold but is growing rapidly. On the other hand, when the arrow is slightly below the predefined threshold but does not change significantly, we can decide to do nothing and therefore not to trigger preventive maintenance operations. We will return later to this mode of decision-making. The analysis of the forms of faults, their evolution, the environmental context and circulation will also guide the type of maintenance to be performed.
  • Regular measurements can also be used to predict the evolution of the geometry of a channel, for example by using an unsteady ARMA type model.
  • the analysis means 5 of the analysis facility 1 which compare the two vertical arrows pvc k (tj), determined at a selected geographical position pg (tj) of the track 2, with at least two other vertical arrows. pvc k (tp), determined at the geographical position pg (tp) at at least one previous instant tp. It is also the analysis means 5 of the analysis facility 1 which determine the information relating to the evolution of the geometry of the channel 2 at this selected geographical position pg (tp).
  • This synchronization can, for example, be done by means of an inter-correlation function applied to the curve constructed from the last vertical arrows pvc k (tj) determined with the rolling stock 3 and at least one other constructed curve. from old vertical arrows pvc k (tp).
  • analysis means 5 may, for example, be arranged in the form of software or computer modules. But in an alternative embodiment they could be made in the form of a combination of software modules and electronic circuits.
  • the analysis means 5 can be part of the computer 11 of the server 12. This allows for quick exchanges with the processing means MT. But they could be part of another computer, possibly remote from the server 12 and dedicated to analysis.
  • the processing means 4 are part of a computer installed in the rolling stock 3, it is transmitted by waves to the server 12, by means of of the communication module 10 and in the first step, the two vertical arrows pvc k (tj) and the times tj and geographical position pg (tj) associated, so that they are used by the analysis means 5.
  • the server 12 includes, preferably and as illustrated on the figure 1 storage means 15 in which it stores the history of the received data and the traffic lane analyzes, and in particular each multiplet of data comprising an instant tj associated with two vertical arrows pvc k (tj) and a geographical position pg (tj).
  • These storage means 15 may, for example, be in the form of a memory, possibly of software type. Storage may optionally be in the form of a geometry information database.
  • the bytes may for example comprise information defining the climatic or meteorological conditions at the instant tj concerned or in moments or days preceding the instant tj concerned.
  • Images of the circulation lane 2 are thus available very regularly with all the climatic and especially hygrometric changes, which is particularly useful in fast-moving areas such as muddy areas.
  • the multiplets may for example, to include information defining maintenance operations carried out because of the values taken by their vertical arrows pvc k (tj) for the geographical position pg (tj) compared with the previous values taken for the same geographical position.
  • a speed v (tj) of the rolling stock 3 from a first speed measurement delivered substantially for this instant tj by a tachometer embedded in the equipment. 3 or a motor vehicle moving the rolling stock 3, and a second speed measurement deduced information transmitted substantially for this moment by the geolocation system 9. This determination is performed by the processing means 4.
  • the processing means can determine, for example by the processing means, the geographical position pg (tj) associated with each instant tj as a function of either the speed v (tj) determined for this instant tj, or a geographical position pg (tj-1 ) determined for the moment tj-1 immediately preceding this last instant tj, or a combination of the determined speed v (tj) and the determined geographical position pg (tj-1).
  • the determination of the speed v (tj) can, for example, be done by linear interpolation.
  • this option makes it possible to have at each instant tj a current position pg (tj) of the rolling stock 3, in particular when the temporal information transmitted by the geolocation system 9 is not available. Geographical pg (tj) thus determined from the velocities, then replaces the one initially associated with the vertical accelerations av k (tj), and is used by the processing means 4 to determine the vertical arrows pvc k (tj).
  • the processing means 4 can determine for each instant tj the speed v (tj) of the rolling stock 3 by means of a constrained Gaussian process modeling method.
  • This method can, for example, be that of Kriegeage.
  • the processing means 4 can use either the first two vertical accelerations av1 k (tj) when the speed v (tj) is greater than a predefined threshold, or the two second vertical accelerations av2 k (tj) when the speed v (tj) is below this predefined threshold.
  • this predefined threshold can be between 20 km / h and 60 km / h. It can for example be equal to 40 km / h.
  • the two second vertical acceleration sensors 16 may, for example, be respectively installed in or on the right and left axle boxes, as the first vertical acceleration sensors 7. Alternatively, they could be installed respectively in or on two lateral sides of a bogie frame.
  • the first two vertical acceleration sensors 7 may be of piezoelectric type, for example those marketed by PCB PIEZOTRONICS under the reference PCB 3741 B12 or PCB 3711-B12, and the two second sensors vertical acceleration 16 may be gyroscopic inclinometers, such as those marketed by Columbia under the reference SI-701 FND No. 1738.
  • each instant tj at least a transverse acceleration in case atc (tj) and a vertical acceleration crate avc (tj) rolling stock 3 to determine a possible local superelevation and / or a possible local radius of curvature and / or a possible local slope of the traffic lane 2.
  • each possible local overburden, each possible local radius of curvature, or each local slope is determined from the vertical accelerations avc ( tj) and transverse atc (tj) in cash determined for the moment tj.
  • Estimates can be made at any time using mechanical modeling (Kalman filtering), or by using rigid body modeling.
  • transverse accelerations atc (tj) and vertical avc (tj) in the case, determined for the moment tj, are preferably transmitted with the two or four vertical accelerations av k (tj), when the processing means 4 are installed in the server 12.
  • transverse accelerations atc (tj) and vertical avc (tj) at the box may, for example, be stored in the storage means 15 within the multiplet associated with the instant tj.
  • transverse accelerations atc (tj) and vertical avc (tj) at the body are acquired respectively by a lateral acceleration sensor and a vertical acceleration sensor 17 which is installed in the rolling stock 3, for example in a position front center of his body (here the driver's cabin (where there is the least passage)).
  • a local superelevation and / or a local radius of curvature and / or a local gradient determined from the lateral and vertical accelerations measured by acceleration 17 at the time of a given moment tj differs (s) significantly from at least one local superelevation and / or a local radius of curvature and / or a previous local slope (e) (s), determined ( s) for at least one time tp preceding this given instant tj, and of at least one local superelevation and / or local radius of curvature and / or local slope following (e) (s), determined (s) ) for at least one moment ts following this given instant tj, we can replace this superelevation local and / or local radius of curvature and / or local slope determined (s) for that given instant tj by an average value of these local superelevation and / or local radius of curvature and / or a previous local slope ( e)
  • a vertical arrow, determined for a given moment differs significantly from at least one preceding vertical arrow, determined for at least one instant preceding this given instant, and at least one vertical arrow following, determined for at least one moment following this given moment does not take into account this vertical arrow. It is considered that it is not representative of the evolution of the vertical arrow at the geographical position considered. For more robustness, the analysis of the evolution of the vertical arrow for a given geographic position can then be done, for example, from the calculated medians of the different vertical arrows at a given geographical position for several moments.
  • the analysis means 5 can determine if a similar evolution has been determined in the past. For example, a similar evolution could be determined in the presence of meteorological conditions similar to those present during this sudden and important evolution and / or of a disorder similar to that present during this sudden and important evolution (as for example a slip ground or rail surface defect).
  • the objective here is to determine the factors / causes influencing the evolution of a track, or in other words to define the disorder / defect of the component of the track which is at the origin of the defect of the geometry of the track.
  • the means of analysis 5 can determine, in the history stored in the storage means 15, what decision had been taken in response to this similar evolution and what was the consequence of this decision on this similar development, in order to determine a decision adapted to this important and sudden evolution.
  • the figure 2 schematically illustrates an example of an algorithm implementing an analysis method according to the invention.
  • the algorithm begins in a substep 100 during which one acquires, at a time tj, two vertical accelerations av k (tj) sustained on two opposite sides of a rolling stock 3 circulating on a lane 2 and a geographical position pg (tj) of this rolling stock 3.
  • a sub-step 110 is associated at this instant tj these two vertical accelerations av k (tj) and a current geographic position pg (tj) rolling stock 3. This association can be achieved using a current speed of the rolling stock 3. It will be noted that it is also possible and possibly associated at this instant tj a transverse acceleration at (tj).
  • these two vertical accelerations av k (tj) and the current geographic position pg (tj), as well as possibly the current speed, can be transmitted to the server 12 via the communication network 13. and the transverse acceleration at (tj) associated with the instant tj.
  • the processing means 4 perform a spatial filtering, specific to the rail network, of each vertical acceleration av k (tj) associated with the instant tj. It is also possible to determine precisely the speed v (tj), and in particular to deduce from the latter the precise geographical position pg (tj) of rolling stock 3 at time tj. It then replaces the one transmitted by wave. Then, (the processing means 4) determine a vertical deflection (or leveling) pvc k (tj) from each vertical acceleration av k (tj) filtered and associated with the instant tj.
  • a sub-step 140 the processing means 4 associate at time tj the two vertical arrows pvc k (tj) and the geographical position pg (tj) possibly replaced.
  • Sub-steps 100 to 140 constitute here the first step of a exemplary embodiment of the analysis method according to the invention.
  • a sub-step 150 the two vertical arrows pvc k (tj) for the geographical position pg (tj) and at least two other vertical arrows pvc k (tp) are compared, for example via the analysis means 5. determined for a geographical position substantially equal to this geographical position pg (tj) at at least one previous instant tp, in order to obtain information relating to an evolution of the geometry of the traffic lane 2 at this geographical position pg (tj) .
  • a substep 160 it is decided whether it is expedient to trigger maintenance operations in the zone comprising the geographical position pg (tj), notably as a function of the geometry evolution information obtained during the sub-step 160. step 150.
  • Substeps 150 and 160 constitute here the second step of the exemplary embodiment of the analysis method according to the invention.
EP18152813.4A 2017-01-23 2018-01-22 Verfahren und anlage zur automatischen analyse der entwicklung der gleisgeometrie Active EP3351452B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1750518A FR3062141B1 (fr) 2017-01-23 2017-01-23 Procede et installation d'analyse automatique de l'evolution de la geometrie de voies de circulation

Publications (2)

Publication Number Publication Date
EP3351452A1 true EP3351452A1 (de) 2018-07-25
EP3351452B1 EP3351452B1 (de) 2019-09-11

Family

ID=58779145

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18152813.4A Active EP3351452B1 (de) 2017-01-23 2018-01-22 Verfahren und anlage zur automatischen analyse der entwicklung der gleisgeometrie

Country Status (3)

Country Link
EP (1) EP3351452B1 (de)
ES (1) ES2750027T3 (de)
FR (1) FR3062141B1 (de)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109811602A (zh) * 2019-03-13 2019-05-28 四川睿铁科技有限责任公司 一种高速铁路的精细化调轨方法及系统
CN113466247A (zh) * 2021-06-30 2021-10-01 中国铁道科学研究院集团有限公司 基于惯性技术及机器视觉融合的钢轨焊缝检测方法及系统
US11560165B2 (en) 2018-06-01 2023-01-24 Tetra Tech, Inc. Apparatus and method for gathering data from sensors oriented at an oblique angle relative to a railway track
US11782160B2 (en) 2019-05-16 2023-10-10 Tetra Tech, Inc. System and method for generating and interpreting point clouds of a rail corridor along a survey path

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2745168C1 (ru) * 2020-10-02 2021-03-22 Общество с ограниченной ответственностью Научно-производственное предприятие "РаТорм" Устройство мониторинга и диагностики грузового вагона

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2602479A1 (fr) * 1986-08-01 1988-02-12 Magyar Allamvasutak Procede et dispositif de mesure des reactions des vehicules ferroviaires au cours de leur roulement, en particulier pour evaluer l'etat des voies ferrees
US20040122569A1 (en) * 1999-06-15 2004-06-24 Andian Technologies Ltd. Geometric track and track/vehicle analyzers and methods for controlling railroad systems
US20100004804A1 (en) * 2008-07-01 2010-01-07 Todd Alan Anderson Apparatus and method for monitoring of infrastructure condition
EP2687419A2 (de) * 2012-07-20 2014-01-22 Siemens Plc Vorrichtung und Verfahren zur Überprüfung des Zustandes von Eisenbahngleisen

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2602479A1 (fr) * 1986-08-01 1988-02-12 Magyar Allamvasutak Procede et dispositif de mesure des reactions des vehicules ferroviaires au cours de leur roulement, en particulier pour evaluer l'etat des voies ferrees
US20040122569A1 (en) * 1999-06-15 2004-06-24 Andian Technologies Ltd. Geometric track and track/vehicle analyzers and methods for controlling railroad systems
US20100004804A1 (en) * 2008-07-01 2010-01-07 Todd Alan Anderson Apparatus and method for monitoring of infrastructure condition
EP2687419A2 (de) * 2012-07-20 2014-01-22 Siemens Plc Vorrichtung und Verfahren zur Überprüfung des Zustandes von Eisenbahngleisen

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11560165B2 (en) 2018-06-01 2023-01-24 Tetra Tech, Inc. Apparatus and method for gathering data from sensors oriented at an oblique angle relative to a railway track
US11919551B2 (en) 2018-06-01 2024-03-05 Tetra Tech, Inc. Apparatus and method for gathering data from sensors oriented at an oblique angle relative to a railway track
CN109811602A (zh) * 2019-03-13 2019-05-28 四川睿铁科技有限责任公司 一种高速铁路的精细化调轨方法及系统
US11782160B2 (en) 2019-05-16 2023-10-10 Tetra Tech, Inc. System and method for generating and interpreting point clouds of a rail corridor along a survey path
CN113466247A (zh) * 2021-06-30 2021-10-01 中国铁道科学研究院集团有限公司 基于惯性技术及机器视觉融合的钢轨焊缝检测方法及系统
CN113466247B (zh) * 2021-06-30 2023-09-12 中国铁道科学研究院集团有限公司 基于惯性技术及机器视觉融合的钢轨焊缝检测方法及系统

Also Published As

Publication number Publication date
FR3062141B1 (fr) 2019-03-22
FR3062141A1 (fr) 2018-07-27
EP3351452B1 (de) 2019-09-11
ES2750027T3 (es) 2020-03-24

Similar Documents

Publication Publication Date Title
EP3351452B1 (de) Verfahren und anlage zur automatischen analyse der entwicklung der gleisgeometrie
EP2922040A1 (de) Steuerung von in Konvoi fahrenden Fahrzeugen
EP3159701B1 (de) Verfahren zur berechnung der eigenbeschleunigung eines schienenfahrzeugs, entsprechendes computerprogrammprodukt und entsprechendes system
EP3028921B1 (de) Überwachungssystem der betriebsbedingungen eines zugs
FR2938490A1 (fr) Procede et systeme de detection d'impacts sur des zones a surveiller d'un vehicule roulant
EP3716097A1 (de) Verfahren zur erfassung von daten, die von einem erfassungsmodul erfasst werden, das in einem mobilen gerät nach einem vorgestellten trajektor, einem entsprechenden computerprogramm und einem gerät eingefasst ist
FR2890086A1 (fr) Procede de detection d'un profil de voie ferree et installation pour la mise en oeuvre du procede
WO2021233912A1 (fr) Procédé de calcul d'un vecteur de vitesse instantanée d'un véhicule ferroviaire, système correspondant→
FR2999283A1 (fr) Procede et dispositif pour determiner la position et/ou la nature d'une installation d'infrastructure routiere
EP3781965B1 (de) Vorrichtung, verfahren und computerprogrammprodukt zur validierung von durch einen regensensor bereitgestellten daten
FR3080823A1 (fr) Systeme de localisation integre et autonome d'un train dans un referentiel de reseau ferroviaire
WO2018178097A1 (fr) Dispositif de détection de défauts d'un rail et procédé de détection associé
FR3005510A1 (fr) Procede ameliore de determination de la position et/ou de la vitesse d'un vehicule guide ; systeme associe.
EP3328668B1 (de) Vorrichtung zur schätzung eines indikators des zustandes eines von einem landfahrzeug gewählten verkehrsweges
EP2293039A1 (de) Verfahren zur Qualitätskontrolle der dynamischen Eigenschaften eines Schienenfahrzeugs
FR2949853A1 (fr) Procede de correction d'odometrie ferroviaire.
FR3041595A3 (fr) Procede et systeme de mesure du comportement d'un vehicule ferroviaire et de detection de defaut(s) de geometrie sur une voie ferree
EP1299746A2 (de) Verfahren zur sicheren ortung eines objekts, vorzugsweise eines fahrzeuges, das sich auf einer bekannten fahrbahn bewegt
FR2913392A1 (fr) Dispositif de surveillance en temps reel de ballast.
WO2017216495A1 (fr) Procédé de détermination d'une classe de conduite de référence
Islam et al. A support vector method for automated road anomaly detection using mobile device
US11656096B1 (en) Inertial measurement unit (IMU) based vehicles tracking
US11170645B2 (en) Systems and methods for detecting the location of debris and unexpected objects on roads
EP3775988B1 (de) Verfahren und vorrichtung zur erfassung von objekten in der umgebung eines fahrzeugs in anwesenheit von tröpfchen
FR2951821A1 (fr) Procede et dispositif pour la mesure de la trajectoire d'objets mobiles passifs

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20181130

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

RIC1 Information provided on ipc code assigned before grant

Ipc: B61L 3/00 20060101ALN20190329BHEP

Ipc: B61L 27/00 20060101ALI20190329BHEP

Ipc: B61K 9/08 20060101ALI20190329BHEP

Ipc: B61L 23/04 20060101AFI20190329BHEP

Ipc: B61L 25/02 20060101ALN20190329BHEP

INTG Intention to grant announced

Effective date: 20190417

RIN1 Information on inventor provided before grant (corrected)

Inventor name: FUNFSCHILLING, CHRISTINE

Inventor name: BONGINI, ESTELLE

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1178067

Country of ref document: AT

Kind code of ref document: T

Effective date: 20190915

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602018000583

Country of ref document: DE

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: FRENCH

REG Reference to a national code

Ref country code: NL

Ref legal event code: FP

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191211

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191211

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191212

REG Reference to a national code

Ref country code: CH

Ref legal event code: NV

Representative=s name: VALIPAT S.A. C/O BOVARD SA NEUCHATEL, CH

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2750027

Country of ref document: ES

Kind code of ref document: T3

Effective date: 20200324

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 1178067

Country of ref document: AT

Kind code of ref document: T

Effective date: 20190911

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200113

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200224

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602018000583

Country of ref document: DE

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG2D Information on lapse in contracting state deleted

Ref country code: IS

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200112

26N No opposition filed

Effective date: 20200615

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200122

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190911

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20230125

Year of fee payment: 6

Ref country code: ES

Payment date: 20230206

Year of fee payment: 6

Ref country code: CH

Payment date: 20230130

Year of fee payment: 6

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20230111

Year of fee payment: 6

Ref country code: GB

Payment date: 20230123

Year of fee payment: 6

Ref country code: DE

Payment date: 20230112

Year of fee payment: 6

Ref country code: BE

Payment date: 20230117

Year of fee payment: 6

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230519

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: NL

Payment date: 20231229

Year of fee payment: 7

Ref country code: LU

Payment date: 20231227

Year of fee payment: 7

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: ES

Payment date: 20240207

Year of fee payment: 7